A pull rod device

Abstract

The application relates to a pull rod device which comprises a pull rod assembly, the pull rod assembly comprising a pipe clamp, a core rod clamp and a core rod pulling-out device, the core rod clamp comprising a core rod clamping part and a connecting part, the connecting part being fixed with a first guiding structure, the core rod pulling-out device comprising a second guiding structure, a first base, a second base, a first driving part, a second driving part and a push-pull force sensor, the first base being connected with the connecting part through a floating joint, the first driving part being used for driving the second guiding structure to move to abut against the first guiding structure so that the core rod clamp is in a guiding state, or to separate from the first guiding structure so that the core rod clamp is in a floating state, the second base being slidingly connected with the lower end of the first base, one end of the push-pull force sensor X being connected with the first base and the other end being connected with the second base, and the second driving part being used for driving the second base to move along the X direction so as to exert a pulling force on the core rod to pull out the core rod. The application improves the production yield and prolongs the service life of the core rod.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation equipment, in particular to a rod pulling device. BACKGROUND

[0002] Heat dissipation technology is widely used in electronic devices. The internal chips of traditional computers, mobile phones, servers and the like generate a large amount of heat during operation. If the heat is not promptly dissipated and processed, the operation performance of the chip will be affected, and even the chip will be damaged. The existing heat dissipation components are generally metal heat dissipation pipes, which are usually filled with metal powder to form a capillary structure by high-temperature sintering, and then the capillary structure is sealed after injecting refrigerant and vacuumizing. A small amount of refrigerant or pure water will be left in the capillary structure, which greatly improves the heat dissipation effect through the principle of water phase change, liquid state conversion and backflow. However, before filling the metal powder into the pipe, a core rod needs to be inserted into the pipe to fix the cavity for filling the metal powder. After sintering the metal powder, the core rod needs to be pulled out. Currently, manual operation is generally used to pull out the core rod, which not only wastes time and effort, but also reduces production efficiency. In addition, improper force during manual pulling of the core rod can easily damage the pipe and the core rod, which not only reduces the production yield, but also affects the reuse of the core rod. SUMMARY

[0003] Therefore, the present application provides a rod pulling device, which comprises a rod pulling assembly for pulling out a core rod in a pipe along an X direction, comprising a pipe clamping piece, a core rod clamping piece and a core rod pulling piece. The pipe clamping piece is used to clamp the pipe. The core rod clamping piece comprises a core rod clamping part and a connecting part fixedly connected, the core rod clamping part is used to clamp the core rod, and the connecting part is fixed with a first guide structure. The core rod pulling piece comprises a first base, a second base, a first driving part, a second driving part, a push-pull force sensor and a second guide structure matched with the first guide structure. The first base is connected with the connecting part through a floating joint. The first driving part is used to drive the second guide structure to move to abut against the first guide structure so that the core rod clamping piece is in a guiding state, or to separate from the first guide structure so that the core rod clamping piece is in a floating state. The second base is slidingly connected to the lower end of the first base. One end of the push-pull force sensor in the X direction is connected with the first base, and the other end is connected with the second base. The second driving part is used to drive the second base to move along the X direction to apply a pulling force to the core rod to pull out the core rod.

[0004] Further, it further comprises a rack and an intermittent conveying mechanism. The rack has an upper feeding station, at least one processing station and a lower discharging station arranged in sequence along the conveying direction of the intermittent conveying mechanism. The processing station comprises a rod pulling station provided with the rod pulling assembly. The intermittent conveying mechanism is used to convey the pipe to the next station along a Y direction.

[0005] Further, the intermittent conveying mechanism comprises two intermittent moving members arranged in parallel and spaced apart, each of the intermittent moving members comprises a first base, a translation part and a lifting part connected in sequence, a third driving part for driving the translation part to move along the Y direction on the first base, and a fourth driving part for driving the lifting part to move along the Z direction on the translation part, the first base is connected to the rack and is provided with a first positioning groove, the first positioning groove is matched with the pipe and is arranged corresponding to each of the processing stations, the lifting part is provided with a second positioning groove matched with the pipe, under the driving of the fourth driving part, the lifting part can be lifted along the Z direction to position the pipe in the second positioning groove and separate from the first base, or be lowered along the Z direction to position the pipe in the first positioning groove and separate from the lifting part, under the driving of the third driving part, the translation part can move along the Y direction to align the pipe positioned in the second positioning groove with the first positioning groove of the next processing station.

[0006] Further, the processing station further comprises an X direction positioning station arranged between the feeding station and the rod pulling station, the rod pulling device further comprises an X direction positioning assembly arranged in the X direction positioning station for X direction positioning of the pipe, the X direction positioning assembly comprises a fixed positioning member and a movable positioning member connected to the rack respectively, the movable positioning member comprises a movable positioning part and a fifth driving part for driving the movable positioning part to move along the X direction, under the driving of the fifth driving part, the movable positioning part can move along the X direction to push the pipe, so that the pipe is positioned in the X direction by abutting against the movable positioning part and the fixed positioning member.

[0007] Further, the pipe comprises a body and a tail section connected as a whole, the diameter of the tail section is smaller than that of the body, the processing station further comprises a straightening station arranged between the feeding station and the rod pulling station, the rod pulling device further comprises a straightening assembly arranged in the straightening station for straightening the tail section of the pipe, the straightening assembly comprises a first Z direction clamping part, a second Z direction clamping part, a Y direction clamping part and a sixth driving part, the sixth driving part is connected to the rack for driving the first Z direction clamping part and the second Z direction clamping part to move towards each other to straighten the pipe along the Z direction, the Y direction clamping part is arranged on the first Z direction clamping part for straightening the pipe along the Y direction.

[0008] Further, the processing station further comprises a marking station arranged between the feeding station and the rod pulling station, and the rod pulling device further comprises a marking assembly arranged in the marking station and used for marking a to-be-marked region of the pipe fitting, the marking assembly comprises a CCD camera, a rotating clamping member and a laser marking member connected to the rack respectively, the CCD camera is used for acquiring an image of the pipe fitting, the rotating clamping member is used for clamping the pipe fitting and rotating the pipe fitting according to the acquired image of the pipe fitting so that the to-be-marked region is aligned with the laser marking member, and the laser marking member is used for marking the to-be-marked region.

[0009] Further, the processing station further comprises a core rod loosening station arranged between the feeding station and the rod pulling station, and the rod pulling device further comprises a core rod loosening assembly arranged in the core rod loosening station and used for loosening the core rod relative to the pipe fitting, the core rod loosening assembly comprises a limiting member and a knocking member connected to the rack respectively, the limiting member is provided with a limiting groove matched with a tail section of the pipe fitting, and the knocking member has a knocking portion capable of moving along the X direction to knock an end portion of the core rod.

[0010] Further, the processing station further comprises a core rod loosening station arranged between the feeding station and the rod pulling station, and the rod pulling device further comprises a core rod loosening assembly arranged in the core rod loosening station and used for loosening the core rod relative to the pipe fitting, the core rod loosening assembly comprises a limiting member and a knocking member connected to the rack respectively, the limiting member is provided with a limiting groove matched with a tail section of the pipe fitting, and the knocking member has a knocking portion capable of moving along the X direction to knock an end portion of the core rod.

[0011] Further, the processing station further comprises a core rod loosening station arranged between the feeding station and the rod pulling station, and the rod pulling device further comprises a core rod loosening assembly arranged in the core rod loosening station and used for loosening the core rod relative to the pipe fitting, the core rod loosening assembly comprises a limiting member and a knocking member connected to the rack respectively, the limiting member is provided with a limiting groove matched with a tail section of the pipe fitting, and the knocking member has a knocking portion capable of moving along the X direction to knock an end portion of the core rod.

[0012] Further, the processing station further comprises a core rod loosening station arranged between the feeding station and the rod pulling station, and the rod pulling device further comprises a core rod loosening assembly arranged in the core rod loosening station and used for loosening the core rod relative to the pipe fitting, the core rod loosening assembly comprises a limiting member and a knocking member connected to the rack respectively, the limiting member is provided with a limiting groove matched with a tail section of the pipe fitting, and the knocking member has a knocking portion capable of moving along the X direction to knock an end portion of the core rod.

[0013] Compared with the prior art, the beneficial features of the present application are that the pull rod device is provided with a pipe clamping piece for clamping the pipe, a core rod clamping piece for clamping the core rod, and a core rod pulling-out piece for applying pulling force to the core rod, which can automatically pull out the core rod, improve the production efficiency, avoid damage to the pipe and the core rod caused by improper force of manual pull rod, improve the production yield, and prolong the service life of the core rod; moreover, the core rod pulling-out piece and the core rod clamping piece are connected through a floating joint, before clamping the core rod, the first driving part drives the second guiding structure to move to abut against the first guiding structure to make the core rod clamping piece in a guiding state, which is convenient for subsequent clamping of the core rod, after clamping the core rod, the first driving part drives the second guiding structure to move to separate from the first guiding structure to make the core rod clamping piece in a floating state, which avoids damage to the core rod caused by pulling the core rod in a fixed direction, and since the core rod clamping piece is in a floating state during pulling out of the core rod, the core rod clamping piece can move and shake within the range limited by the floating joint during the process, which is convenient for relative loosening of the core rod and the pipe, and more easily pulls out the core rod; moreover, the first base and the second base are slidingly connected, and a push-pull force sensor is connected between the two bases for detecting whether the pulling force for pulling out the core rod exceeds a preset value, which further avoids damage to the pipe and the core rod, improves the production yield, and prolongs the service life of the core rod. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a pipe structure schematic view in the pull rod device of the present application.

[0015] Figure 2 It is a partial structure schematic view of the pull rod device of the present application.

[0016] Figure 3 It is a partial structure schematic view of the pull rod device of the present application. Figure 2

[0017] Figure 4 It is a partial structure schematic view of the pull rod device of the present application.

[0018] Figure 5 It is a core rod clamping piece structure schematic view in the pull rod device of the present application.

[0019] Figure 6 It is a structure schematic view of the pull rod device of the present application.

[0020] Figure 7 It is a structure schematic view of the pull rod device of the present application.

[0021] Figure 8 It is a partial structure schematic view of the pull rod device of the present application. Figure 7

[0022] Figure 9 It is a structure schematic view of the intermittent carrying mechanism in the pull rod device of the present application.

[0023] ​​Figure 10 is a plan view of Figure 9

[0024] Figure 11 is a schematic view of a partial structure of the intermittent carrying mechanism of the rod pulling device of the present application;

[0025] Figure 12 is a schematic view of the structure of the rod pulling device of the present application;

[0026] Figure 13 is a partial C structure enlarged view of Figure 12

[0027] Figure 14 is a schematic view of the straightening assembly of the rod pulling device of the present application;

[0028] Figure 15 is a schematic view of the straightening assembly of the rod pulling device of the present application;

[0029] Figure 16 is a schematic view of the straightening assembly of the rod pulling device of the present application;

[0030] Figure 17 is a schematic view of the knocking member of the rod pulling device of the present application;

[0031] ​​Wherein: 1-tube (101-body, 102-tail section, 103-core rod, 104-to-be-marked area, 105-marking line), 2-tube clamping piece (201-tube clamping part, 202-ninth driving part (2021-slideway of ninth driving part), 203-second photoelectric switch), 3-core rod clamping piece (301-core rod clamping part, 302-connection part (3021-first guide structure (30211-guide cone surface))), 4-core rod pulling-out piece (401-second guide structure, 402-first base (4021-guide hole), 403-second base, 404-first driving part, 405-second driving part (4051-slideway of second driving part), 406-pull force sensor, 407-first sliding block, 408-first sliding rail, 409-third base, 410-first photoelectric switch), 5-floating joint, 6-pre-clamping piece (601-fifteenth driving part, 602-pre-clamping part (6021-second sliding block)), 7-rack (701-feeding station, 702-discharging station, 703-rod pulling-out station, 704-straightening station, 705-marking station, 706-X-direction positioning station, 707-rod loosening station, 708-seventh sliding rail), 8-intermittent moving piece (8a-intermittent moving piece, 8b-intermittent moving piece, 801-first base (8011-first positioning groove, 8012-first positioning block, 8013-third sliding rail, 8014-second guide inclined surface, 8015-second sliding rail, 8016-seventh sliding block), 802-translation part (8021-third sliding block, 8022-fourth sliding rail, 8023-limiting column), 803-lifting part (8031-second positioning groove, 8032-second positioning block, 8033-fourth sliding block, 8034-limiting hole), 804-third driving part, 805-fourth driving part), 9-tenth driving part (901-slideway of tenth driving part), 10-fixed positioning piece (1001-baffle), 11-movable positioning piece (1101-movable positioning part, 1102-fifth driving part), 12-laser marking piece (1201-laser marking head, 1202-eleventh driving part (12021-slideway of eleventh driving part)), 13-rotary clamping piece (1301-rotary clamping part, 1302-eighth driving part (13021-slideway of eighth driving part)), 14-CCD camera, 15-straightening assembly (1501-first Z-direction clamping part (15011-first Z-direction clamping plate, 15012-first connecting plate, 15013-first sliding column), 1502-second Z-direction clamping part (15021-second Z-direction clamping plate, 15022-second connecting plate, 15023-second sliding column), 1503-Y-direction clamping part (15031-first Y-direction clamping arm, 15032-second Y-direction clamping arm), 1504-sixth driving part, 1505-second base (15052-second sliding groove),1506-rotating block (15061-first long hole, 15062-second long hole), 1507-rotating shaft, 1508-limiting column), 16-limiting piece (1601-limiting groove, 1602-limiting seat, 1603-thirteenth driving part (16031-sliding table of the thirteenth driving part)), 17-hitting piece (1701-hitting part (17011-sleeve, 17012-hitting block), 1702-fourteenth driving part), 18-assisted clamping assembly (1801-assisted clamping part (18011-assisted clamping block (180111-assisted clamping groove), 18012-roller), 1802-seventh driving part), 19-conveying piece, 20-conveying piece (2001-jacking part (20011-third positioning groove, 20012-first guide inclined surface), 2002-sixteenth driving part), 21-pre-positioning piece (2101-pre-positioning part, 2102-seventeenth driving part), 22-first hopper (2201-first pair of photoelectric switches, 2202-first handle structure), 23-second hopper (2301-second pair of photoelectric switches, 2302-second handle structure), 24-discharging assembly (2401-discharging clamp, 2402-eighteenth driving part (24021-sliding table of the eighteenth driving part), 2403-nineteenth driving part (24031-sliding table of the nineteenth driving part)), 25-third hopper (2501-third pair of photoelectric switches, 2502-third handle structure). DETAILED DESCRIPTION

[0032] For the purpose of promoting the understanding and facilitating appreciation of the application, non-limiting embodiments of the application will be described in conjunction with related drawings. The patent or application file contains at least one drawing executed in color. Copies of this patent or patent application publication with color drawing(s) will be provided by the Office upon request and payment of the necessary fee. In the drawings:

[0033] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In addition, when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can also be present.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0035] In the embodiments of the present application, the X direction, the Y direction and the Z direction are perpendicular to each other.

[0036] In the embodiment of the present application, the pipe 1 comprises a body 101 and a tail section 102 which are integrated, the diameter of the tail section 102 is smaller than that of the body 101, and a core rod 103 is inserted into the body 101, and one end of the core rod 103 extends out of the body 101, as shown in Figure 1

[0037] Please refer to Figures 2 to 5 , the rod pulling-out device of the embodiment of the present application comprises a rod pulling-out assembly. The rod pulling-out assembly is used to pull out the core rod 103 in the pipe 1 along the positive direction of the X direction, and comprises a pipe clamping member 2, a core rod clamping member 3 and a core rod pulling-out member 4. The pipe clamping member 2 is used to clamp the pipe 1. The core rod clamping member 3 comprises a core rod clamping part 301 and a connecting part 302, and the core rod clamping part 301 and the connecting part 302 are fixedly connected, wherein the core rod clamping part 301 is used to clamp the core rod 103, and the connecting part 302 is used to be connected with the core rod pulling-out member 4, and a first guiding structure 3021 is fixedly formed on the connecting part 302. The core rod pulling-out member 4 comprises a second guiding structure 401, a first base 402, a second base 403, a first driving part 404, a second driving part 405 and a push-pull force sensor 406. The first base 402 is connected with the connecting part 302 through a floating joint 5, and the second guiding structure 401 cooperates with the first guiding structure 3021. Before the core rod clamping part 301 clamps the core rod 103, the first driving part 404 is used to drive the second guiding structure 401 to move to abut against the first guiding structure 3021 so that the core rod clamping member 3 is in a guiding state; after the core rod clamping part 301 clamps the core rod 103 and before the core rod pulling-out process starts, the first driving part 404 is also used to drive the second guiding structure 401 to move to separate from the first guiding structure 3021 so that the core rod clamping member 3 is in a floating state. The second base 403 is slidingly connected to the lower end of the first base 402, and the second driving part 405 is used to drive the second base 403 to move in the negative direction of the X direction so that the core rod clamping member 3 approaches the core rod 103, so as to facilitate the core rod clamping member 3 to clamp the core rod 103. After the core rod clamping member 3 clamps the core rod 103 and the second guiding structure 401 separates from the first guiding structure 3021, the second driving part 405 is also used to drive the second base 403 to move in the positive direction of the X direction to apply a pulling force to the core rod 103 to pull out the core rod 103. One end of the push-pull force sensor 406 in the X direction is connected with the first base 402, and the other end of the push-pull force sensor 406 in the X direction is connected with the second base 403.

[0038] ​The rod pulling-out device of the embodiment of the present application is provided with a pipe clamping piece 2 for clamping the pipe 1, a core rod clamping piece 3 for clamping the core rod 103, and a core rod pulling-out piece 4 for applying pulling force to the core rod 103, so that the core rod 103 can be automatically pulled out, the production efficiency is improved, the pipe 1 and the core rod 103 are prevented from being damaged due to improper force of manual rod pulling-out, the production yield is improved, and the service life of the core rod 103 is prolonged. Moreover, the core rod pulling-out piece 4 and the core rod clamping piece 3 are connected through a floating joint 5. Before clamping the core rod 103, the first driving part 404 drives the second guiding structure 401 to move to abut against the first guiding structure 3021 so that the core rod clamping piece 3 is in a guiding state, thereby facilitating subsequent clamping of the core rod 103. After clamping the core rod 103, the first driving part 404 drives the second guiding structure 401 to move to separate from the first guiding structure 3021 so that the core rod clamping piece 3 is in a floating state, thereby preventing the surface coating of the core rod 103 from being scratched due to forcible pulling of the core rod 103 in a fixed direction. Moreover, since the core rod clamping piece 3 is in the floating state during pulling of the core rod 103, the core rod clamping piece 3 can move and shake within the range limited by the floating joint 5 during the process, so that the core rod 103 and the pipe 1 are relatively loosened, and the core rod 103 is more easily pulled out. Moreover, the first base 402 and the second base 403 are slidingly connected, and a push-pull force sensor 406 is connected between the first base 402 and the second base 403. The push-pull force sensor 406 is used to detect whether the pulling force for pulling out the core rod exceeds a preset value. When it is detected that the pulling force for pulling out the core rod exceeds the preset value, the core rod 103 can be stopped, or other ways are adopted to loosen the core rod 103, thereby further preventing the pipe 1 and the core rod 103 from being damaged, improving the production yield, and prolonging the service life of the core rod 103.

[0039] In some preferred embodiments, in order to quickly and effectively guide the core rod clamping piece 3, please refer to Figure 3 , Figure 4 and Figure 5 . The first guiding structure 3021 is arranged at one end of the X-direction positive direction of the connecting part 302. The core rod pulling-out piece 4 includes a plurality of second guiding structures 401. Under the driving of the first driving part 404, all the second guiding structures 401 can simultaneously move to abut against the first guiding structure 3021 along the X-direction negative direction. Under the driving of the first driving part 404, all the second guiding structures 401 can also simultaneously move to separate from the first guiding structure 3021 along the X-direction positive direction.

[0040] In some examples, the first guiding structure 3021 can be a surface structure, for example, please refer to Figure 3 . An end surface of the X-direction positive direction of the connecting part 302 is formed with a sunken surface recessed from the end surface of the X-direction positive direction of the connecting part 302 to the X-direction negative direction. All the second guiding structures 401 are matched with the sunken surface, and the sunken surface is configured as the first guiding structure 3021.

[0041] In other examples, the first guide structure 3021 can be a hole structure, for example, please refer to Figure 5 A plurality of hole structures are formed on the end face of the X positive direction of the connecting part 302, and the plurality of hole structures are all configured as the first guide structure 3021 and correspondingly matched with the second guide structure 401. In one example, please refer to Figure 4 and Figure 5 As shown, four first guide structures 3021 are formed on the connecting part 302, and the core rod pulling piece 4 includes four second guide structures 401, and the four second guide structures 401 are correspondingly arranged with the four first guide structures 3021. Under the drive of the first driving part 404, all the guide parts 401 can simultaneously move in the X negative direction to insert into the corresponding first guide structure 3021, and under the drive of the first driving part 404, all the guide parts 401 can also simultaneously move in the X positive direction to exit from the corresponding first guide structure 3021.

[0042] When the core rod clamping piece 3 is in a floating state, the second guide structure 401 is not easy to be connected with the hole structure. In order to solve this problem, in some more preferred embodiments, when the first guide structure 3021 is a hole structure, a guide cone surface 30211 is formed at the hole of each first guide structure 3021, please refer to Figure 5 As shown, when the second guide structure 401 moves in the X negative direction to insert into the first guide structure 3021, the guide cone surface 30211 helps the second guide structure 401 to quickly and accurately insert into the first guide structure 3021, and can effectively guide the cooperation of the second guide structure 401 and the first guide structure 3021 to guide the core rod clamping piece 3.

[0043] In some preferred embodiments, in order to facilitate the first base 402 to slide on the second base 403 in the X direction, the bottom of the first base 402 is fixed with a first sliding block 407, and the second base 403 is fixed with a first sliding rail 408 which is in sliding cooperation with the first sliding block 407, please refer to Figure 4 As shown.

[0044] In one example, in order to make the second guide structure 401 move more stably, please refer to Figure 4As shown, the first base 402 is provided with a guide hole 4021 corresponding to the second guide structure 401 for sliding cooperation, the first driving part 404 is a cylinder, the cylinder body of the first driving part 404 is fixed to the first base 402, the piston rod of the first driving part 404 can be extended in the reverse direction along the X direction or retracted in the positive direction along the X direction, the core rod pulling-out device 4 further comprises a third base 409, the third base 409 is fixed to the X direction reverse end of the piston rod of the first driving part 404, the X direction positive end of each second guide structure 401 is fixed to the third base 409 respectively, and the X direction reverse end of each second guide structure 401 passes through the corresponding guide hole 4021.

[0045] In one example, in order to make the core rod pulling-out device 4 have a longer stroke and ensure that the core rod 103 can be completely pulled out of the pipe 1, please refer to Figure 4 As shown, the second driving part 405 is a lead screw module, and the second base 403 is fixed to the sliding table 4051 of the second driving part 405.

[0046] In one example, please refer to Figure 4 As shown, the X direction reverse end of the push-pull force sensor 406 is fixedly connected to the first base 402, and the X direction positive end of the push-pull force sensor 406 is fixedly connected to the second base 403, for detecting the pulling force of the core rod.

[0047] In one example, after the pipe clamping device 2 and the core rod clamping device 3 clamp the pipe 1 and the core rod 103 respectively, the second driving part 405 drives the second base 403 to move in the positive direction along the X direction to apply a pulling force to the core rod 103, when the pulling force received by the push-pull force sensor 406 exceeds a preset value, the core rod pulling-out device 4 can stop pulling the core rod 103, end the production operation of the pipe 1, or continue to loosen the core rod 103 in the pipe 1 in other ways. Other ways to loosen the core rod 103 can be that the second driving part 405 drives the second base 403 to move back and forth in a small amplitude in the positive direction and the reverse direction along the X direction to push and pull the core rod 103, so that the core rod 103 is loosened, and at this time, the core rod clamping device 3 is in a floating state. Other ways to loosen the core rod 103 can also be to use a vibrating device to vibrate the core rod 103, and the vibrating device can be a vibrating motor, and the vibrating device can be fixed to the first base 402 or the second base 403.

[0048] In one example, in order to quickly and effectively clamp the core rod 103, please refer to Figure 4 As shown, the core rod clamping part 301 is a three-jaw cylinder. In other embodiments, the core rod clamping part 301 can also be other structures, as long as it can clamp and release the core rod 103.

[0049] In some preferred embodiments, please refer to Figure 8As shown, the pipe clamping member 2 includes a pipe clamping part 201 and a ninth driving part 202. The pipe clamping part 201 is disposed on the ninth driving part 202. The pipe clamping part 201 is used to clamp the pipe 1. The ninth driving part 202 is used to drive the pipe clamping part 201 to move in the positive X direction closer to the pipe 1 so that the pipe clamping part 201 can clamp the pipe 1. After the mandrel 103 is pulled out and the pipe clamping part 201 releases the pipe 1, the ninth driving part 202 is also used to drive the pipe clamping part 201 to move in the opposite X direction away from the pipe 1 so as to avoid interfering with the movement of the pipe 1 to the next station.

[0050] In one example, the ninth drive unit 202 is a slide cylinder, and the pipe clamping part 201 is provided on the slide 2021 of the ninth drive unit 202, such as Figure 8 As shown.

[0051] In one example, to quickly and effectively clamp fitting 1, please refer to... Figure 3 As shown, the pipe clamping part 201 is a pneumatic chuck. In some other embodiments, the pipe clamping part 201 may also have other structures, as long as it can clamp and release the pipe 1.

[0052] In some preferred embodiments, for ease of clamping the mandrel 103 by the mandrel holder 3, please refer to... Figure 3 As shown, the mandrel assembly also includes a pre-clamping member 6, which includes a fifteenth drive unit 601 and two pre-clamping units 602. After the tube 1 is transported to the mandrel assembly and before the mandrel clamping member 3 clamps the mandrel 103, as... Figure 3 As shown, the fifteenth drive unit 601 drives the two pre-clamping parts 602 to move towards each other along the Y direction to clamp the mandrel 103. After the mandrel clamping member 3 clamps the mandrel 103, the fifteenth drive unit 601 drives the two pre-clamping parts 602 to move away from each other along the Y direction to release the mandrel 103.

[0053] In some examples, to enable the pre-clamping part 602 to move more stably along the Y direction, such as Figure 3 As shown, a second slide rail 8015 extending along the Y direction is fixed on the frame 7, and a second slider 6021 that slides in cooperation with the second slide rail 8015 is fixed on each of the two pre-clamping parts 602.

[0054] In some preferred embodiments, please refer to Figure 4 As shown, the mandrel pull-out component 4 also includes a first photoelectric switch 410, which is located on the opposite side of the mandrel clamping portion 301 in the X direction, and is used to trigger the mandrel clamping portion 301 to clamp the mandrel 103. In some preferred embodiments, please refer to... Figure 8 As shown, the pipe clamping part 2 also includes a second photoelectric switch 203, which is located on the positive X-direction side of the pipe clamping part 201 and is used to trigger the pipe clamping part 201 to clamp the pipe 1.

[0055] In some preferred embodiments, please refer to Figure 2 , Figure 3 and Figures 6 to 8 As shown, the rod-pulling device also includes a frame 7 and an intermittent conveying mechanism. The frame 7 has a loading station 701, a processing station and an unloading station 702 arranged sequentially along the conveying direction of the intermittent conveying mechanism. There is at least one processing station, which includes at least a rod-pulling station 703. The processing station may also include stations such as a straightening station 704 and a marking station 705. The rod-pulling station 703 is equipped with a rod-pulling assembly. The intermittent conveying mechanism is used to convey the pipe fitting 1 to the next station in the positive Y direction.

[0056] In some preferred embodiments, please refer to Figures 9 to 11As shown, the intermittent conveying mechanism comprises two parallel and spaced intermittent moving members 8, each of which comprises a first base 801, a translation part 802, a lifting part 803, a third driving part 804 and a fourth driving part 805, the first base 801, the translation part 802 and the lifting part 803 are connected in sequence, the third driving part 804 is used to drive the translation part 802 to move along the Y direction on the first base 801, and the fourth driving part 805 is used to drive the lifting part 803 to move along the Z direction on the translation part 802. The first base 801 is connected to the rack 7, and a first positioning groove 8011 matched with the pipe fitting 1 is formed on the first base 801, and the first positioning groove 8011 is arranged in one-to-one correspondence with each processing station, and a second positioning groove 8031 matched with the pipe fitting 1 is formed on the lifting part 803. When the pipe fitting 1 completes processing at the current processing station, the fourth driving part 805 drives the lifting part 803 to move along the Z direction in the positive direction, so that the pipe fitting 1 is positioned in the first positioning groove 8011 and the second positioning groove 8031 at the same time, and the fourth driving part 805 continues to drive the lifting part 803 to move along the Z direction in the positive direction to lift the pipe fitting 1, so that the pipe fitting 1 is separated from the first base 801. When the lifting part 803 moves along the Z direction to the preset position in the positive direction, the third driving part 804 drives the translation part 802 to drive the lifting part 803 and the pipe fitting 1 to move along the Y direction in the positive direction, so that the pipe fitting 1 positioned in the second positioning groove 8031 moves to the first positioning groove 8011 of the next processing station directly above. When the pipe fitting 1 moves to the first positioning groove 8011 of the next processing station directly above, that is, the pipe fitting 1 moves to align the first positioning groove 8011 of the next processing station, the fourth driving part 805 drives the lifting part 803 to move along the Z direction in the reverse direction to drop, so that the pipe fitting 1 is positioned in the first positioning groove 8011 and the second positioning groove 8031 at the same time, and the fourth driving part 805 continues to drive the lifting part 803 to move along the Z direction in the reverse direction to drop, so that the pipe fitting 1 is separated from the lifting part 803. When the pipe fitting 1 is separated from the lifting part 803 and the lifting part 803 drops to the preset position, the third driving part 804 drives the translation part 802 to drive the lifting part 803 to move along the Y direction in the reverse direction to return to the previous station, so that the second positioning groove 8031 aligns with the pipe fitting 1 of the station, and then the pipe fitting 1 is lifted and translated to be conveyed.

[0057] In some examples, in order to quickly position the pipe fitting 1 and avoid movement or rotation of the pipe fitting 1 after positioning, please refer to Figure 11 As shown, the first positioning groove 8011 is configured as a V-shaped groove structure. In some examples, the first base 801 further comprises a first positioning block 8012 fixed to the top of the first base 801, and the first positioning groove 8011 is formed on the top of the first positioning block 8012. In order to avoid scratching the pipe fitting 1, the first positioning block 8012 is made of non-metallic material, such as PEEK (polyether ether ketone) material.

[0058] In some examples, in order to quickly position the pipe 1 and avoid the pipe 1 from moving or rotating during the carrying process, please refer to Figure 11 As shown in the figure, the second positioning groove 8031 is configured as a V-shaped groove structure. In some examples, the lifting part 803 further comprises a second positioning block 8032 fixed to the top of the lifting part 803, and the second positioning groove 8031 is opened on the top of the second positioning block 8032. In order to avoid scratching the pipe 1, the second positioning block 8032 is made of non-metallic material, such as PEEK (Polyether Ether Ketone) material.

[0059] In some examples, in order to make the translation part 802 move more stably along the Y direction, please refer to Figure 9 As shown in the figure, the first base 801 is fixed with a third sliding rail 8013 extending along the Y direction, and the translation part 802 is fixed with a third sliding block 8021 slidingly matched with the third sliding rail 8013.

[0060] In some examples, in order to make the lifting part 803 move more stably along the Z direction, please refer to Figure 9 As shown in the figure, the translation part 802 is fixed with a fourth sliding rail 8022 extending along the Z direction, and the lifting part 803 is fixed with a fourth sliding block 8033 slidingly matched with the fourth sliding rail 8022.

[0061] In some examples, in order to effectively limit the movement range of the lifting part 803 along the Z direction, please refer to Figure 11 As shown in the figure, the lifting part 803 is opened with a limiting hole 8034 extending along the Z direction, and the translation part 802 is fixed with a limiting column 8023 matched with the limiting hole 8034. When the lifting part 803 moves along the Z direction on the translation part 802, the limiting hole 8034 moves along the Z direction relative to the limiting column 8023. If the lifting part 803 moves forward along the Z direction to the bottom of the limiting hole 8034 and abuts against the limiting column 8023, the limiting column 8023 limits the lifting part 803, so that the lifting part 803 cannot continue to move forward along the Z direction. If the lifting part 803 moves reversely along the Z direction to the top of the limiting hole 8034 and abuts against the limiting column 8023, the limiting column 8023 limits the lifting part 803, so that the lifting part 803 cannot continue to move reversely along the Z direction.

[0062] In one example, please refer to Figure 11 The third driving part 804 is a gas cylinder, the cylinder body of the third driving part 804 is fixed with the first base 801, and the piston rod of the third driving part 804 is fixed with the translation part 802. In other embodiments, the third driving part 804 can also be other structures, as long as it can drive the translation part 802 to move along the Y direction.

[0063] In one example, please refer to Figure 11The fourth driving part 805 is a cylinder, the cylinder body of the fourth driving part 805 is fixed with the translation part 802, and the piston rod of the fourth driving part 805 is fixed with the lifting part 803. In other embodiments, the fourth driving part 805 can also have other structures as long as it can drive the lifting part 803 to move along the Z direction.

[0064] In some examples, in order to improve the universality of the rod pulling device, make the rod pulling device suitable for pipes 1 of different lengths, and make the intermittent carrying mechanism suitable for carrying pipes 1 of different lengths, please refer to Figure 9 and Figure 10 The intermittent carrying mechanism further comprises a tenth driving part 9, which is used to drive the intermittent moving part 8a to move along the X direction on the rack 7, and the intermittent moving part 8b is fixedly connected with the rack 7 and cannot move relative to the rack 7. Before using the rod pulling device, the tenth driving part 9 can be used to drive the intermittent moving part 8a to move along the X direction, so as to adjust the distance between the two intermittent moving parts 8, and make the distance match the pipe 1 to be processed.

[0065] In one example, please refer to Figure 9 and Figure 10 The tenth driving part 9 is a lead screw module, the tenth driving part 9 is fixed on the rack 7, and the first base 801 of the intermittent moving part 8a is fixed on the sliding table 901 of the tenth driving part 9. When it is needed to reduce the distance between the two intermittent moving parts 8, the tenth driving part 9 is used to drive the intermittent moving part 8a to move along the X direction in the forward direction. When it is needed to increase the distance between the two intermittent moving parts 8, the tenth driving part 9 is used to drive the intermittent moving part 8a to move along the X direction in the reverse direction. In other embodiments, the tenth driving part 9 can also have other structures as long as it can adjust the distance between the two intermittent moving parts 8.

[0066] In one example, in order to avoid that the length of the pipe 1 to be processed in the current batch is different from the length of the pipe 1 processed in the last batch, at least one structure in the rod pulling assembly is adjusted in position according to the length of the pipe 1 to adapt to the pipe 1, please refer to Figure 13 The pipe clamping part 2 is fixed on the first base 801 of the intermittent moving part 8a, and when the intermittent moving part 8a moves along the X direction to adjust the position, the pipe clamping part 2 moves together with the intermittent moving part 8a to adapt to the pipe 1, without the need to additionally adjust the position of the structure in the rod pulling assembly on the rack 7, thereby improving the production efficiency and saving time and effort.

[0067] In one example, in order to make the intermittent moving part 8a move more stably, please refer to Figure 9 and Figure 10 The first base 801 of the intermittent moving part 8a which can move along the X direction is fixed with a seventh sliding block 8016 at the bottom, and the rack 7 is provided with a seventh sliding rail 708 which slidably cooperates with the seventh sliding block 8016 and extends along the X direction.

[0068] In some preferred embodiments, referring to Figure 13 , the processing station further comprises an X-direction positioning station 706, which is arranged between the feeding station 701 and the rod pulling station 703. The rod pulling device further comprises an X-direction positioning assembly arranged in the X-direction positioning station 706, which is used for positioning the pipe 1 in the X direction, so that the pipe 1 and / or the mandrel 103 can be quickly and accurately clamped in the subsequent processing procedure, and the processing precision of the subsequent processing procedure is also improved. The X-direction positioning assembly comprises a fixed positioning member 10 and a movable positioning member 11, which are respectively connected to the rack 7. The movable positioning member 11 comprises a movable positioning part 1101 and a fifth driving part 1102 for driving the movable positioning part 1101 to move in the X direction. Under the driving of the fifth driving part 1102, the movable positioning part 1101 can move in the X direction to push the pipe 1, so that the pipe 1 is simultaneously abutted against the movable positioning part 1101 and the fixed positioning member 10 to position the pipe 1 in the X direction, as shown in Figure 13 .

[0069] In some examples, referring to Figure 13 , the fixed positioning member 10 comprises a baffle 1001 fixed on the fixed positioning member 10. When the movable positioning part 1101 pushes the pipe 1 to move reversely in the X direction to abut against the baffle 1001, the X-direction positioning of the pipe 1 is completed. The fifth driving part 1102 drives the movable positioning part 1101 to move reversely in the X direction, so that the movable positioning part 1101 is separated from the pipe 1.

[0070] In one example, referring to Figure 3 and Figure 13 , the fifth driving part 1102 is a pneumatic cylinder, the cylinder body of the fifth driving part 1102 is fixed on the first base 801 of the intermittent moving member 8b, and the piston rod of the fifth driving part 1102 is fixed with the movable positioning part 1101. The fifth driving part 1102 adopts a precision pressure reducing valve to adjust the pushing force, which can prevent the pipe 1 from being deformed by pushing.

[0071] In one example, in order to avoid that the length of the pipe 1 in the current batch processing is different from that of the pipe 1 in the last batch processing, at least one structure in the X-direction positioning assembly is individually adjusted in position according to the length of the pipe 1 to adapt to the pipe 1, referring to Figure 13 , the fixed positioning member 10 is fixed on the first base 801 of the intermittent moving member 8a. When the intermittent moving member 8a moves in the X direction to adjust the position, the fixed positioning member 10 moves together with the intermittent moving member 8a to adapt to the pipe 1, without the need to additionally adjust the position of the structure in the X-direction positioning assembly on the rack 7, which improves the production efficiency and saves time and effort.

[0072] In one example, in order to detect whether the X-direction positioning station 706 has a pipe 1 waiting for processing, prevent empty material, the X-direction positioning assembly further comprises a third photoelectric switch, the third photoelectric switch is fixed on the fixed positioning member 10 and located at one side of the X-direction positive side of the baffle 1001, used to trigger the movable positioning member 11 to work, when the third photoelectric switch detects that there is a pipe 1 located at one side of the X-direction positive side of the baffle 1001, the fifth driving part 1102 drives the movable positioning part 1101 to move along the X-direction negative side to push the pipe 1, until the pipe 1 is in contact with the movable positioning part 1101 and the baffle 1001 at the same time, the X-direction positioning of the pipe 1 is completed, as shown in Figure 13 .

[0073] Since the pipe 1 becomes soft after sintering, the tail section 102 of the pipe 1 is easy to deform and bend, causing the pipe 1 to be unable to be accurately positioned in the subsequent processing procedure. In order to solve this problem, in some preferred embodiments, please refer to Figure 3 , Figure 8 and Figures 13 to 16 , the processing station further comprises a straightening station 704, the straightening station 704 is arranged between the feeding station 701 and the rod pulling station 703. The rod pulling device further comprises a straightening assembly 15, the straightening assembly 15 is arranged at the straightening station 704, the straightening assembly 15 is used to straighten the tail section 102 of the pipe 1, the straightening assembly 15 comprises a first Z-direction clamping part 1501, a second Z-direction clamping part 1502, a Y-direction clamping part 1503 and a sixth driving part 1504. The sixth driving part 1504 is connected to the rack 7, used to drive the first Z-direction clamping part 1501 and the second Z-direction clamping part 1502 to move towards each other to straighten the pipe 1 along the Z-direction, the Y-direction clamping part 1503 is arranged on the first Z-direction clamping part 1501, used to straighten the pipe 1 along the Y-direction.

[0074] In one example, the straightening assembly 15 further comprises a second base 1505 connected to the frame 7, and a rotating block 1506, the sixth driving part 1504 is a cylinder, the cylinder body of the sixth driving part 1504 is fixed to the end of the second base 1505 in the Y direction reversely, the middle part of the rotating block 1506 is rotatably connected to the end of the second base 1505 in the Y direction positively through a rotating shaft 1507, and the two ends of the rotating block 1506 are respectively provided with a first long hole 15061 and a second long hole 15062. The first Z direction clamping part 1501 comprises a first Z direction clamping plate 15011 and a first connecting plate 15012 fixedly integrated, the first connecting plate 15012 is fixed to the end of the first Z direction clamping plate 15011 in the X direction reversely, the end of the first connecting plate 15012 in the Y direction positively is fixed with a first sliding column 15013, the first sliding column 15013 is limited in and in sliding fit with the first long hole 15061, and the end of the first Z direction clamping plate 15011 in the Y direction reversely is fixed with the piston rod of the sixth driving part 1504. The second Z direction clamping part 1502 comprises a second Z direction clamping plate 15021 and a second connecting plate 15022 fixedly integrated, the second connecting plate 15022 is fixed to the end of the second Z direction clamping plate 15021 in the X direction positively, the end of the second connecting plate 15022 in the Y direction positively is fixed with a second sliding column 15023, the second sliding column 15023 is limited in and in sliding fit with the second long hole 15062. The Y direction clamping part 1503 is fixed to the end of the first Z direction clamping plate 15011 in the Z direction positively, the Y direction clamping part 1503 is a parallel air claw, the Y direction clamping part 1503 is provided with a first Y direction clamping arm 15031 and a second Y direction clamping arm 15032, under the action of the Y direction clamping part 1503, the first Y direction clamping arm 15031 and the second Y direction clamping arm 15032 can move towards each other along the Y direction to clamp the tail section 102 of the pipe 1, so as to achieve the purpose of straightening the pipe 1 along the Y direction. After straightening, under the action of the Y direction clamping part 1503, the first Y direction clamping arm 15031 and the second Y direction clamping arm 15032 can also move away from each other along the Y direction to release the tail section 102 of the pipe 1.

[0075] In the present example, when the piston rod of the sixth driving part 1504 reversely retracts along the Z direction, the first Z direction clamping part 1501 moves reversely along the Z direction with the piston rod of the sixth driving part 1504, thereby driving the rotating block 1506 to rotate, further driving the second Z direction clamping part 1502 to move forwardly along the Z direction, the first Z direction clamping plate 15011 and the second Z direction clamping plate 15021 move towards each other, clamping the tail section 102 of the pipe 1, and straightening the tail section 102 of the pipe 1 along the Z direction. Then the Y direction clamping part 1503 drives the first Y direction clamping arm 15031 and the second Y direction clamping arm 15032 to move towards each other along the Y direction to clamp the tail section 102 of the pipe 1, and straighten the tail section 102 of the pipe 1 along the Y direction. After straightening, the Y direction clamping part 1503 drives the first Y direction clamping arm 15031 and the second Y direction clamping arm 15032 to move away from each other along the Y direction to release the tail section 102 of the pipe 1. Then the piston rod of the sixth driving part 1504 extends forwardly along the Z direction, the first Z direction clamping part 1501 moves forwardly along the Z direction with the piston rod of the sixth driving part 1504, thereby driving the rotating block 1506 to rotate, further driving the second Z direction clamping part 1502 to move reversely along the Z direction, the first Z direction clamping plate 15011 and the second Z direction clamping plate 15021 move away from each other, increasing the gap between the first Z direction clamping plate 15011 and the second Z direction clamping plate 15021, not only can release the pipe 1, but also avoid the pipe 1, and do not interfere with the intermittent conveying mechanism conveying the pipe 1.

[0076] In the present example, in order to facilitate the first Z direction clamping part 1501 and the second Z direction clamping part 1502 can be accurately docked, and can be more smoothly moved along the Z direction, please refer to Figure 14 and Figure 15 It is shown that the side of the X direction positive of the second base 1505 is provided with a second sliding groove 15052 extending along the Z direction, and the side of the X direction negative of the second base 1505 is provided with a first sliding groove extending along the Z direction, the first sliding groove is the same structure as the second sliding groove 15052, the first connecting plate 15012 is fixed with a fifth sliding block slidingly matched with the first sliding groove, and the second connecting plate 15022 is fixed with a sixth sliding block slidingly matched with the second sliding groove 15052, the fifth sliding block and the sixth sliding block are not shown in Figure 14 and Figure 15 When the sixth driving part 1504 drives the first Z direction clamping part 1501 and the second Z direction clamping part 1502 to move along the Z direction, the fifth sliding block and the sixth sliding block slide along the Z direction in the first sliding groove and the second sliding groove 15052 respectively.

[0077] In some more preferable embodiments, in order to avoid deforming the pipe 1 clamped by the clamp, the straightening assembly 15 further comprises a limiting column 1508 extending along the X direction, the limiting column 1508 is fixed on the first connecting plate 15012 and is arranged close to the end face of the first Z direction clamping plate 15011 in the opposite direction of the Z direction, the limiting column 1508 is used to limit the minimum distance between the first Z direction clamping plate 15011 and the second Z direction clamping plate 15021, and the limiting column 1508 is also used to limit the minimum distance between the first Y direction clamping arm 15031 and the second Y direction clamping arm 15032.

[0078] In one example, in order to avoid the length of the pipe 1 in the current batch of processing being different from the length of the pipe 1 in the last batch of processing, the position of the straightening assembly 15 is adjusted according to the length of the pipe 1 to adapt to the pipe 1, please refer to Figure 8 and 13 , the straightening assembly 15 is fixed on the first base 801 of the intermittent moving part 8a, when the intermittent moving part 8a moves to adjust the position along the X direction, the straightening assembly 15 moves together with the intermittent moving part 8a to adapt to the pipe 1, without the need to additionally adjust the position of the straightening assembly 15 on the rack 7, thereby improving the production efficiency and saving time and effort.

[0079] In some preferable embodiments, the processing station further comprises a marking station 705, in order to avoid deforming the pipe 1 clamped by the clamp after the rod pulling process, the marking station 705 is arranged between the feeding station 701 and the rod pulling station 703, please refer to Figures 6 to 8 , and Figure 12 and Figure 13 , the rod pulling device further comprises a marking assembly, the marking assembly is arranged in the marking station 705 and is used to mark the to-be-marked area 104 of the pipe 1. The marking assembly comprises a laser marking part 12, the laser marking part 12 is connected to the rack 7, and the laser marking part 12 is used to mark the to-be-marked area 104 of the pipe 1.

[0080] In some examples, please refer to Figure 8 , the laser marking part 12 comprises a laser marking head 1201 used for marking and an eleventh driving part 1202 used for driving the laser marking head 1201 to move along the Z direction, under the driving of the eleventh driving part 1202, the laser marking head 1201 can move up and down to adjust the distance between the laser marking head 1201 and the pipe 1 in the marking station 705 as needed.

[0081] In one example, the eleventh driving part 1202 is a lead screw module, the eleventh driving part 1202 is fixed on the rack 7, and the laser marking head 1201 is fixed on the sliding table 12021 of the eleventh driving part 1202, as shown in Figure 8 .

[0082] Since it is difficult to ensure that the region 104 to be marked of the pipe 1 is exactly aligned with the laser marking head 1201 when the pipe 1 is transported to the marking station 705, if the laser marking is directly performed, the marking line 105 generated by the marking may be located outside the region 104 to be marked of the pipe 1, which seriously affects the marking precision. In order to solve this problem and ensure that the marking line 105 generated by the marking is located in the region 104 to be marked of the pipe 1, in some preferred embodiments, as shown in Figures 6 to 8 , and Figure 12 and Figure 13 , the marking assembly further comprises a rotating clamp 13 and a CCD camera 14, the rotating clamp 13 and the CCD camera 14 are respectively connected to the rack 7, the CCD camera 14 is used to acquire the image of the pipe 1, and the rotating clamp 13 comprises a rotating clamping part 1301 and an eighth driving part 1302 used to drive the rotating clamping part 1301 to move along the X direction. The rotating clamp 13 is used to clamp the pipe 1. If the image of the pipe 1 acquired by the CCD camera 14 shows that the region 104 to be marked of the pipe 1 is not oriented towards the Z direction, that is, the region 104 to be marked of the pipe 1 is not aligned with the laser marking head 1201, the rotating clamp 13 clamps the pipe 1 to rotate so that the region 104 to be marked of the pipe 1 is aligned with the laser marking head 1201, and then the laser marking head 1201 performs marking again, thereby ensuring the marking precision.

[0083] In the present embodiment, after the pipe 1 is positioned in the first positioning groove 8011 of the marking station 705, the eighth driving part 1302 drives the rotating clamping part 1301 to move along the X direction towards the pipe 1, so that the rotating clamping part 1301 clamps the pipe 1. After the marking is completed, the rotating clamping part 1301 releases the pipe 1, and the eighth driving part 1302 drives the rotating clamping part 1301 to move along the X direction away from the pipe 1, so as to avoid interfering with the movement of the pipe 1 to the next station.

[0084] In one example, the rotating clamping part 1301 is a rotating clamp jaw, and the eighth driving part 1302 is a sliding table cylinder, and the rotating clamp jaw is arranged on the sliding table 13021 of the eighth driving part 1302, as shown in Figure 8 . In other embodiments, the rotating clamping part 1301 can also have other structures, as long as it can clamp the pipe 1 and rotate the pipe 1 to align the region 104 to be marked with the laser marking head 1201, and the eighth driving part 1302 can also have other structures, as long as it can drive the rotating clamping part 1301 to move along the X direction.

[0085] In one example, in order to avoid the length of the pipe 1 in the current batch of processing being different from the length of the pipe 1 in the last batch of processing, at least one structure in the marking assembly is individually adjusted according to the length of the pipe 1 to adapt to the pipe 1, please refer to Figure 8 and 13The rotating clamping piece 13 is fixed on the first base 801 of the intermittent moving piece 8a. When the intermittent moving piece 8a moves along the X direction to adjust the position, the rotating clamping piece 13 moves with the intermittent moving piece 8a to adapt to the pipe 1. Without adjusting the position of the structure in the marking assembly on the rack 7, the production efficiency is improved, and time and labor are saved.

[0086] After high-temperature sintering, the mandrel 103 is fixed in the pipe 1 under the action of the shaped metal powder, so that the mandrel 103 is not easy to pull out of the pipe 1, and the pulling force of the mandrel 103 is increased to forcibly pull the mandrel 103, which is easy to damage the mandrel 103 and the pipe 1. In order to solve this problem, in some preferred embodiments, please refer to Figure 13 The processing station further comprises a mandrel loosening station 707 arranged between the feeding station 701 and the mandrel pulling station 703, and the mandrel pulling device further comprises a mandrel loosening assembly arranged in the mandrel loosening station 707 and used for loosening the mandrel 103 relative to the pipe 1 to facilitate subsequent mandrel pulling. The mandrel loosening assembly comprises a limiting piece 16 and a knocking piece 17 fixed on the rack 7, respectively. The limiting piece 16 is used for supporting the pipe 1 and limiting the tail section 102 of the pipe 1. The limiting groove 1601 matched with the tail section 102 of the pipe 1 is arranged on the limiting piece 16. The knocking piece 17 has a knocking part 1701 capable of moving along the X direction to knock the end of the mandrel 103.

[0087] In one example, the width of the limiting groove 1601 in the Y direction is the width of the limiting groove 1601. In order to avoid scratching the pipe 1, the width of the limiting groove 1601 gradually increases along the positive direction of the X direction, as shown in Figure 13 .

[0088] In one example, in order to ensure that the limiting piece 16 does not interfere with the handling of the pipe 1 when the limiting piece 16 is not used, the limiting piece 16 comprises a limiting seat 1602 and a thirteenth driving part 1603. The thirteenth driving part 1603 is a sliding table air cylinder. The limiting seat 1602 is fixed on the sliding table 16031 of the thirteenth driving part 1603. The limiting groove 1601 is arranged on the limiting seat 1602, as shown in Figure 13 .

[0089] In some examples, in order to avoid excessive knocking force damaging the mandrel 103 and the pipe 1, the knocking part 1701 comprises a sleeve 17011, a knocking block 17012 and a spring. One end of the knocking block 17012 in the positive direction of the X direction is limited in the sleeve 17011. The spring is limited between the one end of the knocking block 17012 in the positive direction of the X direction and the sleeve 17011. The spring can stretch and contract along the X direction. When knocking the mandrel 103, the knocking block 17012 can stretch and contract relative to the sleeve 17011 along the X direction under the action of the spring, which plays a certain buffering role, avoiding excessive knocking force damaging the mandrel 103 and the pipe 1.

[0090] In some examples, in order to facilitate the movement of the knocking part 1701 along the X direction to knock the end of the mandrel 103, please refer to Figure 3 As shown, the knocking part 17 further comprises a fourteenth driving part 1702 for driving the knocking part 1701 to move along the X direction in the opposite direction to knock the end of the mandrel 103.

[0091] In one example, please refer to Figure 3 As shown, the fourteenth driving part 1702 is a cylinder, the fourteenth driving part 1702 is fixed on the rack 7, and the knocking part 1701 is fixed with the piston rod of the fourteenth driving part 1702. In other embodiments, the fourteenth driving part 1702 can also be other structures, as long as it can drive the knocking part 1701 to move along the X direction to knock the end of the mandrel 103.

[0092] In one example, in order to avoid the length of the pipe 1 in the current batch of processing being different from the length of the pipe 1 in the last batch of processing, the position of at least one structure in the mandrel loosening assembly is adjusted according to the length of the pipe 1 to adapt to the pipe 1, please refer to 13, the limiting part 16 is fixed on the first base 801 of the intermittent moving part 8a, when the intermittent moving part 8a moves along the X direction to adjust the position, the limiting part 16 moves with the intermittent moving part 8a to adapt to the pipe 1, without the need to additionally adjust the position of the structure of the mandrel loosening assembly on the rack 7, improving the production efficiency, saving time and effort.

[0093] In some preferable embodiments, in order to avoid the movement of the pipe 1 before the clamping structure of each station clamps the pipe 1 or the core rod 103, or the large displacement movement of the pipe 1 during the processing, the pulling rod device further comprises a plurality of auxiliary clamping assemblies 18, at least one processing station is provided with an auxiliary clamping assembly 18, and the auxiliary clamping assemblies 18 of each processing station are independently arranged and independently operated. Each auxiliary clamping assembly 18 comprises an auxiliary clamping part 1801 for clamping the pipe 1 and a seventh driving part 1802 for driving the auxiliary clamping part 1801 to move along the Z direction. When the auxiliary clamping part 1801 is needed to assist in clamping the pipe 1, the seventh driving part 1802 drives the auxiliary clamping part 1801 to move out along the positive direction of the Z direction to cooperate with the pipe 1. When the auxiliary clamping part 1801 is not needed, the seventh driving part 1802 drives the auxiliary clamping part 1801 to move in along the negative direction of the Z direction to avoid the pipe 1. In some examples, the auxiliary clamping part 1801 is a parallel air claw, and the pressure of the auxiliary clamping part 1801 is adjusted by a precision pressure regulating valve. Two auxiliary clamping blocks 18011 used in cooperation are fixed on the auxiliary clamping part 1801. In order to avoid scratching the pipe 1, the auxiliary clamping blocks 18011 are made of non-metallic materials, such as POM (polyoxymethylene) materials. Under the action of the auxiliary clamping part 1801, the two auxiliary clamping blocks 18011 can move towards each other along the Y direction to assist in clamping the pipe 1. Under the action of the auxiliary clamping part 1801, the two auxiliary clamping blocks 18011 can move away from each other along the Y direction to release the pipe 1. In some examples, the seventh driving part 1802 is an electric cylinder. When processing pipes 1 of different diameters, the lifting height of the seventh driving part 1802 is different, and the electric cylinder can be suitable for pipes 1 of different diameters.

[0094] In the present example, two auxiliary clamping grooves 180111 corresponding are formed on the two auxiliary clamping blocks 18011 used in cooperation. When the two auxiliary clamping grooves 180111 are used to clamp the pipe 1, the two auxiliary clamping grooves 180111 clamp the pipe 1 in cooperation. In order to avoid affecting the processing of the pipe 1, for example, when the two auxiliary clamping grooves 180111 clamp the pipe 1 in cooperation during the pulling rod process, there is a gap between the groove walls of the two auxiliary clamping grooves 180111 and the pipe 1. The auxiliary clamping assembly 18 only assists in clamping the pipe 1, and does not completely clamp the pipe 1 to fix the pipe 1.

[0095] In some examples, when the auxiliary clamping assembly 18 assists in clamping the pipe 1 at the marking station 705, in order to avoid the auxiliary clamping assembly 18 affecting the rotation of the rotating clamping piece 13, four rollers 18012 are arranged on the auxiliary clamping part 1801. When the auxiliary clamping part 1801 clamps the pipe 1, the four rollers 18012 clamp the pipe 1 in cooperation and do not interfere with the rotation of the rotating clamping piece 13. When the pipe 1 rotates, the four rollers 18012 rotate with the pipe 1. Please refer to Figure 13As shown, two rollers 18012 are arranged at the lower end of the Figure 13 As shown, the lower end of the two rollers 18012 is not shown in Figure 13 .

[0096] In some preferred embodiments, please refer to Figure 2 、 Figure 3 、 Figures 6 to 8 、 Figure 12 and Figure 13 , the rod pulling device comprises a feeding assembly arranged at the feeding station 701, the feeding assembly comprises a conveying member 19 and a conveying member 20, the conveying member 19 is used for conveying the pipe 1, and the conveying member 20 is arranged between the conveying member 19 and the intermittent carrying mechanism. The conveying member 20 can be moved along the Z direction to be respectively connected with the conveying member 19 and the intermittent carrying mechanism, so as to convey the pipe 1 conveyed by the conveying member 19 to the intermittent carrying mechanism.

[0097] In some more preferred embodiments, please refer to Figure 3 、 Figure 8 and Figure 13 , the conveying member 20 comprises a jacking part 2001 and a sixteenth driving part 2002, the sixteenth driving part 2002 is fixed on the rack 7, the jacking part 2001 is arranged on the sixteenth driving part 2002, the jacking part 2001 is provided with a third positioning groove 20011 at one end of the positive direction of the Z direction, and the jacking part 2001 is also provided with a first guide inclined surface 20012 connected with the third positioning groove 20011, so as to facilitate the pipe 1 to fall into the third positioning groove 20011 along the first guide inclined surface 20012 from the conveying member 19. Under the action of the sixteenth driving part 2002, the jacking part 2001 can be moved along the reverse direction of the Z direction to be connected with the conveying member 19, so as to receive the pipe 1 conveyed by the conveying member 19. The jacking part 2001 receives one pipe 1 at a time, after receiving the pipe 1, the conveying member 19 pauses to convey the pipe 1, and under the action of the sixteenth driving part 2002, the jacking part 2001 can also be moved along the positive direction of the Z direction to a preset height. When the lifting part 803 moves along the Y direction to the second positioning groove 8031 at the reverse end of the Y direction of the lifting part 803, the second positioning groove 8031 is aligned with the third positioning groove 20011 of the jacking part 2001 in the Y direction, and then the lifting part 803 moves along the positive direction of the Z direction, as shown in Figure 8As shown, when the lifting part 803 moves to the second positioning groove 8031 at the same height as the third positioning groove 20011, the pipe 1 conveyed by the jacking part 2001 is received, at which time the pipe 1 in the third positioning groove 20011 is positioned in the second positioning groove 8031 at the same time. The lifting part 803 continues to move forward in the Z direction to the preset height, and then the translation part 802 moves forward in the Y direction to carry the pipe 1. After the lifting part 803 receives the pipe 1 conveyed by the jacking part 2001, the jacking part 2001 is lowered to be docked with the conveying part 19, and the conveying part 19 continues to start conveying the pipe 1, and the jacking part 2001 receives the next pipe 1.

[0098] In some more preferred embodiments, in order to convey pipe 1 of different lengths, the width of the conveying part 19 in the X direction is adjustable. In order to preliminarily position the pipe 1 in the X direction when conveying the pipe 1, please refer to Figure 3 、 Figure 8 and Figure 13 The feeding assembly further comprises two pre-positioning parts 21, which are respectively arranged at the two ends of the conveying part 20 in the X direction. Each pre-positioning part 21 comprises a pre-positioning part 2101 and a seventeenth driving part 2102. The seventeenth driving part 2102 is fixed on the rack 7, and the pre-positioning part 2101 is arranged on the seventeenth driving part 2102. The seventeenth driving part 2102 is used to drive the pre-positioning part 2101 to move in the X direction to adjust the position, so that the pre-positioning part 2101 adjusts the position according to the width and position of the conveying part 19 in the X direction. In one example, the seventeenth driving part 2102 is a pneumatic cylinder, and the pre-positioning part 2101 is fixed on the piston rod of the seventeenth driving part 2102.

[0099] In some preferred embodiments, please refer to Figures 6 to 8 and Figure 12 The pull rod device further comprises a first storage bin 22, a second storage bin 23 and a discharging assembly 24 respectively arranged at the discharging station 702. The first storage bin 22 is docked with the intermittent carrying mechanism and is used to store the pipe 1 after the core rod 103 is pulled out. The second storage bin 23 is used to store the pulled-out core rod 103. The discharging assembly 24 is used to move the pulled-out core rod 103 into the second storage bin 23.

[0100] In some more preferred embodiments, in order to facilitate discharging, please refer to Figures 6 to 8 and Figure 12The end of the Y positive direction of the first base 801 is formed with a second guide slope 8014 for facilitating the pipe 1 to fall into the first hopper 22. When the translation part 802 drives the lifting part 803 to transport the finished pipe 1 along the Y positive direction to above the second guide slope 8014, the lifting part 803 moves along the Z negative direction to make the finished pipe 1 contact with the second guide slope 8014. At this time, the lifting part 803 continues to move along the Z negative direction, and the pipe 1 completely separates from the second positioning groove 8031 and falls into the first hopper 22 along the second guide slope 8014.

[0101] In some more preferred embodiments, please refer to Figure 2 、 Figure 3 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 12 and Figure 13 The opening of the first hopper 22 is fixed with a first pair of light barriers 2201 for detecting whether the first hopper 22 is full of pipes 1, so as to facilitate timely replacement of the first hopper 22. In some examples, the first hopper 22 is of a drawer type structure, and when the first hopper 22 is full of pipes 1, the first hopper 22 can be pulled out for replacement. The first hopper 22 can be pulled out along the X negative direction, and the two ends of the first hopper 22 along the X direction are fixed with first handle structures 2202 for facilitating pulling. Similarly, the second hopper 23 can also be provided with a second pair of light barriers 2301, and the second hopper 23 can also be provided with a drawer type structure, and the second hopper 23 can also be provided with a second handle structure 2302.

[0102] In some more preferred embodiments, please refer to Figure 6 、 Figure 7 、 Figure 8 、 Figure 12 and Figure 13 The blanking assembly 24 comprises a blanking clamp 2401, an eighteenth driving part 2402 and a nineteenth driving part 2403. The eighteenth driving part 2402 is used to drive the blanking clamp 2401 to move along the Y direction, and the nineteenth driving part 2403 is used to drive the blanking clamp 2401 to move along the Z direction. Under the driving of the eighteenth driving part 2402 and the nineteenth driving part 2403, the blanking clamp 2401 can move close to the pulled-out core rod 103 clamped on the core rod clamp 3, so as to facilitate the blanking clamp 2401 to clamp the core rod 103. After the blanking clamp 2401 clamps the pulled-out core rod 103 clamped on the core rod clamp 3, the core rod clamp 3 releases the core rod 103 and moves along the X positive direction. Under the driving of the eighteenth driving part 2402 and the nineteenth driving part 2403, the blanking clamp 2401 moves to the second hopper 23, the blanking clamp 2401 releases the core rod 103, and the core rod 103 falls into the second hopper 23.

[0103] In one example, please refer to Figure 8 The eighteenth driving part 2402 is a screw module, and the nineteenth driving part 2403 is a slide cylinder. The nineteenth driving part 2403 is fixed on the slide table 24021 of the eighteenth driving part 2402, and the blanking clamp 2401 is fixed on the slide table 24031 of the nineteenth driving part 2403.

[0104] In some examples, please refer to Figure 2 , Figure 3 , Figure 6 , Figure 7 , Figure 8 and Figure 12 , the pull rod device further comprises a third material bin 25 arranged at the blanking station 702, and the third material bin 25 is used for storing the pipe 1 whose core rod 103 cannot be pulled out, so as to facilitate subsequent unified processing. In one example, when the pulling force sensor 406 receives a pulling force exceeding a preset value, the core rod pulling-out device 4 stops pulling the core rod 103, ends the production operation of the pipe 1, the pipe clamping device 2 loosens the pipe 1 and moves reversely to the reset position along the X direction, the blanking assembly 24 moves to clamp the pipe 1, then the core rod clamping device 3 loosens the pipe 1, and the blanking assembly 24 moves to put the pipe 1 into the third material bin 25. Similar to the first material bin 22 and the second material bin 23, the third material bin 25 can also be provided with a third pair of photoelectric switches 2501, the third material bin 25 can also be provided with a drawer type structure, and the third material bin 25 can also be provided with a third handle structure 2502.

[0105] In some examples, the rack 7 has the feeding station 701, the X direction positioning station 706, the straightening station 704, the marking station 705, the core rod loosening station 707, the pull rod station 703 and the blanking station 702 arranged in sequence along the conveying direction of the intermittent conveying mechanism, which not only does not easily damage the pipe 1 and the core rod 103, but also effectively ensures the machining precision of the marking process, and is more easy to pull the rod.

[0106] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the description.

[0107] The above embodiments only express the preferred embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A rod-pulling device, characterized in that, It includes: A mandrel extraction assembly for extracting a mandrel from a pipe fitting along the X-axis includes a pipe fitting clamp, a mandrel clamp, and a mandrel extraction component. The pipe fitting clamp is used to hold the pipe fitting. The mandrel clamp includes a mandrel clamping portion and a connecting portion fixedly connected; the mandrel clamping portion is used to clamp the mandrel, and a first guiding structure is fixed to the connecting portion. The mandrel extraction component includes a first base, a second base, a first driving portion, a second driving portion, a push-pull force sensor, and a second guiding structure that cooperates with the first guiding structure. The first base is connected via a floating joint. Connected to the connecting part, the first driving part is used to drive the second guiding structure to move to abut against the first guiding structure so that the mandrel clamp is in a guiding state, or to separate from the first guiding structure so that the mandrel clamp is in a floating state. The second base is slidably connected to the lower end of the first base. One end of the push-pull force sensor in the X direction is connected to the first base and the other end is connected to the second base. The second driving part is used to drive the second base to move in the X direction to apply a pulling force to the mandrel and pull out the mandrel. It also includes a frame and an intermittent conveying mechanism. The frame has a loading station, at least one processing station, and a unloading station arranged sequentially along the conveying direction of the intermittent conveying mechanism. The processing station includes a rod-pulling station equipped with the rod-pulling assembly. The intermittent conveying mechanism is used to convey the pipe fitting to the next station along the Y direction. The intermittent conveying mechanism includes two parallel and spaced-apart intermittent moving parts. Each intermittent moving part includes a first base, a translation part, and a lifting part connected in sequence, a third driving part that drives the translation part to move along the Y direction on the first base, and a fourth driving part that drives the lifting part to move along the Z direction on the translation part. The first base is connected to the frame and has a first positioning groove. The first positioning groove cooperates with the pipe and is corresponding to each of the processing stations. The lifting part has a second positioning groove that cooperates with the pipe. Under the drive of the fourth driving part, the lifting part can be lifted along the Z direction to position the pipe in the second positioning groove and separate it from the first base, or lowered along the Z direction to position the pipe in the first positioning groove and separate it from the lifting part. Under the drive of the third driving part, the translation part can be moved along the Y direction to align the pipe positioned in the second positioning groove with the first positioning groove of the next processing station. The processing station also includes an X-axis positioning station located between the loading station and the rod pulling station. The rod pulling device also includes an X-axis orientation component. The X-axis positioning component is located at the X-axis positioning station and is used to position the tube in the X-axis direction. The X-axis positioning component includes a fixed positioning component and a movable positioning component respectively connected to the frame. The movable positioning component includes a movable positioning part and a fifth driving part for driving the movable positioning part to move in the X-axis direction. Under the drive of the fifth driving part, the movable positioning part can move in the X-axis direction to push the tube, so that the tube simultaneously abuts against the movable positioning part and the fixed positioning component to position the tube in the X-axis direction.

2. The rod-pulling device as described in claim 1, characterized in that, The pipe fitting includes a body and a tail section that are integrated together. The diameter of the tail section is smaller than the diameter of the body. The processing station also includes a straightening station located between the loading station and the bar-pulling station. The bar-pulling equipment also includes a straightening assembly located at the straightening station for straightening the tail section of the pipe fitting. The straightening assembly includes a first Z-axis clamping part, a second Z-axis clamping part, a Y-axis clamping part, and a sixth driving part. The sixth driving part is connected to the frame and is used to drive the first Z-axis clamping part and the second Z-axis clamping part to move towards each other to straighten the pipe fitting along the Z-axis. The Y-axis clamping part is located on the first Z-axis clamping part and is used to straighten the pipe fitting along the Y-axis.

3. The rod-pulling device as described in claim 1, characterized in that, The processing station also includes a marking station located between the loading station and the rod pulling station. The rod pulling equipment also includes a marking component located at the marking station for marking the area to be marked on the pipe. The marking component includes a CCD camera, a rotating clamping component, and a laser marking component, all connected to the frame. The CCD camera is used to acquire an image of the pipe. The rotating clamping component is used to clamp the pipe and rotate the pipe according to the acquired image so that the area to be marked is aligned with the laser marking component. The laser marking component is used to mark the area to be marked.

4. The rod-pulling device as described in claim 1, characterized in that, The processing station also includes a mandrel loosening station located between the loading station and the mandrel pulling station. The mandrel pulling equipment also includes a mandrel loosening assembly located at the mandrel loosening station for loosening the mandrel relative to the tube. The mandrel loosening assembly includes a limiting member and a striking member respectively connected to the frame. The limiting member has a limiting groove that mates with the tail section of the tube. The striking member has a striking part that can move along the X direction to strike the end of the mandrel.

5. The rod-pulling device as described in claim 1, characterized in that, It also includes several auxiliary clamping components, at least one of the processing stations is provided with the auxiliary clamping components, the auxiliary clamping components include a seventh driving part and an auxiliary clamping part for clamping the pipe, the seventh driving part is used to drive the auxiliary clamping part to move along the Z direction to extend to cooperate with the pipe or retract to avoid the pipe.

6. The rod-pulling device as described in claim 1, characterized in that, It also includes a loading assembly located at the loading station. The loading assembly includes a conveyor and a transfer member. The conveyor is used to transport the pipe fitting. The transfer member is located between the conveyor and the intermittent transport mechanism. The transfer member can move along the Z direction to dock with the conveyor and the intermittent transport mechanism respectively, so as to transfer the pipe fitting transported by the conveyor to the intermittent transport mechanism.

7. The rod-pulling device as described in claim 1, characterized in that, It also includes a first hopper, a second hopper, and a feeding assembly respectively located at the feeding station. The first hopper is connected to the intermittent conveying mechanism and is used to store the tube after the mandrel is pulled out. The second hopper is used to store the pulled-out mandrel. The feeding assembly is used to move the pulled-out mandrel into the second hopper.

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