Pipe contracting equipment

Abstract

The invention discloses pipe shrinking equipment. The pipe shrinking equipment comprises a feeding device, a first pipe shrinking device, a second pipe shrinking device and a carrying device. The feeding device stores pipes, the pipes are transferred to the first limiting mechanism through the carrying device, the pipes are pushed through the first pushing mechanism so that the first ends of the pipes can penetrate into the first pipe shrinking holes of the first pipe shrinking heads, and pipe shrinking of the first ends is completed under driving of the first rotating driver. A pipe with the first end shrunk is transferred to a second limiting mechanism through a carrying device, a second pushing mechanism pushes the pipe to enable the second end of the pipe to penetrate into a second pipe shrinking hole of a second pipe shrinking head, pipe shrinking of the second end is completed under driving of a second rotating driver, and therefore automatic pipe shrinking of the two ends of the pipe is achieved. And the production efficiency and the pipe shrinking precision are improved.

Description

Technical Field

[0001] This application relates to the field of pipe manufacturing technology, and in particular to a pipe shrinking device. Background Technology

[0002] In the field of pipe processing, pipe shrinking is a key process for improving the compatibility of pipe connections and is widely used in industries such as machinery manufacturing and building water supply and drainage. In existing technologies, when shrinking both ends of pipes, a manual loading and unloading operation mode is generally adopted: the operator must first feed one end of the pipe into the processing station of the pipe shrinking machine, and after that end is shrunk, the pipe is manually flipped so that the other end is aligned with the pipe shrinking machine station for secondary processing.

[0003] This processing method relies on repeated manual positioning and handling, which not only increases the labor intensity of operators but also easily leads to inconsistent tube shrinkage dimensions at both ends due to manual positioning errors, affecting the product qualification rate. At the same time, the single-end step-by-step processing procedure prolongs the processing cycle of a single tube, resulting in low overall production efficiency and making it difficult to meet the needs of large-scale production. Therefore, there is an urgent need for a processing solution that can achieve efficient and precise tube shrinkage at both ends. Summary of the Invention

[0004] This application aims to at least solve one of the technical problems existing in the prior art. To this end, this application proposes a tube shrinking device that can realize automated tube shrinking at both ends of a tube, thereby improving production efficiency and tube shrinking accuracy.

[0005] The tube shrinking device according to an embodiment of this application includes: a feeding device, a first tube shrinking device, a second tube shrinking device, and a conveying device.

[0006] A feeding device for storing tubing, the tubing including a first end and a second end distributed radially; The first tube shrinking device includes a first tube shrinking mechanism, a first limiting mechanism, and a first pushing mechanism. The first limiting mechanism is used to restrict the radial movement of the tube. The first tube shrinking mechanism is disposed opposite to the first pushing mechanism. The first tube shrinking mechanism includes a first tube shrinking head and a first rotary driver. The first rotary driver drives and connects to the first tube shrinking head. The first tube shrinking head has a first tube shrinking hole on the side facing the first pushing mechanism. The first pushing mechanism is used to push the second end of the tube at the first limiting mechanism so that the first end of the tube passes through the first tube shrinking hole. The second tube shrinking device includes a second tube shrinking mechanism, a second limiting mechanism, and a second pushing mechanism. The second limiting mechanism is used to restrict the radial movement of the tube. The second tube shrinking mechanism is disposed opposite to the second pushing mechanism. The second tube shrinking mechanism includes a second tube shrinking head and a second rotary driver. The second rotary driver drives and connects to the second tube shrinking head. The second tube shrinking head has a second tube shrinking hole on the side facing the second pushing mechanism. The second pushing mechanism is used to push the first end of the tube at the second limiting mechanism so that the second end of the tube passes through the second tube shrinking hole. A conveying device is movably disposed between the feeding device, the first tube shrinking device, and the second tube shrinking device, for transferring the tube from the feeding device to the first tube shrinking device and the second tube shrinking device in sequence.

[0007] The tube shrinking device according to the embodiments of this application has at least the following beneficial effects: the feeding device stores the tube, the conveying device transfers the tube to the first limiting mechanism, the first pushing mechanism pushes the tube so that the first end of the tube passes through the first shrinking hole of the first shrinking head, and the first end is shrunk under the drive of the first rotary driver. The conveying device transfers the tube with the first end shrunk to the second limiting mechanism, the second pushing mechanism pushes the tube so that the second end of the tube passes through the second shrinking hole of the second shrinking head, and the second end is shrunk under the drive of the second rotary driver, thereby realizing automated tube shrinking at both ends of the tube, improving production efficiency and tube shrinking accuracy.

[0008] According to some embodiments of this application, the feeding device includes a hopper and a top feeding mechanism. The hopper is used to accommodate pipes, and the bottom wall of the hopper forms an inclined surface. A distributing hole is formed on the lower side of the hopper corresponding to the inclined surface. The top feeding mechanism includes a clamping claw, a top feeding plate, and a top feeding driver. The top feeding plate is disposed below the distributing hole, and the clamping claw is disposed on the top feeding plate and located inside the distributing hole. The clamping claw is used to limit the pipes falling into the distributing hole. The top feeding driver drives the top feeding plate to rise, thereby raising the pipes limited by the clamping claw to the feeding position and causing the top feeding plate to block the distributing hole. The conveying device is used to grab the pipes from the feeding position.

[0009] According to some embodiments of this application, the feeding device further includes a positioning mechanism, which is disposed on the side of the feeding position. The positioning mechanism includes a pressure driver, a pressure claw, a positioning driver, and a positioning pin. The pressure driver is driven and connected to the pressure claw to drive the pressure claw to descend and cooperate with the clamping claw to clamp the pipe. The positioning driver is driven and connected to the positioning pin to drive the positioning pin to penetrate into the pipe in a horizontal direction.

[0010] According to some embodiments of this application, the first pushing mechanism includes a first push plate and a first pushing driver. The first push plate is located on the side of the first limiting mechanism away from the first tube shrinking head. The first pushing driver is connected to the first push plate and is used to drive the first push plate closer to the first tube shrinking head so as to push the tube limited by the first limiting mechanism into the first tube shrinking hole. The second pushing mechanism includes a second push plate and a second pushing driver. The second push plate is located on the side of the second limiting mechanism away from the second tube shrinking head. The second pushing driver is connected to the second push plate and is used to drive the second push plate closer to the second tube shrinking head so as to push the tube limited by the second limiting mechanism into the second tube shrinking hole.

[0011] According to some embodiments of this application, the first pushing mechanism further includes a first air inlet, the first air inlet is disposed on the first push plate, the first air inlet is provided with a first vent hole, the first air inlet is used to abut against the second end of the pipe, and the first vent hole is used to connect the second end of the pipe and an external air supply device. The second pushing mechanism further includes a second air inlet, which is disposed on the second push plate. The second air inlet has a second vent hole. The second air inlet is used to abut against the first end of the pipe, and the second vent hole is used to connect the first end of the pipe to an external air supply device.

[0012] According to some embodiments of this application, the diameter of the second vent is larger than the outer diameter of the first end after the tube is constricted.

[0013] According to some embodiments of this application, the first tube shrinking mechanism includes a first translation driver, which drives the first tube shrinking head to move closer to or away from the first limiting mechanism. The second tube shrinking mechanism includes a second translation driver, which drives the second tube shrinking head to move closer to or away from the second limiting mechanism.

[0014] According to some embodiments of this application, the first limiting mechanism includes a first limiting seat, a first limiting block, and a first limiting driver. The conveying device is used to place the pipe on the first limiting seat. The first limiting block is located above the first limiting seat. The first limiting driver is connected to the first limiting block and is used to drive the first limiting block to move closer to or away from the first limiting seat. The second limiting mechanism includes a second limiting seat, a second limiting block, and a second limiting driver. The conveying device is used to place the pipe on the second limiting seat. The second limiting block is located above the second limiting seat. The second limiting driver is connected to the second limiting block and is used to drive the second limiting block to move closer to or away from the second limiting seat.

[0015] According to some embodiments of this application, a rotating device is also included. The first tube shrinking mechanism, the first limiting mechanism, and the first pushing mechanism are distributed along a first direction, and the second tube shrinking mechanism, the second limiting mechanism, and the second pushing mechanism are also distributed along the first direction. The rotating device is disposed between the first limiting mechanism and the second limiting mechanism. The conveying device is used to transfer the tube at the first limiting mechanism to the rotating device. The rotating device is used to rotate the tube. The conveying device is also used to transfer the rotated tube at the rotating device to the second limiting mechanism.

[0016] According to some embodiments of this application, the handling device includes a translation module, a lifting module, a mounting plate, a lifting actuator, and grippers. The translation module is driven and connected to the mounting plate to drive the mounting plate to translate. The lifting module is driven and connected to the mounting plate to drive the mounting plate to lift. The lifting actuator is disposed on the mounting plate. Multiple lifting actuators and grippers are disposed and correspond one-to-one. The lifting actuator is driven and connected to the grippers to drive the grippers to lift. The grippers are used to pick up and place pipes.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of the tube shrinking device according to an embodiment of this application; Figure 2 for Figure 1 Top view of the tube retraction equipment after concealing the handling device; Figure 3 for Figure 1 Isometric view of the concealed handling device of the tube shrinking equipment; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 for Figure 3 Enlarged view of point B in the middle; Figure 6 for Figure 1 Axonometric view of the feeding device; Figure 7 for Figure 6 Axonometric drawing of the top-loading mechanism; Figure 8 for Figure 1 Axonometric view of the conveying device.

[0019] Figure label: Feeding device 10; hopper 11; inclined surface 111; distributing hole 112; limiting sidewall 113; ejecting mechanism 12; clamping claw 121; clamping groove 1211; ejecting plate 122; ejecting driver 123; second adjusting plate 124; first adjusting plate 13; positioning mechanism 14; pressing driver 141; pressing claw 142; pressing groove 1421; positioning driver 143; positioning pin 144; First tube shrinking device 20; First tube shrinking mechanism 21; First tube shrinking head 211; First tube shrinking hole 2111; First rotation driver 212; First translation driver 213; First limiting mechanism 22; First limiting seat 221; First limiting slot 2211; First limiting block 222; First limiting groove 2221; First limiting driver 223; First pushing mechanism 23; First push plate 231; First pushing driver 232; First air inlet 233; First vent hole 2331; Second tube shrinking device 30; Second tube shrinking mechanism 31; Second tube shrinking head 311; Second tube shrinking hole 3111; Second rotary driver 312; Second translation driver 313; Second limiting mechanism 32; Second limiting seat 321; Second limiting slot 3211; Second limiting block 322; Second limiting groove 3221; Second limiting driver 323; Second pushing mechanism 33; Second push plate 331; Second pushing driver 332; Second air inlet 333; Second vent 3331; 40; 41; 42; 43; 44; 45; 46; 47; 48; 49; Rotating device 50; Rotating seat 51; Rotary driver 52; Third translation driver 53; Recycling bin 60; Pipe 70; First end 71; Second end 72. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0022] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0024] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0025] Reference Figures 1 to 5 , Figure 1 This is a schematic diagram of the structure of the tube shrinking device according to an embodiment of this application; Figure 2 for Figure 1 Top view of the concealed handling device 40mm behind the constriction tube equipment; Figure 3 for Figure 1 Axonometric view of the concealed handling device 40mm behind the constriction tube equipment; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 for Figure 3 Enlarged view at point B; The tube shrinking device according to an embodiment of this application includes: a feeding device 10, a first tube shrinking device 20, a second tube shrinking device 30, and a conveying device 40.

[0026] Feeding device 10 is used to store pipe 70, the pipe 70 including a first end 71 and a second end 72 distributed radially; The first tube shrinking device 20 includes a first tube shrinking mechanism 21, a first limiting mechanism 22, and a first pushing mechanism 23. The first limiting mechanism 22 is used to restrict the radial movement of the tube 70. The first tube shrinking mechanism 21 is disposed opposite to the first pushing mechanism 23. The first tube shrinking mechanism 21 includes a first tube shrinking head 211 and a first rotary driver 212. The first rotary driver 212 drives the first tube shrinking head 211. The first tube shrinking head 211 has a first tube shrinking hole 2111 on the side facing the first pushing mechanism 23. The first pushing mechanism 23 is used to push the second end 72 of the tube 70 at the first limiting mechanism 22 so that the first end 71 of the tube 70 passes through the first tube shrinking hole 2111. The second tube shrinking device 30 includes a second tube shrinking mechanism 31, a second limiting mechanism 32, and a second pushing mechanism 33. The second limiting mechanism 32 is used to restrict the radial movement of the tube 70. The second tube shrinking mechanism 31 and the second pushing mechanism 33 are arranged opposite to each other. The second tube shrinking mechanism 31 includes a second tube shrinking head 311 and a second rotation driver 312. The second rotation driver 312 drives the second tube shrinking head 311. The second tube shrinking head 311 has a second tube shrinking hole 3111 on the side facing the second pushing mechanism 33. The second pushing mechanism 33 is used to push the first end 71 of the tube 70 at the second limiting mechanism 32 so that the second end 72 of the tube 70 passes through the second tube shrinking hole 3111. The conveying device 40 is movably disposed between the feeding device 10, the first tube shrinking device 20, and the second tube shrinking device 30, and is used to transfer the tube 70 from the feeding device 10 to the first tube shrinking device 20 and the second tube shrinking device 30 in sequence.

[0027] Understandably, the feeding device 10 stores the tube 70, and the conveying device 40 picks up the tube 70 from the feeding device 10 and transfers it to the first limiting mechanism 22. The first limiting mechanism 22 limits the tube 70, restricting its radial movement. The tube 70 can move axially. At this time, the first end 71 of the tube 70 faces the first tube shrinking head 211, and the second end 72 of the tube 70 faces the first pushing mechanism 23. Subsequently, the first pushing mechanism 23 pushes the second end 72 to bring the first end 71 closer to the first tube shrinking head 211. The first end 71 enters the first tube shrinking hole 2111 of the first tube shrinking head 211. The inner diameter of the opening of the first tube shrinking hole 2111 decreases along the pushing direction of the first pushing mechanism 23, and cooperates with the first rotation driver 212 to drive the first tube shrinking head 211 to rotate. As a result, the outer diameter of the first end 71 that enters the first tube shrinking hole 2111 gradually decreases, realizing the tube shrinking of the first end 71. Next, after the first end 71 is shrunk, it leaves the first shrunk hole 2111. The conveying device 40 picks up the tube 70 from the first limiting mechanism 22 and transfers it to the second limiting mechanism 32. The second limiting mechanism 32 limits the tube 70, restricting its radial movement. The tube 70 can move axially. At this time, the second end 72 of the tube 70 faces the second shrunk head 311, and the first end 71 faces the second pushing mechanism 33. Subsequently... The second pushing mechanism 33 pushes the first end 71 to drive the second end 72 closer to the second shrinking head 311. The second end 72 enters the second shrinking hole 3111 of the second shrinking head 311. The inner diameter of the opening of the second shrinking hole 3111 decreases along the pushing direction of the second pushing mechanism 33, and cooperates with the second rotation driver 312 to drive the second shrinking head 311 to rotate. As a result, the outer diameter of the second end 72 that enters the second shrinking hole 3111 gradually decreases, thereby realizing the shrinking of the second end 72.

[0028] In summary, the feeding device 10 stores the tube 70, the conveying device 40 transfers the tube 70 to the first limiting mechanism 22, the first pushing mechanism 23 pushes the tube 70 so that the first end 71 of the tube 70 passes through the first shrinking hole 2111 of the first shrinking head 211, and the first end 71 is shrunk under the drive of the first rotary driver 212. The conveying device 40 transfers the tube 70 with the first end 71 shrunk to the second limiting mechanism 32, the second pushing mechanism 33 pushes the tube 70 so that the second end 72 of the tube 70 passes through the second shrinking hole 3111 of the second shrinking head 311, and the second end 72 is shrunk under the drive of the second rotary driver 312, thereby realizing automated shrinking of both ends of the tube 70, improving production efficiency and shrinking accuracy.

[0029] Specifically, the first tube-shrinking mechanism 21 and the first pushing mechanism 23 are located on both sides of the first limiting mechanism 22. The second tube-shrinking mechanism 31 and the second pushing mechanism 33 are located on both sides of the second limiting mechanism 32.

[0030] Specifically, it also includes a recycling bin 60. After the second tube shrinking mechanism 31 completes the tube shrinking of the second end 72, the conveying device 40 can grab the tube 70 at the second limiting mechanism 32 and move it to the dropping position. After the conveying device 40 reaches the dropping position, the conveying device 40 is located above or inside the recycling bin 60. The conveying device 40 can drop the tube 70 that has completed the tube shrinking of the first end 71 and the second end 72 into the recycling bin 60.

[0031] Reference Figure 6 and Figure 7 , Figure 6 for Figure 1 Axonometric view of the feeding device 10; Figure 7 for Figure 6 Axonometric view of the top feeding mechanism 12; According to some embodiments of this application, the feeding device 10 includes a hopper 11 and a top feeding mechanism 12. The hopper 11 is used to accommodate the pipe 70. The bottom wall of the hopper 11 forms an inclined surface 111, and a distribution hole 112 is formed on the lower side of the inclined surface 111. The top feeding mechanism 12 includes a clamping claw 121, a top feeding plate 122, and a top feeding driver 123. The top feeding plate 122 is disposed below the distribution hole 112. The clamping claw 121 is disposed on the top plate 122 and located inside the distributing hole 112. The clamping claw 121 is used to limit the pipe 70 falling into the distributing hole 112. The top plate driver 123 drives the top plate 122 to rise, thereby driving the pipe limited by the clamping claw 121 to rise to the loading position and making the top plate 122 block the distributing hole 112. The conveying device 40 is used to grab the pipe 70 from the loading position.

[0032] It is understandable that the hopper 11 stores pipes 70, and multiple pipes 70 are stacked in the hopper 11 with their axes parallel. Since the bottom wall of the hopper 11 forms an inclined surface 111, under the action of the inclined surface 111, the pipes 70 slide along the inclined surface 111 and tend to fall into the discharge hole. The length of the discharge hole 112 extends radially along the pipes 70, and the width of the discharge hole 112 is greater than the diameter of one pipe 70 but less than the diameter of two pipes 70, so that only one pipe 70 can fall into the discharge hole at a time. After the pipe 70 falls into the discharge hole, its periphery is clamped and limited by the clamping claw 121. Subsequently, the top material driver 123 drives the top material plate 122 to rise, which in turn drives the clamping claw 121 to rise. The clamping claw 121 then lifts the clamped pipe 70 to the loading position, where the conveying device 40 can grab the pipe from the clamping claw 121. This arrangement allows the pipe 70 to rise to a certain height, i.e., the loading position, before being picked up by the conveying device 40. This facilitates the conveying device 40 in picking up the pipe from the loading device 10, reducing interference from the multiple pipes 70 stacked in the hopper 11 during the material handling process.

[0033] It is also understandable that the top plate 122 is relatively high. During the process of driving the clamping claw 121 to rise, the top plate 122 blocks the distributing hole 112 to prevent other pipes 70 from falling into the distributing hole 112. After the conveying device 40 completes the material picking, the top plate driver 123 drives the top plate 122 to descend. The top plate 122 drives the clamping claw 121 to descend. The top plate 122 returns to a position lower than the distributing hole 112 and no longer blocks the distributing hole 112. The clamping claw 121 returns to the distributing hole 112, so that other pipes 70 can fall into the distributing hole 112 for the lifting of the next pipe 70.

[0034] Specifically, the feeding device 10 also includes a first adjusting plate 13. The first adjusting plate 13 and the limiting sidewall 113 of the hopper 11 abut against the second end 72 and the first end 71 of the pipe 70 located in the hopper 11, respectively. The first adjusting plate 13 can be movably arranged in the hopper 11 in the horizontal direction. This arrangement allows the distance between the first adjusting plate 13 and the limiting sidewall 113 to be adjusted according to the length of the pipe 70, thereby adapting to pipes 70 of different lengths.

[0035] Specifically, the top-feeding mechanism 12 also includes a second adjusting plate 124. The second adjusting plate 124 and the limiting sidewall 113 of the hopper 11 abut against the second end 72 of the pipe 70 located in the distributing hole 112, respectively. The second adjusting plate 124 is partially located in the distributing hole 112, and the lower end of the second adjusting hole is movably disposed on the distributing plate in the horizontal direction. This arrangement allows the distance between the second adjusting plate 124 and the limiting sidewall 113 to be adjusted according to the length of the pipe 70, thereby adapting to pipes 70 of different lengths. Furthermore, the side of the second adjusting plate 124 facing the limiting sidewall 113 is flush with the side of the first adjusting plate 13 facing the limiting sidewall 113.

[0036] Specifically, the upper end of the clamping claw 121 is provided with a clamping groove 1211, with the groove opening facing upwards. Thus, the pipe 70, falling from the inclined surface 111 into the dispensing hole 112, can be clamped into the clamping groove 1211. The groove wall of the clamping groove 1211 abuts against the circumference of the pipe 70 to limit its movement. Furthermore, during the material handling process of the conveying device 40, the pipe 70 can be lifted to separate it from the clamping claw 121. Multiple clamping claws 121 are provided; for example, in this embodiment, two clamping claws 121 are provided. In other embodiments, two or more clamping claws 121 may also be provided.

[0037] Reference Figure 6 According to some embodiments of this application, the feeding device 10 further includes a positioning mechanism 14, which is disposed on the side of the feeding position. The positioning mechanism 14 includes a pressing driver 141, a pressing claw 142, a positioning driver 143, and a positioning pin 144. The pressing driver 141 drives and connects to the pressing claw 142, and is used to drive the pressing claw 142 to descend and cooperate with the clamping claw 121 to clamp the pipe 70. The positioning driver 143 drives and connects to the positioning pin 144, and is used to drive the positioning pin 144 to penetrate into the pipe 70 in a horizontal direction.

[0038] Understandably, after the tube 70, limited by the clamping claw 121, rises to the loading position, the pressure claw 142 is positioned above the tube 70, corresponding in height to one of the clamping claws 121, and the positioning pin 144 is positioned axially above the tube 70. Subsequently, the pressure actuator 141 drives the pressure claw 142 to descend, and the pressure claw 142, in conjunction with the clamping claw 121, clamps the tube 70. Next, the positioning actuator 143 drives the positioning pin 144 to translate towards the tube 70. The tube 70 is hollow, and the positioning pin 144 penetrates the tube 70 from its end to precisely position it. Then, the conveying device 40 clamps the tube 70, the positioning pin 144 is pushed out of the tube 70, the pressure claw 142 rises away from the tube 70, and the conveying device 40 removes the tube 70.

[0039] Specifically, the outer diameter of the positioning pin 144 gradually increases in the direction away from the feeding position, and the end of the positioning pin 144 can be shaped when it is inserted into the tube 70.

[0040] Specifically, the pressing claw 142 has a pressing groove 1421 with the opening of the pressing groove 1421 facing downward. After the pressing claw 142 and the clamping claw 121 clamp the pipe 70, they can completely surround the periphery of the corresponding position of the pipe 70.

[0041] Specifically, the clamping claw 142 works with the clamping claw 121 to clamp the end of the tube 70, that is, the first end 71 or the second end 72.

[0042] Reference Figures 2 to 5 According to some embodiments of this application, the first pushing mechanism 23 includes a first push plate 231 and a first pushing driver 232. The first push plate 231 is located on the side of the first limiting mechanism 22 away from the first tube shrinking head 211. The first pushing driver 232 is driven and connected to the first push plate 231 to drive the first push plate 231 closer to the first tube shrinking head 211, so as to push the tube 70 limited by the first limiting mechanism 22 into the first tube shrinking hole 2111. The second pushing mechanism 33 includes a second push plate 331 and a second pushing driver 332. The second push plate 331 is located on the side of the second limiting mechanism 32 away from the second tube shrinking head 311. The second pushing driver 332 is driven and connected to the second push plate 331 to drive the second push plate 331 closer to the second tube shrinking head 311, so as to push the tube 70 limited by the second limiting mechanism 32 into the second tube shrinking hole 3111.

[0043] Understandably, the first pusher 232 drives the first push plate 231 to translate, and the first push plate 231 pushes the tube 70 limited by the first limiting mechanism 22, so as to push the first end 71 of the tube 70 into the first shrinking head 211 of the first shrinking head 211, thereby shrinking the first end 71. The second pusher 332 drives the second push plate 331 to translate, and the second push plate 331 pushes the tube 70 limited by the second limiting mechanism 32, so as to push the second end 72 of the tube 70 into the second shrinking head 311 of the second shrinking head 311, thereby shrinking the second end 72.

[0044] Specifically, the first drive driver 232 includes a cylinder or a motor, and the second drive driver 332 includes a cylinder or a motor.

[0045] Reference Figure 4 and Figure 5According to some embodiments of this application, the first pushing mechanism 23 further includes a first air inlet 233, which is disposed on the first push plate 231. The first air inlet 233 is provided with a first vent hole 2331. The first air inlet 233 is used to abut against the second end 72 of the pipe 70, and the first vent hole 2331 is used to connect the second end 72 of the pipe 70 and an external air supply device. The second pushing mechanism 33 further includes a second air inlet 333, which is disposed on the second push plate 331. The second air inlet 333 is provided with a second vent hole 3331, which is used to abut against the first end 71 of the pipe 70, and the second vent hole 3331 is used to connect the first end 71 of the pipe 70 and an external air supply device.

[0046] Understandably, the first pusher 232 drives the first pusher plate 231 to translate, and the first pusher plate 231 drives the first air inlet 233 to translate. The horizontal height of the first air inlet 233 is consistent with the horizontal height of the tube 70 limited by the first limiting structure. Under the drive of the first pusher plate 231, the first air inlet 233 abuts against the second end 72 of the tube 70 at the first limiting mechanism 22, so as to push the first end 71 of the tube 70 into the first constriction hole 2111. At this time, one side of the first vent hole 2331 is connected to the second end 72 of the tube 70, and the other side is connected to the external air supply equipment. The air supply equipment supplies air, and the airflow enters the second end 72 of the tube 70 through the first vent hole 2331. The inside of the tube 70 is hollow, and the airflow can also flow along the inside of the tube 70 to the first end 71. It should be noted that during the process of shrinking the first end 71, the first end 71 will continuously rub against the wall of the first shrinking hole 2111, causing the first end 71 and even the entire pipe 70 to heat up. Therefore, the air supply equipment supplies air into the inside of the pipe 70 through the first vent hole 2331 to reduce the temperature of the pipe 70 and prevent the pipe 70 from overheating and affecting its strength.

[0047] Understandably, the second pusher 332 drives the second push plate 331 to translate, and the second push plate 331 drives the second air inlet 333 to translate. The horizontal height of the second air inlet 333 is consistent with the horizontal height of the tube 70 limited by the second limiting structure. Driven by the second push plate 331, the second air inlet 333 abuts against the first end 71 of the tube 70 at the second limiting mechanism 32, so as to push the second end 72 of the tube 70 into the second constriction hole 3111. At this time, one side of the second vent hole 3331 is connected to the first end 71 of the tube 70, and the other side is connected to the external air supply equipment. The air supply equipment supplies air, and the airflow enters the first end 71 of the tube 70 through the second vent hole 3331. The inside of the tube 70 is hollow, and the airflow can also flow along the inside of the tube 70 to the second end 72. It should be noted that during the process of shrinking the tube at the second end 72, the second end 72 will continuously rub against the wall of the second shrinking hole 3111, causing the second end 72 and even the entire tube 70 to heat up. Therefore, the air supply equipment supplies air into the inside of the tube 70 through the second vent hole 3331 to reduce the temperature of the tube 70 and prevent the tube 70 from overheating and affecting its strength.

[0048] Reference Figure 5 According to some embodiments of this application, the diameter of the second vent 3331 is larger than the outer diameter of the first end 71 after the tube is constricted.

[0049] Understandably, when the second air inlet 333 abuts against the first end 71 of the tube 70 at the second limiting mechanism 32, since the diameter of the second vent 3331 is larger than the outer diameter of the first end 71 after the tube is reduced, the first end 71 can be inserted into the second vent 3331 to provide positioning for the first end 71. Furthermore, allowing the first end 71 to be inserted into the second vent 3331 allows airflow to pass through both the outer and inner sides of the first end 71, improving the heat dissipation effect on the first end 71.

[0050] Specifically, in some embodiments, the outer diameter of the side of the first end 71 closest to the second vent 3331 is smaller than the diameter of the second vent 3331, allowing it to pass through the second vent 3331. The outer diameter of the side of the first end 71 furthest from the second vent 3331 is larger than the diameter of the second vent 3331, allowing the inner wall of the second vent 3331 to abut against the first end 71, thereby pushing the tube 70. In other embodiments, the entire outer diameter of the first end 71 is smaller than the outer diameter of the second vent 3331, but the outer diameter of the middle portion of the tube 70, i.e., the unretracted portion, is larger than the outer diameter of the second vent 3331. This allows the first end 71 to pass through the second vent 3331 while the inner wall of the second vent 3331 still abuts against the tube 70, ensuring that the second air inlet 333 can push the tube 70.

[0051] Reference Figure 2According to some embodiments of this application, the first tube shrinking mechanism 21 includes a first translation driver 213, which is driven to connect to the first tube shrinking head 211 and is used to drive the first tube shrinking head 211 to move closer to or away from the first limiting mechanism 22; the second tube shrinking mechanism 31 includes a second translation driver 313, which is driven to connect to the second tube shrinking head 311 and is used to drive the second tube shrinking head 311 to move closer to or away from the second limiting mechanism 32.

[0052] Understandably, during the process of shrinking the first end 71 of the tube 70 at the first limiting mechanism 22, the first translation driver 213 drives the first shrinking head 211 to approach the first limiting mechanism 22. The first shrinking head 211 is located beside the first end 71 of the tube 70. The first push plate 231 pushes the tube 70 so that the first end 71 slowly enters the first shrinking hole 2111. Under the drive of the first rotation driver 212, the first end 71 shrinks. This reduces the translation stroke of the first push plate 231 and reduces the axial movement distance of the tube 70, preventing the tube 70 from falling out of the first limiting mechanism 22. After the first end 71 is shrunk, the first translation driver 213, in conjunction with the first push driver 232, drives the tube 70 to be translated to the first picking position so that the conveying device 40 can pick up the material at a fixed position. Before the conveying device 40 picks up the material, the first translation driver 213 can drive the first shrinking head 211 away from the first limiting mechanism 22 so that the first end 71 is disengaged from the first shrinking hole 2111 so that the conveying device 40 can take the tube 70 away.

[0053] Understandably, during the process of shrinking the second end 72 of the tube 70 at the second limiting mechanism 32, the second translation driver 313 drives the second shrinking head 311 to approach the second limiting mechanism 32. The second shrinking head 311 is located beside the second end 72 of the tube 70. The second push plate 331 pushes the tube 70 so that the second end 72 slowly enters the second shrinking hole 3111. Under the drive of the second rotation driver 312, the second end 72 shrinks. This reduces the translation stroke of the second push plate 331 and reduces the axial movement distance of the tube 70, preventing the tube 70 from falling out of the second limiting mechanism 32. After the second end 72 is shrunk, the second translation driver 313, in conjunction with the second push driver 332, drives the tube 70 to be translated to the second picking position so that the conveying device 40 can pick up the material at a fixed position. Before the conveying device 40 picks up the material, the second translation driver 313 can drive the second shrinking head 311 away from the second limiting mechanism 32 so that the second end 72 is disengaged from the second shrinking hole 3111 so that the conveying device 40 can take the tube 70 away.

[0054] Reference Figure 4 and Figure 5According to some embodiments of this application, the first limiting mechanism 22 includes a first limiting seat 221, a first limiting block 222, and a first limiting driver 223. The conveying device 40 is used to place the pipe 70 on the first limiting seat 221. The first limiting block 222 is located above the first limiting seat 221. The first limiting driver 223 is driven and connected to the first limiting block 222 to drive the first limiting block 222 closer to or away from the first limiting seat 221. The second limiting mechanism 32 includes a second limiting seat 321, a second limiting block 322, and a second limiting driver 323. The conveying device 40 is used to place the pipe 70 on the second limiting seat 321. The second limiting block 322 is located above the second limiting seat 321. The second limiting driver 323 is driven and connected to the second limiting block 322 to drive the second limiting block 322 closer to or away from the second limiting seat 321.

[0055] Understandably, in the initial state, the first limiting block 222 is away from the first limiting seat 221. The conveying device 40 moves the pipe 70 horizontally between the first limiting seat 221 and the first limiting block 222, and then lowers the pipe 70 to the upper side of the first limiting seat 221. Subsequently, the first limiting actuator 223 drives the first limiting block 222 to descend, and the first limiting block 222, in conjunction with the first limiting seat 221, clamps and limits the pipe 70. After the first end 71 is reduced in length, the first limiting actuator 223 drives the first limiting block 222 to rise away from the first limiting seat 221. The conveying device 40 moves the pipe 70 upward away from the first limiting seat 221, and then moves the pipe 70 horizontally away from the first limiting seat 221 and the first limiting block 222.

[0056] Specifically, a first limiting slot 2211 is provided on the upper side of the first limiting seat 221. The conveying device 40 places the pipe 70 into the first limiting slot 2211 to pre-position the pipe 70. A first limiting groove 2221 is provided on the lower side of the first limiting block 222. When the first limiting block 222 cooperates with the first limiting seat 221 to clamp the pipe 70, the pipe 70 is inserted into the first limiting groove 2221, and the first limiting slot 2211 and the first limiting groove 2221 surround the periphery of the corresponding position of the pipe 70.

[0057] Understandably, in the initial state, the second limiting block 322 is away from the second limiting seat 321. The conveying device 40 moves the pipe 70 horizontally between the second limiting seat 321 and the second limiting block 322, and then lowers the pipe 70 to the upper side of the second limiting seat 321. Subsequently, the second limiting actuator 323 drives the second limiting block 322 to descend, and the second limiting block 322, in conjunction with the second limiting seat 321, clamps and limits the pipe 70. After the second end 72 is reduced in length, the second limiting actuator 323 drives the second limiting block 322 to rise away from the second limiting seat 321. The conveying device 40 moves the pipe 70 upward away from the second limiting seat 321, and then moves the pipe 70 horizontally away from the second limiting seat 321 and the second limiting block 322.

[0058] Specifically, a second limiting slot 3211 is provided on the upper side of the second limiting seat 321. The conveying device 40 places the pipe 70 into the second limiting slot 3211 to pre-position the pipe 70. A second limiting groove 3221 is provided on the lower side of the second limiting block 322. When the second limiting block 322 cooperates with the second limiting seat 321 to clamp the pipe 70, the pipe 70 is inserted into the second limiting groove 3221, and the second limiting slot 3211 and the second limiting groove 3221 surround the periphery of the corresponding position of the pipe 70.

[0059] Reference Figures 1 to 3 According to some embodiments of this application, it also includes a rotating device 50, a first tube shrinking mechanism 21, a first limiting mechanism 22 and a first pushing mechanism 23 distributed along a first direction, a second tube shrinking mechanism 31, a second limiting mechanism 32 and a second pushing mechanism 33 also distributed along the first direction, a rotating device 50 disposed between the first limiting mechanism 22 and the second limiting mechanism 32, a conveying device 40 used to transfer the tube 70 at the first limiting mechanism 22 to the rotating device 50, a rotating device 50 used to rotate the tube 70, and a conveying device 40 also used to transfer the rotated tube 70 at the rotating device 50 to the second limiting mechanism 32.

[0060] It is understandable that the first tube shrinking mechanism 21, the first limiting mechanism 22, and the first pushing mechanism 23 are distributed along the first direction, and the second tube shrinking mechanism 31, the second limiting mechanism 32, and the second pushing mechanism 33 are also distributed along the first direction. This arrangement allows the first tube shrinking mechanism 21 and the second tube shrinking mechanism 31 to be arranged side by side along the second direction, the first limiting mechanism 22 and the second limiting mechanism 32 to be arranged side by side along the second direction, and the first pushing mechanism 23 and the second pushing mechanism 33 to be arranged side by side along the second direction. The first and second directions are both horizontal, and the second direction is perpendicular to the first direction. This saves equipment space and makes the layout more reasonable. By setting up the rotating device 50, after the tube at the first end 71 is shrunk, the transport device 40 can transfer the tube 70 at the first limiting mechanism 22 to the rotating device 50. The rotating device 50 drives the tube 70 to rotate 180°, so that the orientation of the first end 71 and the second end 72 is reversed. After the transport device 40 transfers the rotated tube 70 at the rotating device 50 to the second limiting mechanism 32, the second end 72 of the tube 70 can correctly face the second tube shrinking head 311, and the first end 71 can correctly face the second push plate 331. Furthermore, the radial direction of the tube 70 is the first direction.

[0061] Specifically, the rotating device 50 includes a rotating base 51, a rotating driver 52, and a third translation driver 53. The conveying device 40 places the pipe 70 on the rotating base 51, which can limit the pipe 70. Subsequently, the rotating driver 52 drives the rotating base 51 to rotate, thereby rotating the pipe 70 by 180°. In some embodiments, after the rotating device 50 rotates the pipe 70, the pipe 70 will reach a transfer position. The material pick-up position picks up the material from the transfer position. When the rotating base 51 is adapted to pipes 70 of different lengths, the pipe 70 on the rotating base 51 may not be able to reach the transfer position correctly. Therefore, by setting the third translation driver 53 to drive the rotating base 51, the rotating base 51 is driven to move along a first direction. After the rotating base 51 completes the rotation of the pipe 70, the third translation driver 53 can drive the rotating base 51 to move along the first direction to adjust the position of the pipe 70 on the rotating base 51, so that the pipe 70 reaches the transfer position, allowing the conveying device 40 to pick up the material from the fixed position.

[0062] Reference Figure 1 and Figure 8According to some embodiments of this application, the handling device 40 includes a translation module 41, a lifting module 42, a mounting plate 43, a lifting actuator 44, and grippers 45. The translation module 41 drives and connects to the mounting plate 43 to drive the mounting plate 43 to translate. The lifting module 42 drives and connects to the mounting plate 43 to drive the mounting plate 43 to lift. The lifting actuator 44 is disposed on the mounting plate 43. Multiple lifting actuators 44 and grippers 45 are provided and correspond one-to-one. The lifting actuator 44 drives and connects to the grippers 45 to drive the grippers 45 to lift. The grippers 45 are used to pick up and put down the pipe 70.

[0063] It is understandable that the translation module 41 and the lifting module 42 drive multiple grippers 45 to translate and lift simultaneously via the mounting plate 43. Each gripper 45 is connected to an independent lifting actuator 44, thereby allowing multiple grippers 45 to simultaneously pick up materials from the conveying device 40, the first limiting mechanism 22, the rotating device 50 and the second limiting mechanism 32, and allowing multiple grippers 45 to simultaneously transfer the gripped pipe 70 to the first limiting mechanism 22, the rotating device 50 and the second limiting mechanism 32.

[0064] Specifically, the aforementioned loading position, first picking position, transfer position, second picking position, and unloading position are distributed in a straight line in the second direction. The horizontal distances between the loading position, first picking position, transfer position, second picking position, and unloading position are the same, and the distance between two adjacent grippers 45 is the same as the horizontal distance between the loading position and the first picking position. However, the height distances between at least two of the loading position, first picking position, transfer position, second picking position, and unloading position are different. The grippers 45 can be adjusted to a suitable clamping height by using a lifting actuator 44 that independently drives the grippers 45. For example, four grippers 45 are provided. Driven by the translation module 41, the four grippers 45 can move simultaneously along the second direction and come above the loading position, the first picking position, the transfer position, and the second picking position, respectively. Driven by the lifting module 42, the four grippers 45 can simultaneously approach the loading position, the first picking position, the transfer position, and the second picking position, respectively. Then, the four actuators drive the grippers 45 to descend to an appropriate height according to the required clamping height of the four positions, so that the grippers 45 can clamp the pipe 70 at the corresponding position. Then, driven by the lifting module 42 and the translation module 41, the four grippers 45 come above the first picking position, the transfer position, the second picking position, and the dropping position, respectively, and simultaneously approach the four positions. Then, the four actuators drive the grippers 45 to descend to an appropriate height according to the dropping height of the four positions, so that the grippers 45 can place the pipe 70 at the corresponding position. Thus, the pipes 70 at multiple locations can be transferred synchronously, and the translation module 41 only needs to drive the mounting plate 43 to move horizontally in the second direction, making the operation simple.

[0065] In some embodiments, the loading position, the first picking position, the transfer position, the second picking position, and the unloading position are at the same height. The conveying device 40 does not include the lifting actuator 44, and only relies on the translation module 41 and the lifting module 42 to synchronously drive the multiple grippers 45 to lift and move along the second direction.

[0066] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A tube shrinking device, characterized in that, include: A feeding device for storing tubing, the tubing including a first end and a second end distributed radially; The first tube shrinking device includes a first tube shrinking mechanism, a first limiting mechanism, and a first pushing mechanism. The first limiting mechanism is used to restrict the radial movement of the tube. The first tube shrinking mechanism is disposed opposite to the first pushing mechanism. The first tube shrinking mechanism includes a first tube shrinking head and a first rotary driver. The first rotary driver drives and connects to the first tube shrinking head. The first tube shrinking head has a first tube shrinking hole on the side facing the first pushing mechanism. The first pushing mechanism is used to push the second end of the tube at the first limiting mechanism so that the first end of the tube passes through the first tube shrinking hole. The second tube shrinking device includes a second tube shrinking mechanism, a second limiting mechanism, and a second pushing mechanism. The second limiting mechanism is used to restrict the radial movement of the tube. The second tube shrinking mechanism is disposed opposite to the second pushing mechanism. The second tube shrinking mechanism includes a second tube shrinking head and a second rotary driver. The second rotary driver drives and connects to the second tube shrinking head. The second tube shrinking head has a second tube shrinking hole on the side facing the second pushing mechanism. The second pushing mechanism is used to push the first end of the tube at the second limiting mechanism so that the second end of the tube passes through the second tube shrinking hole. A conveying device is movably disposed between the feeding device, the first tube shrinking device, and the second tube shrinking device, for transferring the tube from the feeding device to the first tube shrinking device and the second tube shrinking device in sequence.

2. The tube shrinking device according to claim 1, characterized in that, The feeding device includes a hopper and a top feeding mechanism. The hopper is used to hold pipes, and the bottom wall of the hopper forms an inclined surface. A dispensing hole is formed on the lower side of the hopper corresponding to the inclined surface. The top feeding mechanism includes a clamping claw, a top feeding plate, and a top feeding driver. The top feeding plate is disposed below the dispensing hole, and the clamping claw is disposed on the top feeding plate and located inside the dispensing hole. The clamping claw is used to limit the pipes falling into the dispensing hole. The top feeding driver drives the top feeding plate to rise, thereby raising the pipes limited by the clamping claw to the feeding position and causing the top feeding plate to block the dispensing hole. The conveying device is used to grab the pipes from the feeding position.

3. The tube shrinking device according to claim 2, characterized in that, The feeding device further includes a positioning mechanism, which is located beside the feeding position. The positioning mechanism includes a pressure driver, a pressure claw, a positioning driver, and a positioning pin. The pressure driver drives the pressure claw to descend and cooperate with the clamping claw to clamp the pipe. The positioning driver drives the positioning pin to penetrate the pipe horizontally.

4. The tube shrinking device according to claim 1, characterized in that, The first pushing mechanism includes a first push plate and a first pushing driver. The first push plate is located on the side of the first limiting mechanism away from the first tube shrinking head. The first pushing driver is connected to the first push plate and is used to drive the first push plate closer to the first tube shrinking head so as to push the tube limited by the first limiting mechanism into the first tube shrinking hole. The second pushing mechanism includes a second push plate and a second pushing driver. The second push plate is located on the side of the second limiting mechanism away from the second tube shrinking head. The second pushing driver is connected to the second push plate and is used to drive the second push plate closer to the second tube shrinking head so as to push the tube limited by the second limiting mechanism into the second tube shrinking hole.

5. The tube shrinking device according to claim 4, characterized in that, The first pushing mechanism further includes a first air inlet, which is disposed on the first push plate. The first air inlet has a first vent hole. The first air inlet is used to abut against the second end of the pipe, and the first vent hole is used to connect the second end of the pipe to an external air supply device. The second pushing mechanism further includes a second air inlet, which is disposed on the second push plate. The second air inlet has a second vent hole. The second air inlet is used to abut against the first end of the pipe, and the second vent hole is used to connect the first end of the pipe to an external air supply device.

6. The tube shrinking device according to claim 5, characterized in that, The diameter of the second vent is larger than the outer diameter of the first end after the tube is reduced.

7. The tube shrinking device according to claim 1, characterized in that, The first tube shrinking mechanism includes a first translation driver, which drives the first tube shrinking head to move closer to or away from the first limiting mechanism. The second tube shrinking mechanism includes a second translation driver, which drives the second tube shrinking head to move closer to or away from the second limiting mechanism.

8. The tube shrinking device according to claim 1, characterized in that, The first limiting mechanism includes a first limiting seat, a first limiting block, and a first limiting driver. The conveying device is used to place the pipe on the first limiting seat. The first limiting block is located above the first limiting seat. The first limiting driver is connected to the first limiting block and is used to drive the first limiting block to move closer to or away from the first limiting seat. The second limiting mechanism includes a second limiting seat, a second limiting block, and a second limiting driver. The conveying device is used to place the pipe on the second limiting seat. The second limiting block is located above the second limiting seat. The second limiting driver is connected to the second limiting block and is used to drive the second limiting block to move closer to or away from the second limiting seat.

9. The tube shrinking device according to claim 1, characterized in that, It also includes a rotating device. The first tube shrinking mechanism, the first limiting mechanism, and the first pushing mechanism are distributed along a first direction. The second tube shrinking mechanism, the second limiting mechanism, and the second pushing mechanism are also distributed along the first direction. The rotating device is disposed between the first limiting mechanism and the second limiting mechanism. The conveying device is used to transfer the tube at the first limiting mechanism to the rotating device. The rotating device is used to rotate the tube. The conveying device is also used to transfer the rotated tube at the rotating device to the second limiting mechanism.

10. The tube shrinking device according to claim 1, characterized in that, The handling device includes a translation module, a lifting module, a mounting plate, a lifting actuator, and grippers. The translation module is driven and connected to the mounting plate to drive the mounting plate to translate. The lifting module is driven and connected to the mounting plate to drive the mounting plate to lift. The lifting actuator is disposed on the mounting plate. Multiple lifting actuators and grippers are disposed in a one-to-one correspondence. The lifting actuator is driven and connected to the grippers to drive the grippers to lift. The grippers are used to pick up and put down pipes.

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