Clamping device, vibrating equipment, detection method and control method

Abstract

This invention relates to a clamping device, including a clamping mechanism and a first detection component. The clamping mechanism includes a first holding component, which includes a plurality of first holding members. The first detection component includes a first transmitting member and a first mating member. By configuring the above-mentioned clamping device, the first transmitting member emits a detection wave toward the first mating member. When all the first holding members are in the first clamping position, the first mating member can receive the detection wave; however, if any first holding member is not rotated to the first clamping position, the first mating member cannot receive the detection wave. Thus, whether a first holding member is not rotated to the first clamping position can be determined based on whether the first mating member receives the detection wave, eliminating the need for operators to check each first holding member individually, shortening operation time and improving efficiency. This invention also relates to a vibrating device, a detection method, and a control method.

Description

Technical Field

[0001] The invention relates to the technical field of assembly component production equipment, and in particular to a clamping device, a vibrating device, a detection method and a control method. Background Art

[0002] During the production of prefabricated components, after the steel trolley carrying the component mold moves to the vibrating station, the steel trolley is lowered along with the jacking mechanism and clamped on the vibration table by the hydraulic clamping arm. The existing hydraulic clamping arms include multiple ones. If some of the hydraulic clamping arms are not clamped in place, the vibration effect of the vibration table will be poor, or even damage the vibration table. It is necessary to manually check whether all the hydraulic clamping arms are clamped in place, resulting in a long operation time and low efficiency. Summary of the invention

[0003] Based on this, it is necessary to provide a clamping device, vibrating equipment, detection method and control method that can detect whether the hydraulic clamping arms are clamped to improve efficiency, in order to address the problem that the existing vibrating equipment requires manual inspection of all hydraulic clamping arms, resulting in long operation time.

[0004] A clamping device, comprising:

[0005] A clamping mechanism comprises a first clamping assembly, wherein the first clamping assembly comprises a plurality of first clamping members, the plurality of first clamping members are arranged at intervals along a first direction, and each of the first clamping members can rotate around a first rotation axis parallel to the first direction; and

[0006] A first detection component includes a first emitting component and a first matching component, wherein the first emitting component and the first matching component are arranged at intervals along the first direction, and a plurality of the first clamping components are located between the first emitting component and the first matching component;

[0007] Each of the first clamping members has a first clamping position during the process of rotating around the first rotation axis. When the first clamping member is located at the first clamping position, the first clamping member presses against the member to be clamped.

[0008] When all of the first clamping members are located at the first clamping position, the first matching member can receive the detection wave emitted by the first emitting member toward the first matching member.

[0009] By setting the above-mentioned clamping device, the first transmitting member transmits the detection wave toward the first matching member. When all the first clamping members are located at the first clamping position, the first matching member can receive the detection wave, and when there is a first clamping member that has not rotated to the first clamping position, the first matching member cannot receive the detection wave. In this way, it can be determined whether there is a first clamping member that has not rotated to the first clamping position based on whether the first matching member receives the detection wave, without the need for the operator to check each first clamping member one by one, thereby shortening the operation time and improving efficiency.

[0010] In one embodiment, the clamping device further includes a second detection component, the second detection component includes a second emitting component and a second matching component, the second emitting component and the second matching component are arranged at intervals along the first direction, and a plurality of the first clamping components are located between the second emitting component and the second matching component;

[0011] Each of the first clamping members can rotate around the first rotation axis between a first release position and the first clamping position, and when the first clamping member is located at the first release position, the first clamping member is separated from the member to be clamped;

[0012] When all of the first clamping members are located at the first releasing position, the second matching member can receive the detection wave emitted by the second emitting member toward the first matching member.

[0013] In one embodiment, the first transmitting element is a rangefinder that can receive the reflected detection wave to measure the distance.

[0014] In one embodiment, the clamping mechanism further includes a second clamping assembly, wherein the first clamping assembly and the second clamping assembly are arranged at intervals along a second direction perpendicular to the first direction to enclose and form a clamping position for clamping the object to be clamped;

[0015] The second clamping assembly includes a plurality of second clamping members, the plurality of second clamping members are arranged at intervals along the first direction, and each of the second clamping members can rotate around a second rotation axis parallel to the first rotation axis;

[0016] Each of the second clamping members has a second clamping position during the process of rotating around the second rotation axis. When the second clamping member is located at the second clamping position, the second clamping member presses against the member to be clamped.

[0017] In one embodiment, the clamping device further includes a third detection component and a fourth detection component, the third detection component includes a third emitting component and a third matching component, the third emitting component and the third matching component are arranged at intervals along the first direction, and a plurality of the second clamping components are located between the third emitting component and the third matching component;

[0018] When all of the second clamping members are located at the second clamping position, the third matching member can receive the detection wave emitted by the third emitting member toward the third matching member;

[0019] The fourth detection assembly includes a fourth emitting component and a fourth matching component, the fourth emitting component and the fourth matching component are arranged at intervals along the first direction, and a plurality of the second clamping components are located between the fourth emitting component and the fourth matching component;

[0020] Each of the second clamping members also has a second release position during the rotation process around the second rotation axis. When the second clamping member is located at the second release position, the second clamping member is separated from the member to be clamped.

[0021] When all of the second clamping members are located at the second releasing position, the fourth matching member can receive the detection wave emitted by the fourth emitting member toward the fourth matching member.

[0022] A vibrating device comprises a vibrating mechanism and the clamping device as described above, wherein the clamping device is arranged on the vibrating mechanism.

[0023] A detection method comprises the following steps:

[0024] Controlling a plurality of first clamping members to rotate about a first rotation axis toward a first clamping position;

[0025] Controlling the first emitting element to emit a detection wave toward the first matching element;

[0026] When the first matching member receives the detection wave emitted by the first emitting member, all of the first clamping members are located at the first clamping position;

[0027] When the first matching member does not receive the detection wave emitted by the first emitting member, there is at least one of the first clamping members that has not rotated to the first clamping position.

[0028] In one embodiment, the detection method further comprises the following steps:

[0029] Controlling a plurality of second clamping members to rotate toward a second clamping position around a second rotation axis parallel to the first rotation axis;

[0030] Controlling the third emitting element to emit a detection wave toward the third matching element;

[0031] When the third matching member receives the detection wave emitted by the third emitting member, all of the second clamping members are located at the second clamping position;

[0032] When the third matching member does not receive the detection wave emitted by the third emitting member, there is at least one of the second clamping members that has not rotated to the second clamping position.

[0033] A control method comprises the following steps:

[0034] Controlling a plurality of first clamping members to rotate around a first rotation axis toward a first clamping position, and recording a clamping action duration of the first clamping members;

[0035] Controlling the first emitting element to emit a detection wave toward the first matching element;

[0036] When the clamping action duration of the first clamping member is less than or equal to the preset clamping fault duration, and the first matching member receives the detection wave emitted by the first emitting member, the vibration mechanism is controlled to vibrate;

[0037] When the clamping action duration of the first clamping member is less than or equal to the preset clamping fault duration, and the first matching member does not receive the detection wave emitted by the first emitting member, the vibration mechanism is prohibited from vibrating;

[0038] When the clamping action duration of the first clamping member is longer than a preset clamping failure duration, the vibration mechanism is prohibited from vibrating.

[0039] In one embodiment, the control method further comprises the following steps:

[0040] detecting the cylinder pressure of the hydraulic cylinder driving the first clamping member to rotate around the first rotation axis;

[0041] When the oil cylinder pressure is lower than a preset normal pressure value, the vibration mechanism is prohibited from vibrating;

[0042] When the oil cylinder pressure is greater than or equal to the preset normal pressure value:

[0043] When the clamping action duration of the first clamping member is less than or equal to the preset clamping fault duration, and the first matching member receives the detection wave emitted by the first emitting member, the vibration mechanism is controlled to vibrate;

[0044] When the clamping action duration of the first clamping member is less than or equal to the preset clamping fault duration, and the first matching member does not receive the detection wave emitted by the first emitting member, the vibration mechanism is prohibited from vibrating;

[0045] When the clamping action duration of the first clamping member is longer than a preset clamping failure duration, the vibration mechanism is prohibited from vibrating. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A schematic diagram of the structure of a vibrating device provided in one embodiment of the present invention;

[0048] Figure 2 for Figure 1 The schematic diagram of the principle of the first detection component of the vibrating equipment shown;

[0049] Figure 3 for Figure 1 A schematic structural diagram of a portion of the structure of the vibrating device shown in another angle;

[0050] Figure 4 for Figure 1 A schematic structural diagram of another part of the structure of the vibrating device shown in FIG.

[0051] Figure 5 for Figure 1 A schematic diagram of the detection areas of the first detection component and the second detection component of the vibration equipment is shown. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0055] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0058] like Figure 1 As shown, an embodiment of the present invention provides a vibrating device 1, including a vibrating mechanism 11 and a clamping device 20. The clamping device 20 is arranged on the vibrating mechanism 11 and is used to clamp the part to be clamped 2. The vibrating mechanism 11 is used to vibrate the part to be clamped 2, that is, to perform a vibrating operation.

[0059] It should be noted that the part to be clamped 2 can be a steel trolley.

[0060] In some embodiments, the clamping device 20 includes a clamping mechanism 21 and a first detection component.

[0061] The clamping mechanism 21 includes a first clamping assembly, which includes a plurality of first clamping members 212 . The plurality of first clamping members 212 are arranged at intervals along a first direction, and each of the first clamping members 212 can rotate around a first rotation axis parallel to the first direction.

[0062] The first detection assembly includes a first emitting component 222 and a first matching component 224 . The first emitting component 222 and the first matching component 224 are arranged at intervals along the first direction, and a plurality of first clamping components 212 are located between the first emitting component 222 and the first matching component 224 .

[0063] Each first clamping member 212 has a first clamping position during the process of rotating around the first rotation axis. When the first clamping member 212 is located at the first clamping position, the first clamping member 212 is pressed against the to-be-clamped member 2. When all the first clamping members 212 are located at the first clamping position, the first matching member 224 can receive the detection wave emitted by the first transmitting member 222 toward the first matching member 224.

[0064] The first direction is Figure 1 Up and down directions shown.

[0065] By setting the above-mentioned clamping device 20, the first transmitting member 222 transmits a detection wave toward the first matching member 224. When all the first clamping members 212 are located at the first clamping position, the first matching member 224 can receive the detection wave. However, when there is a first clamping member 212 that has not rotated to the first clamping position, the first matching member 224 cannot receive the detection wave. In this way, it can be determined whether there is a first clamping member 212 that has not rotated to the first clamping position based on whether the first matching member 224 receives the detection wave. There is no need for the operator to check each first clamping member 212 one by one, which shortens the operation time and improves efficiency. Moreover, it can be ensured that all the first clamping members 212 are located at the first clamping position before vibration, thereby ensuring a good vibration effect of the vibration mechanism 11 and avoiding damage to the vibration mechanism 11.

[0066] In some embodiments, the first transmitting element 222 is a rangefinder that can receive the reflected detection wave to measure the distance. Further, the first matching element 224 is a matching plate that can receive and reflect the detection wave emitted by the first transmitting element 222. Specifically, the first transmitting element 222 is a laser scanning rangefinder.

[0067] In this way, the first emitting element 222 can receive the reflected detection wave and calculate the distance between the reflection position and the first emitting element 222. After the operator manipulates all the first clamping elements 212 to rotate to the first clamping position, the first emitting element 222 emits the detection wave toward the first matching element 224. If all the first clamping elements 212 are located at the first clamping position, the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222 is equal to the distance between the first matching element 224 and the first emitting element 222. If there is a first clamping element 212 that has not rotated to the first clamping position, the detection wave emitted by the first emitting element 222 toward the first matching element 224 will be blocked by the first clamping element 212 and reflected back. At this time, the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222 is smaller than the distance between the first matching element 224 and the first emitting element 222.

[0068] It can be understood that the first emitting member 222 and the first matching member 224 are arranged at intervals along the first direction, and the plurality of first clamping members 212 are arranged at intervals along the first direction and are located between the first emitting member 222 and the first matching member 224, so the distance between each first clamping member 212 and the first emitting member 222 is different.

[0069] When the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222 is smaller than the distance between the first emitting element 222 and the first matching element 224, it indicates that the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222 is the distance between the first emitting element 222 and a first clamping element 212, and the first clamping element 212 is not located at the first clamping position and is closest to the first emitting element 222. Meanwhile, the distance between the first clamping element 212 and the first emitting element 222 is determined, and therefore the first clamping element 212 can be found according to the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222, thereby shortening the inspection time and improving the efficiency.

[0070] Combination Figure 2 , it needs to be explained that, Figure 2The first direction is the left-right direction, the first emitting element 222 is located on the right side of the six first clamping elements 212, the first matching element 224 is located on the left side of the six first clamping elements 212, the distance between the rightmost first clamping element 212 and the first emitting element 222 is L1, the distance between the leftmost first clamping element 212 and the first matching element 224 is L2, the distance between the first clamping elements 212 arranged as odd numbers from right to left and the first clamping elements 212 arranged as even numbers from right to left is L3, the distance between the first clamping elements 212 arranged as even numbers from right to left and the first clamping elements 212 arranged as odd numbers is L4, for example, the distance between the first first clamping element 212 from right to left and the second first clamping element 212 is L3, and the distance between the second first clamping element 212 from right to left and the third first clamping element 212 is L4. It should be noted that in actual applications, the number of first clamping elements 212 is twelve, and the arrangement form is the same as Figure 2 Similar to that shown.

[0071] When all the first clamping members 212 are located at the first clamping position, the distance between the reflection position measured by the first emitting member 222 and the first emitting member 222 is L1+L2+3*L3+2*L4;

[0072] When only the fifth first clamping member 212 from right to left has not rotated to the first clamping position, the distance between the reflection position measured by the first emitting member 222 and the first emitting member 222 is the distance between the first emitting member 222 and the first clamping member 212, that is, L1+2*L3+2*L4.

[0073] When there is a large difference between the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222 and the distance between the first emitting element 222 and any first clamping element 212, or between the first emitting element 222 and the first matching element 224, it means that there is an obstacle on the detection path of the first emitting element 222, and the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222 is the distance between the first emitting element 222 and the obstacle.

[0074] It can be understood that when multiple first clamping members 212 have not rotated to the first clamping position, the detection wave emitted by the first emitting member 222 will first be reflected by the first clamping member 212 that is closest to it and has not rotated to the first clamping position. After the operator finds the first clamping member 212 and rotates the first clamping member 212 to the first clamping position, there are still first clamping members 212 that have not rotated to the first clamping position. The detection wave emitted by the first emitting member 222 will continue to be reflected by the first clamping member 212 that is closest to it and has not rotated to the first clamping position. The operator finds the first clamping member 212 and rotates the first clamping member 212 to the first clamping position until all the first clamping members 212 are rotated to the first clamping position.

[0075] In other embodiments, the first emitting element 222 is a transmitter of a beam-type photoelectric switch, and the first matching element 224 is a receiver of the beam-type photoelectric switch. In this case, the first emitting element 222 and the first matching element 224 can only detect whether there is a first clamping element 212 that has not rotated to the first clamping position, but cannot determine the specific position of the first clamping element 212 that has not rotated to the first clamping position. Therefore, the first emitting element 222 is preferably a laser scanning rangefinder.

[0076] See also Figure 3 and Figure 4 In some embodiments, each first clamping member 212 rotates around the first rotation axis between a first release position and the above-mentioned first clamping position, and when the first clamping member 212 is located at the first release position, the first clamping member 212 is separated from the member 2 to be clamped.

[0077] It can be determined that after the vibration operation is completed, in order to ensure that the member to be clamped 2 (such as a steel trolley) smoothly leaves the vibration device 1, it is necessary to ensure that all the first clamping members 212 rotate to the first release position.

[0078] In some embodiments, the clamping device 20 further includes a second detection component, which includes a second emitting component 232 and a second matching component 234 . The second emitting component 232 and the second matching component 234 are arranged at intervals along the first direction, and a plurality of first clamping components 212 are located between the second emitting component 232 and the second matching component 234 .

[0079] It should be noted that the multiple first clamping members 212 are located between the first emitting member 222 and the first matching member 224 and between the second emitting member 232 and the second matching member 234, which means that the multiple first clamping members 212 are located between the first emitting member 222 and the first matching member 224 and between the second emitting member 232 and the second matching member 234 in the first direction.

[0080] In addition, the first clamping member 212 can rotate between the first release position and the first clamping position. Similarly, when controlling the first clamping member 212 to rotate to the first release position or the first clamping position, it is necessary to ensure that all the first clamping members 212 rotate to the first release position or the first clamping position, and detecting whether all the first clamping members 212 rotate to the first release position is achieved through the second detection component. Therefore, the composition and principle of the second detection component are the same as those of the first detection component, which will not be repeated here.

[0081] At the same time, it is necessary to explain that Figure 5As shown, area C in the figure is the intersection of the area occupied by the first clamping member 212 at the first release position and the area occupied by the first clamping member 212 at the first clamping position, area A in the figure is the absolute complement of area C in the area occupied by the first clamping member 212 at the first release position, and area B in the figure is the absolute complement of area C in the area occupied by the first clamping member 212 at the first clamping position. Area A is the theoretical detection area of ​​the first emitting member 222, and area B is the theoretical detection area of ​​the second emitting member 232.

[0082] In addition, area a is the actual detection area of ​​the first emitting component 222, and area b is the actual detection area of ​​the second emitting component 232. Due to installation errors during the installation of the first clamping component 212, the actual detection area of ​​the first emitting component 222 is smaller than the theoretical detection area, and the actual detection area of ​​the second emitting component 232 is smaller than the theoretical detection area.

[0083] In some embodiments, the clamping device 20 also includes a control mechanism, which is electrically connected to the vibration mechanism 11 and the first emitting element 222, respectively, and is used to drive the vibration mechanism 11 to vibrate and obtain the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222. The control mechanism can determine whether there is a first clamping element 212 that has not been rotated to the first clamping position based on the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222, and if there is a first clamping element 212 that has not been rotated to the first clamping position, the control mechanism can calculate the position of the first clamping element 212 that has not been rotated to the first clamping position based on the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222.

[0084] It is understandable that the control mechanism uses the method in the above embodiment to determine whether there is a first clamping member 212 that has not rotated to the first clamping position, and uses the method in the above embodiment to calculate the position of the first clamping member 212 that has not rotated to the first clamping position.

[0085] In addition, since there are errors in measurement, the allowable error value will be input into the control mechanism in advance, and the control mechanism will take the allowable error value into account when making judgments or calculations.

[0086] Assuming that the allowable error value is 1, it should be noted that when the number of the first clamping members 212 is twelve and all the first clamping members 212 are located at the first clamping position, the distance actually measured by the first transmitting member 222 should be within the closed interval [L1+L2+6*L3+5*L4-1, L1+L2+6*L3+5*L4+1];

[0087] When only the fifth first clamping member 212 from right to left has not rotated to the first clamping position, the distance actually measured by the first emitting member 222 should be within the closed interval [L1+2*L3+2*L4-1, L1+2*L3+2*L4+1].

[0088] When the difference between the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222 and the distance between the first emitting element 222 and any first clamping element 212, or between the first emitting element 222 and the first matching element 224 is greater than or equal to 1, it indicates that there is an obstacle on the detection path of the first emitting element 222 and the obstacle needs to be cleared.

[0089] It should be explained that the composition and principle of the second detection component are the same as those of the first detection component. Therefore, by the same token, the control mechanism can determine whether the first clamping member 212 is rotated to the first release position based on the distance between the reflection position measured by the second emitting member 232 and the second emitting member 232, and if there is a first clamping member 212 that has not been rotated to the first release position, the control mechanism can calculate the position of the first clamping member 212 that has not been rotated to the first release position based on the distance between the reflection position measured by the second emitting member 232 and the second emitting member 232. The details are not repeated here.

[0090] In some embodiments, the clamping device 20 further includes a driving mechanism, which is respectively connected to the plurality of first clamping members 212 in transmission mode, and a control mechanism is electrically connected to the driving mechanism for controlling the driving mechanism to drive the plurality of first clamping members 212 to rotate synchronously around the first rotation axis.

[0091] In practical applications, the driving mechanism includes a hydraulic oil station, an oil circuit assembly, and a plurality of hydraulic cylinders. The hydraulic oil station is connected to the plurality of hydraulic cylinders through the oil circuit assembly to supply oil to each hydraulic cylinder. Each first clamping member 212 is rotatably connected to the vibration mechanism 11 around the first rotation axis, and each hydraulic cylinder is drivingly connected to the corresponding first clamping member 212. In this way, the plurality of first clamping members 212 can be driven to rotate synchronously around the first rotation axis by supplying oil through the hydraulic oil station.

[0092] Specifically, the oil circuit assembly includes an oil circuit, a pressure sensor, a directional solenoid valve and a safety overflow valve. The oil circuit includes a main oil circuit and multiple oil circuit branches. The main oil circuit is connected to the hydraulic oil station. One end of each oil circuit branch is connected to the main oil circuit, and the other end of each oil circuit branch is connected to the corresponding hydraulic cylinder. The pressure sensor, directional solenoid valve and safety overflow valve are all arranged on the main oil circuit.

[0093] Among them, the directional solenoid valve includes a clamping directional valve and a loosening directional valve, and the clamping directional valve and the loosening directional valve are both electrically connected to the control mechanism. When the control mechanism controls the clamping directional valve to be energized, the hydraulic cylinder performs a clamping action, that is, drives the first clamping member 212 to rotate to the first clamping position; when the control mechanism controls the loosening directional valve to be energized, the hydraulic cylinder performs a releasing action, that is, drives the first clamping member 212 to rotate to the first releasing position.

[0094] See also Figure 3 and Figure 4 In some embodiments, the clamping mechanism 21 further includes a second clamping assembly, and the first clamping assembly and the second clamping assembly are arranged in a second direction perpendicular to the first direction to enclose and form a clamping position for clamping the clamped part 2. The second direction is Figure 1 The front-to-back direction shown, and the second direction is Figure 3 and Figure 4 Left and right directions shown.

[0095] Furthermore, the second clamping assembly includes a plurality of second clamping members 214, which are arranged at intervals along the first direction, and each second clamping member 214 can rotate around a second rotation axis parallel to the first rotation axis. Each second clamping member 214 has a second clamping position during the rotation around the second rotation axis. When the second clamping member 214 is located at the second clamping position, the second clamping member 214 is pressed against the member 2 to be clamped.

[0096] In this way, the plurality of first clamping members 212 and the plurality of second clamping members 214 can be pressed against two opposite sides of the to-be-clamped member 2 along the second direction, thereby clamping and fixing the to-be-clamped member 2.

[0097] In some embodiments, each second clamping member 214 has a second release position during the rotation process around the second rotation axis, and when the second clamping member 214 is located at the second release position, the second clamping member 214 is separated from the clamped member 2. It can be understood that the second clamping assembly has the same structure as the first clamping assembly, and each second clamping member 214 is also connected to a corresponding hydraulic cylinder to be driven by the hydraulic cylinder to rotate around the second rotation axis.

[0098] In some embodiments, the clamping device 20 also includes a third detection component, which includes a third emitting component 242 and a third matching component. The third emitting component 242 and the third matching component are arranged at intervals along the first direction, and a plurality of second clamping components 214 are located between the third emitting component 242 and the third matching component. When all the second clamping components 214 are located at the second clamping position, the third matching component can receive the detection wave emitted by the third emitting component 242 toward the third matching component.

[0099] Furthermore, the clamping device 20 also includes a fourth detection component, which includes a fourth emitting component 252 and a fourth matching component. The fourth emitting component 252 and the fourth matching component are arranged at intervals along the first direction, and a plurality of second clamping components 214 are located between the fourth emitting component 252 and the fourth matching component. When all the second clamping components 214 are located at the second release position, the fourth matching component can receive the detection wave emitted by the fourth emitting component 252 toward the fourth matching component.

[0100] Among them, the composition, principle and function of the third detection component are the same as those of the first detection component, and the composition, principle and function of the fourth detection component are the same as those of the second detection component, and the only difference is that the object detected by the third detection component and the fourth detection component is the second clamping member 214. Based on the description of the first detection component and the second detection component, those skilled in the art can realize the layout of the third detection component and the fourth detection component, so the third detection component and the fourth detection component are not described in detail.

[0101] At the same time, compared with the traditional method, the clamping device 20 in the above embodiment can determine whether all the first clamping members 212 are rotated to the first clamping position and the first release position, or whether all the second clamping members 214 are rotated to the second clamping position and the second release position only through the cooperation between the transmitting member and the mating member. The structure is simpler, easier to control, and lower in cost.

[0102] In order to facilitate understanding of the technical solution in the above embodiment, the clamping action of the clamping device 20 in the above embodiment is described by taking the clamping process of multiple first clamping members 212 as an example:

[0103] Initially, multiple first clamping members 212 are all located in the first release position, the control mechanism starts the hydraulic oil station, and controls the clamping direction valve to be energized, the hydraulic cylinder drives all the first clamping members 212 to rotate around the first rotation axis to the first clamping position, the control mechanism starts timing after the clamping direction valve is energized, and obtains the cylinder pressure P1 detected by the pressure sensor in real time, when the hydraulic cylinder drive ends, the control mechanism obtains the energization time T1 of the clamping direction valve, that is, the clamping action duration of the first clamping member 212, the control mechanism controls the first transmitting member 222 to emit a detection wave, and obtains the distance between the reflection position measured by the first transmitting member 222 and the first transmitting member 222.

[0104] When P1 is less than P0 (P0 is the preset normal pressure value when the hydraulic cylinder drives the first clamping member 212 to clamp normally), the control mechanism sends a warning signal that the clamping pressure of the first clamping member 212 is too low, and informs the operator through the alarm that there may be an abnormality in the hydraulic oil station or oil circuit. At the same time, the control mechanism prohibits the vibration mechanism 11 from vibrating.

[0105] When P1 is greater than or equal to P0 (due to the presence of a safety relief valve in the oil circuit, P1 will not be greater than the safety pressure threshold), the following situations are included:

[0106] 1) If T1 is less than or equal to T0 (T0 is the default power-on time of the clamping directional valve), and the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222 is equal to the distance between the first emitting element 222 and the first matching element 224, it means that all the first clamping elements 212 are located at the first clamping position, and the control mechanism controls the vibration mechanism 11 to vibrate;

[0107] 2) If T1 is greater than T0 and less than or equal to T2 (T2 is the preset clamping fault duration, i.e., the fault power-on time of the clamping directional valve), and the distance between the reflection position measured by the first transmitting element 222 and the first transmitting element 222 is equal to the distance between the first transmitting element 222 and the first matching element 224, the control mechanism will send out a signal that the first clamping element 212 is abnormal, and inform the operator through the alarm that the first clamping element 212 or the driving mechanism may be abnormal and needs to be checked in time, but the control mechanism will still control the vibration mechanism 11 to vibrate;

[0108] 3) If T1 is greater than T0 and less than or equal to T2, and the distance between the reflection position measured by the first emitting element 222 and the first emitting element 222 is less than the distance between the first emitting element 222 and the first matching element 224, the control mechanism will determine whether the first clamping member 212 has not been rotated to the first clamping position or there is an obstacle on the detection path, and inform the operator of the information through the alarm, and the control mechanism prohibits the vibration mechanism 11 from vibrating;

[0109] 4) If T1 is greater than T2, the control mechanism sends a signal that the first clamping member 212 is faulty, and informs the operator through an alarm that the first clamping member 212 or the driving mechanism may be faulty, and the control mechanism prohibits the vibration mechanism 11 from vibrating.

[0110] It can be determined that the working principles of the second detection component, the third detection component and the fourth detection component are the same as those of the first detection component. Those skilled in the art can deduce the working principles of the second detection component, the third detection component and the fourth detection component through the working principle of the first detection component, so they will not be elaborated here.

[0111] Based on the above-mentioned clamping device 20, the present invention also relates to a detection method, comprising the following steps:

[0112] S110, controlling the plurality of first clamping members 212 to rotate about a first rotation axis toward a first clamping position.

[0113] S120 , controlling the first emitting component 222 to emit a detection wave toward the first matching component 224 .

[0114] When the first matching member 224 receives the detection wave emitted by the first emitting member 222, all the first clamping members are located at the first clamping position;

[0115] When the first matching member 224 does not receive the detection wave emitted by the first emitting member 222 , there is at least one first clamping member that has not rotated to the first clamping position.

[0116] By adopting the above-mentioned detection method, if the first clamping member 212 has not rotated to the first clamping position, the first matching member 224 cannot receive the detection wave emitted by the first emitting member 222. Therefore, it is possible to judge whether the first clamping member 212 has rotated to the first clamping position by whether the first matching member 224 receives the detection wave emitted by the first emitting member 222. There is no need for the operator to check, which shortens the operation time and improves efficiency.

[0117] In some embodiments, the detection method further comprises the following steps:

[0118] S210, controlling the plurality of second clamping members 214 to rotate about the second rotation axis toward the second clamping position.

[0119] S220, controlling the third emitting element 242 to emit a detection wave toward the third matching element.

[0120] When the third matching member receives the detection wave emitted by the third emitting member 242, all the first clamping members are located at the second clamping position;

[0121] When the third matching member does not receive the detection wave emitted by the third emitting member 242 , there is at least one second clamping member 214 that has not rotated to the second clamping position.

[0122] It should be noted that, as described in the above embodiment, the multiple first clamping members 212 and the multiple second clamping members 214 are all driven by a driving mechanism, and the control mechanism controls the driving mechanism to drive the multiple first clamping members 212 and the multiple second clamping members 214 to rotate synchronously, so step S110 and step S210 are performed synchronously.

[0123] In addition, based on the above embodiments, it can be determined without doubt that the second detection component and the fourth detection component have corresponding detection methods. Taking the second detection component as an example, the following steps are included:

[0124] S310, controlling the plurality of first clamping members 212 to rotate around the first rotation axis toward the first release position.

[0125] S320 , controlling the second emitting element 232 to emit a detection wave toward the second matching element 234 .

[0126] When the second matching member 234 receives the detection wave emitted by the second emitting member 232 toward the second matching member 234 , all the first clamping members 212 are located at the first releasing position.

[0127] In this way, whether the first clamping member 212 rotates to the first release position can be determined by whether the second matching member 234 receives the detection wave emitted by the second emitting member 232 .

[0128] The detection steps of the fourth detection component can be deduced similarly and will not be elaborated here.

[0129] The present invention also provides a control method, comprising the following steps:

[0130] The plurality of first clamping members 212 are controlled to rotate around the first rotation axis toward the first clamping position, and the clamping action duration of the first clamping members 212 is recorded.

[0131] The first emitting element 222 is controlled to emit a detection wave toward the first matching element 224 .

[0132] When the clamping action duration of the first clamping member 212 is less than or equal to the preset clamping fault duration, and the first matching member 224 receives the detection wave emitted by the first emitting member 222, the vibration mechanism 11 is controlled to vibrate;

[0133] When the clamping action duration of the first clamping member 212 is less than or equal to the preset clamping fault duration, and the first matching member 224 does not receive the detection wave emitted by the first emitting member 222, the vibration mechanism 11 is prohibited from vibrating;

[0134] When the clamping action duration of the first clamping member 212 is longer than the preset clamping failure duration, the vibration mechanism 11 is prohibited from vibrating.

[0135] Furthermore, the control method further includes the following steps: detecting the cylinder pressure of the hydraulic cylinder driving the first clamping member 212 to rotate around the first rotation axis.

[0136] When the oil cylinder pressure is lower than the preset normal pressure value, the vibration mechanism 11 is prohibited from vibrating;

[0137] When the cylinder pressure is greater than or equal to the preset normal pressure value:

[0138] When the clamping action duration of the first clamping member 212 is less than or equal to the preset clamping fault duration, and the first matching member 224 receives the detection wave emitted by the first emitting member 222, the vibration mechanism 11 is controlled to vibrate;

[0139] When the clamping action duration of the first clamping member 212 is less than or equal to the preset clamping fault duration, and the first matching member 224 does not receive the detection wave emitted by the first emitting member 222, the vibration mechanism 11 is prohibited from vibrating;

[0140] When the clamping action duration of the first clamping member 212 is longer than the preset clamping failure duration, the vibration mechanism 11 is prohibited from vibrating.

[0141] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A clamping device, characterized in that: include: The clamping mechanism comprises a first clamping assembly, wherein the first clamping assembly comprises a plurality of first clamping members, the plurality of first clamping members are arranged at intervals along a first direction, and each of the first clamping members can rotate around a first rotation axis parallel to the first direction; and A first detection component includes a first emitting component and a first matching component, wherein the first emitting component and the first matching component are arranged at intervals along the first direction, and a plurality of the first clamping components are located between the first emitting component and the first matching component; Each of the first clamping members has a first clamping position during the process of rotating around the first rotation axis. When the first clamping member is located at the first clamping position, the first clamping member presses against the member to be clamped. When all of the first clamping members are located at the first clamping position, the first matching member can receive the detection wave emitted by the first emitting member toward the first matching member; The clamping device further includes a control mechanism, which is electrically connected to the first emitting element, and the control mechanism is capable of acquiring a distance between a reflection position measured by the first emitting element and the first emitting element.

2. The clamping device according to claim 1, characterized in that The clamping device further includes a second detection component, the second detection component includes a second emitting component and a second matching component, the second emitting component and the second matching component are arranged at intervals along the first direction, and a plurality of the first clamping components are located between the second emitting component and the second matching component; Each of the first clamping members can rotate around the first rotation axis between a first release position and the first clamping position, and when the first clamping member is located at the first release position, the first clamping member is separated from the member to be clamped; When all of the first clamping members are located at the first releasing position, the second matching member can receive the detection wave emitted by the second emitting member toward the first matching member.

3. The clamping device according to claim 1, characterized in that: The first transmitting element adopts a rangefinder which can receive the reflected detection wave to measure the distance.

4. The clamping device according to claim 1, characterized in that: The clamping mechanism further includes a second clamping assembly, wherein the first clamping assembly and the second clamping assembly are arranged at intervals along a second direction perpendicular to the first direction to enclose and form a clamping position for clamping the object to be clamped; The second clamping assembly includes a plurality of second clamping members, the plurality of second clamping members are arranged at intervals along the first direction, and each of the second clamping members can rotate around a second rotation axis parallel to the first rotation axis; Each of the second clamping members has a second clamping position during the process of rotating around the second rotation axis. When the second clamping member is located at the second clamping position, the second clamping member presses against the member to be clamped.

5. The clamping device according to claim 4, characterized in that The clamping device further includes a third detection component and a fourth detection component, the third detection component includes a third emitting component and a third matching component, the third emitting component and the third matching component are arranged at intervals along the first direction, and a plurality of the second clamping components are located between the third emitting component and the third matching component; When all of the second clamping members are located at the second clamping position, the third matching member can receive the detection wave emitted by the third emitting member toward the third matching member; The fourth detection assembly includes a fourth emitting component and a fourth matching component, the fourth emitting component and the fourth matching component are arranged at intervals along the first direction, and a plurality of the second clamping components are located between the fourth emitting component and the fourth matching component; Each of the second clamping members also has a second release position during the rotation process around the second rotation axis. When the second clamping member is located at the second release position, the second clamping member is separated from the member to be clamped. When all of the second clamping members are located at the second releasing position, the fourth matching member can receive the detection wave emitted by the fourth emitting member toward the fourth matching member.

6. A vibrating device, characterized in that: It comprises a vibration mechanism and a clamping device as described in any one of claims 1 to 5, wherein the clamping device is arranged on the vibration mechanism.

7. A detection method, characterized in that: The following steps are involved: Controlling a plurality of first clamping members of the clamping device according to any one of claims 1 to 5 to rotate about a first rotation axis toward a first clamping position; Controlling the first emitting element to emit a detection wave toward the first matching element; When the first matching member receives the detection wave emitted by the first emitting member, all of the first clamping members are located at the first clamping position; When the first matching member does not receive the detection wave emitted by the first emitting member, there is at least one of the first clamping members that has not rotated to the first clamping position.

8. The detection method according to claim 7, characterized in that: The detection method further comprises the following steps: Controlling a plurality of second clamping members to rotate toward a second clamping position around a second rotation axis parallel to the first rotation axis; Controlling the third emitting element to emit a detection wave toward the third matching element; When the third matching member receives the detection wave emitted by the third emitting member, all of the second clamping members are located at the second clamping position; When the third matching member does not receive the detection wave emitted by the third emitting member, there is at least one of the second clamping members that has not rotated to the second clamping position.

9. A control method, characterized in that: The following steps are involved: Controlling a plurality of first clamping members of the clamping device according to any one of claims 1 to 5 to rotate around a first rotation axis toward a first clamping position, and recording a clamping action duration of the first clamping members; Controlling the first emitting element to emit a detection wave toward the first matching element; When the clamping action duration of the first clamping member is less than or equal to the preset clamping fault duration, and the first matching member receives the detection wave emitted by the first emitting member, the vibration mechanism is controlled to vibrate; When the clamping action duration of the first clamping member is less than or equal to the preset clamping fault duration, and the first matching member does not receive the detection wave emitted by the first emitting member, the vibration mechanism is prohibited from vibrating; When the clamping action duration of the first clamping member is longer than a preset clamping failure duration, the vibration mechanism is prohibited from vibrating.

10. The control method according to claim 9, characterized in that: The control method further comprises the following steps: detecting the cylinder pressure of the hydraulic cylinder driving the first clamping member to rotate around the first rotation axis; When the oil cylinder pressure is lower than a preset normal pressure value, the vibration mechanism is prohibited from vibrating; When the oil cylinder pressure is greater than or equal to the preset normal pressure value: When the clamping action duration of the first clamping member is less than or equal to the preset clamping fault duration, and the first matching member receives the detection wave emitted by the first emitting member, the vibration mechanism is controlled to vibrate; When the clamping action duration of the first clamping member is less than or equal to the preset clamping fault duration, and the first matching member does not receive the detection wave emitted by the first emitting member, the vibration mechanism is prohibited from vibrating; When the clamping action duration of the first clamping member is longer than a preset clamping failure duration, the vibration mechanism is prohibited from vibrating.

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