Automatic tightening device and control method thereof

Abstract

The present application relates to the technical field of tightening device, particularly relates to an automatic tightening device and a control method thereof, which comprises a control unit and an execution unit, the control unit comprises a direct current power supply, a pressure regulating valve, a motor starting button, a motor closing button, an emergency stop switch, a first button, a second button, an electromagnetic reversing valve, a first relay, a second relay, a third relay, a fourth relay and a driver, the execution unit comprises a motor, a pneumatic cylinder and a three-jaw chuck, the motor is connected with the three-jaw chuck through a gear set, the three-jaw chuck is provided with three clamping jaws through three sliding blocks at the bottom, the pneumatic cylinder is connected with an air pump through the electromagnetic reversing valve and the pressure regulating valve, and the pneumatic cylinder is connected with three connecting rods through rotary joints at the bottom, and each connecting rod is connected with each sliding block. The present application realizes full automation, improves work efficiency and precision and reduces work intensity.

Description

Technical Field

[0001] This invention relates to the field of tightening device technology, and in particular to an automatic tightening device and its control method. Background Technology

[0002] The main process in the automotive final assembly workshop is to assemble automotive parts according to the drawings. It is characterized by a wide variety of parts, encompassing over 80 action elements including installation, fastening, torque application, and bonding. Automation is low, and it is primarily a manual assembly line operation. During the assembly fastening process, manual assembly is inefficient and requires a significant amount of physical labor. Summary of the Invention

[0003] This invention solves the problems in related technologies and proposes an automatic tightening device and its control method, which can achieve full automation, improve work efficiency and accuracy, and reduce work intensity.

[0004] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: an automatic tightening device, comprising:

[0005] The control unit includes a DC power supply, a voltage regulating valve, a motor start button, a motor stop button, an emergency stop switch, a first button, a second button, a solenoid reversing valve, a first relay, a second relay, a third relay, a fourth relay, and a driver. The left interface of the emergency stop switch is connected to the 24V interface of the DC power supply, the right interface of the emergency stop switch is connected to the left interface of the first button, the right interface of the first button is connected to the left interface of the second button and the normally open switch of the first relay, the normally open switch of the first relay, the second button is connected to the coil A1 port of the first relay, and the coil A2 port of the first relay is connected to the GND interface of the DC power supply. The right interface of the stop switch is connected to the left interface of the motor stop button. The right interface of the motor stop button is connected to the left interface of the motor start button and the normally open switch of the second relay. The normally open switch of the second relay, the motor start button and the coil A1 port of the second relay are connected. The coil A2 port of the second relay is connected to the GND interface of the DC power supply. The right interface of the emergency stop switch is connected to the left interface of the normally open switch of the third relay. The right interface of the normally open switch of the third relay is connected to one end of the electromagnet of the electromagnetic reversing valve. The other end of the electromagnet of the electromagnetic reversing valve is connected to the GND interface of the DC power supply. The right interface of the emergency stop switch is connected to the left interface of the normally open switch of the fourth relay.

[0006] The execution unit includes a motor, a pneumatic cylinder, and a three-jaw chuck. The motor is connected to the right interface of the normally open switch of the fourth relay, and the other end of the motor is connected to the GND interface of the DC power supply. The motor is connected to the three-jaw chuck through a gear set. Three jaws are mounted on the bottom of the three-jaw chuck via three sliders. The pneumatic cylinder has a B port and an A port on its upper part. The pneumatic cylinder is connected to an air pump through a solenoid reversing valve and a pressure regulating valve. Three connecting rods are connected to the bottom of the pneumatic cylinder via a rotating joint, and each connecting rod is connected to a slider.

[0007] As a preferred embodiment, the DC power supply is installed on the upper part of the fixed platform, a fixed support plate is provided above the fixed platform and connected to the fixed support below, and an operating platform is installed around the fixed support by a fixed fence. The motor start button, motor stop button, emergency stop switch, first button and second button are located on the operating platform, the electromagnetic reversing valve is at the top of the fixed support plate, the first relay, second relay, third relay and fourth relay are adjacent and installed on the fixed platform below the fixed support plate, the pressure regulating valve is installed on the side of the fixed support plate and above the driver, and the driver is installed on the fixed platform.

[0008] As a preferred embodiment, the upper part of the fixed platform is provided with a protective cover, the protective cover is provided with a joint bearing, and the protective cover is provided with a window.

[0009] As a preferred embodiment, the motor is mounted on the upper part of the fixed platform, the pneumatic cylinder is mounted on the upper part of the fixed platform and distributed between the motor and the pressure regulating valve, and the three-jaw chuck is located below the fixed platform.

[0010] As a preferred embodiment, the pneumatic cylinder includes a cylinder barrel, a rotating joint, and a cylinder rod. The cylinder barrel is provided with a B port, an A port, and a fixing bolt. A fixing flange is installed on the cylinder rod. One end of the cylinder rod is connected to the cylinder barrel, and the other end is connected to the rotating joint. The bottom of the rotating joint is connected to a slider lug via three connecting rods, and each slider lug is connected to a corresponding slider.

[0011] As a preferred embodiment, the motor is connected to the second gear via a coupling, the second gear meshes with the first gear, and the first gear is connected to a three-jaw chuck.

[0012] Another aspect of the present invention provides a control method for an automatic tightening device, the specific steps of which are as follows:

[0013] S1. Control the three-jaw chuck to clamp the parts: Press the first button to de-energize the electromagnet of the solenoid reversing valve. The gas in the air pump enters the B port of the pneumatic cylinder through the pressure regulating valve, causing the pneumatic cylinder to drive the rotating joint and connecting rod to make relative movements. The connecting rod pulls each slider, thereby driving each jaw to make relative movements inward, and finally clamping the parts.

[0014] S2. Control the three-jaw chuck to release the parts: Press the second button to energize the electromagnet of the solenoid reversing valve, so that the gas in the air pump enters the A port of the air cylinder through the pressure regulating valve, causing the air cylinder to drive the rotating joint and connecting rod to make relative movements, and the connecting rod pulls each slider, thereby driving each jaw to make relative movements outward, and finally releasing the parts.

[0015] S3. Control the three-jaw chuck to tighten parts: Press the motor start button, the coil of the second relay is energized, which closes the normally open switch of the second relay to achieve self-locking. The motor is powered on and drives the three-jaw chuck to rotate through the gear set, thereby tightening the clamped parts.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] (1) The clamping and tightening parts of the three-jaw chuck do not require manual operation, which realizes full automation, improves work efficiency and accuracy and reduces work intensity;

[0018] (2) The use of three retractable grippers to clamp parts expands the application range of the automatic tightening device, improves the success rate, and thus reduces the downtime for assembly line maintenance and adjustment.

[0019] (3) The vertical linear motion of the cylinder rod of the pneumatic cylinder is converted into the horizontal motion of the three jaws, so that the three jaws can clamp the parts. This allows the pneumatic cylinder with a large load to clamp the parts indirectly, making the clamping operation safer and more reliable.

[0020] (4) In case of an emergency, the emergency stop switch can be pressed to quickly stop the device, which plays a safety protection role for the device and the operator, prevents damage to mechanical equipment and processed parts, improves safety and reduces safety hazards. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the control unit of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the execution unit of the present invention;

[0023] Figure 3 This is the circuit diagram of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the three-jaw chuck of the present invention;

[0025] Figure 5 This is a schematic diagram of the overall structure of the present invention.

[0026] In the picture:

[0027] 1. DC power supply; 2. Fixed support plate; 3. Pressure regulating valve; 4. Motor start button; 5. Motor stop button; 6. Emergency stop switch; 7. First button; 8. Second button; 9. Operating platform; 10. Motor; 11. Solenoid directional valve; 12. Pneumatic cylinder; 1201. Port B; 1202. Cylinder barrel; 1203. Fixed flange; 1204. Rotating joint; 1205. First connecting rod; 1206. Fixing bolt; 1207. Port A; 1208. Cylinder rod; 1209. Second connecting rod; 1210. Third connecting rod; 13. First relay; 14. Second relay; 15. 16. Third relay, 17. Fixed platform, 18. Driver, 19. Fixed support, 20. Three-jaw chuck, 20. First slider, 2001. First slider ear, 21. First gripper, 22. Fixed fence, 23. Fourth relay, 24. First gear, 25. Coupling, 26. Second gear, 27. Assembly, 28. Second slider, 2801. Second slider ear, 29. Second gripper, 30. Part, 31. Spherical bearing, 32. Protective cover, 33. Third slider, 3301. Third slider ear, 34. Third gripper, 35. Window, 36. Fixed ring. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0030] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0031] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0032] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0033] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0034] Example 1

[0035] like Figures 1 to 5As shown, an automatic tightening device includes a control unit and an execution unit. The control unit includes a DC power supply 1, a pressure regulating valve 3, a motor start button 4 (SB5), a motor stop button 5 (SB4), an emergency stop switch 6 (SB1), a first button 7 (SB2), a second button 8 (SB3), a solenoid reversing valve 11, a first relay 13 (KA1), a second relay 14 (KA2), a third relay 15 (KA3), a fourth relay 23 (KA4), and a driver 17. The left interface of the emergency stop switch 6 (SB1) is connected to the 24V electrical interface of the DC power supply 1 via line P101. The right interface is connected to the left interface of the first button 7 (SB2) via line P102. The right interface of the first button 7 (SB2) is connected to the left interface of the second button 8 (SB3) and the normally open switch of the first relay 13 (KA1) via line P103. The normally open switch of the first relay 13 (KA1), the second button 8 (SB3), and the coil A1 port of the first relay 13 (KA1) are connected via line P104. The coil A2 port of the first relay 13 (KA1) is connected to the GND interface of DC power supply 1 via line N101. The right interface of the emergency stop switch 6 (SB1) is connected to the motor stop button 5 (S) via line P105. The left interface of B4) is connected. The right interface of the motor stop button 5 (SB4) is connected to the left interface of the motor start button 4 (SB5) and the normally open switch of the second relay 14 (KA2) via line P106. The normally open switch of the second relay 14 (KA2), the motor start button 4 (SB5), and the coil A1 port of the second relay 14 (KA2) are connected via line P107. The coil A2 port of the second relay (KA2) 14 is connected to the GND interface of DC power supply 1. The right interface of the emergency stop switch (SB1) 6 is connected to the left interface of the normally open switch of the third relay (KA3) 15 via line P108. The third relay 15 (KA3) 3) The right port of the normally open switch is connected to one end of the electromagnet YA1 of the solenoid directional valve 11 via line P109. The other end of the electromagnet YA1 of the solenoid directional valve 11 is connected to the GND port of the DC power supply 1 via line N103. The right port of the emergency stop switch 6 (SB1) is connected to the left port of the normally open switch of the fourth relay 23 (KA4) via line P110. The execution unit includes a motor 10, a pneumatic cylinder 12, and a three-jaw chuck 19. The motor 10 is a DC brushless motor. The motor 10 is controlled by the driver 17, which can control its speed and rotation direction to achieve fine control, improve the efficiency and life of the motor 10, and make up for the disadvantages of the motor 10.Motor 10 is connected to the right interface of the normally open switch of the fourth relay 23 (KA4) via line P111. The other end of motor 10 is connected to the GND interface of DC power supply 1 via line N104. Motor 10 is connected to a three-jaw chuck 19 via a gear set. The bottom of the three-jaw chuck 19 is equipped with a first jaw 21, a second jaw 29, and a third jaw 34 via a first slider 20, a second slider 28, and a third slider 33. The upper part of the pneumatic cylinder 12 is provided with port B 1201 and port A 1207. The pneumatic cylinder 12 is connected to an air pump via a solenoid reversing valve 11 and a pressure regulating valve 3. The bottom of the pneumatic cylinder 12 is connected to a first connecting rod 1205, a second connecting rod 1209, and a third connecting rod 1210 via a rotating joint 1204. The first connecting rod 1205 is connected to the first slider 20, the second connecting rod 1209 is connected to the second slider 28, and the third connecting rod 1210 is connected to the third slider 33.

[0036] In one embodiment, a DC power supply 1 is installed on the upper part of a fixed platform 16. A fixed support plate 2 is provided above the fixed platform 16 and connected to a fixed support 18 below. An operating platform 9 is installed around the fixed support 18 via a fixed fence 22. A motor start button 4 (SB5), a motor stop button 5 (SB4), an emergency stop switch 6 (SB1), a first button 7 (SB1), and a second button 8 (SB2) are provided on the operating platform 9. Specifically, the five buttons are sequentially embedded into pre-drilled holes in the operating platform 9 and then fixed with bolts. An electromagnetic reversing valve 11 is located at the top of the fixed support plate 2. A first relay 13 (KA1), a second relay 14 (KA2), a third relay 15 (KA3), and a fourth relay 23 (KA4) are adjacent to and installed on the fixed platform 16 below the fixed support plate 2. A pressure regulating valve 3 is installed on the side of the fixed support plate 2 and above the driver 17, which is installed on the fixed platform 16.

[0037] In one embodiment, a protective cover 32 is provided on the upper part of the fixed platform 16. Specifically, the protective cover 32 is installed on the fixed platform 16 by a fixing ring 36 and bolts, which serves to protect the control unit and the execution unit. The protective cover 32 is provided with a spherical bearing 31, which can be used to connect a spherical motor to adjust the position of the entire tightening device. The protective cover 32 is provided with a window 35, which can be manually controlled to open and close. The operator can observe the internal situation of the device more conveniently through the window 35 and perform corresponding operations.

[0038] In one embodiment, the motor 10 is mounted on the upper part of the fixed platform 16, the pneumatic cylinder 12 is mounted on the upper part of the fixed platform 16 and distributed between the motor 10 and the pressure regulating valve 3, and the three-jaw chuck 19 is located below the fixed platform 16.

[0039] In one embodiment, the pneumatic cylinder 12 includes a cylinder barrel 1202, a rotating joint 1204, and a cylinder rod 1208. The cylinder barrel 12 is provided with a B port 1201, an A port 1207, and a fixing bolt 1206. A fixing flange 1203 is installed on the cylinder rod 1208. One end of the cylinder rod 1208 is connected to the cylinder barrel 1202, and the other end is connected to the rotating joint 1204. The bottom of the rotating joint 1204 is connected to the first slider earring 2001, the second slider earring 2801, and the third slider earring 3301 on the corresponding slider through the first connecting rod 1205, the second connecting rod 1209, and the third connecting rod 1210, respectively.

[0040] In one embodiment, the motor 10 is connected to the second gear 26 via a coupling 25. The second gear 26 meshes with the first gear 24, and the first gear 24 is connected to the three-jaw chuck 19. Then, the motor 10 drives the second gear 26 to rotate via the coupling 25, which in turn drives the first gear 24 to rotate, and finally drives the three-jaw chuck 19 to rotate.

[0041] Example 2

[0042] Another aspect of the present invention provides a control method for an automatic tightening device, the specific steps of which are as follows:

[0043] S1. Control the three-jaw chuck 19 to clamp part 30: Press the first button 7 (SB2) to de-energize the electromagnet YA1 of the electromagnetic reversing valve 11. The gas in the air pump enters the B port 1201 of the pneumatic cylinder 12 through the pressure regulating valve 3, causing the pneumatic cylinder 12 to drive the rotating joint 1204 and the connecting rod to move relative to each other. The connecting rod pulls each slider, thereby driving each jaw to move inward relative to each other, so that part 30 and assembly 27 move relative to each other, and finally clamp part 30.

[0044] S2. Control the three-jaw chuck 19 to release part 30: Press the second button 8 to energize the electromagnet YA1 of the electromagnetic reversing valve 11, so that the gas in the air pump enters the A port 1207 of the air cylinder 12 through the pressure regulating valve 3, so that the air cylinder 12 drives the rotating joint 1204 and the connecting rod to make relative movement, and the connecting rod pulls each slider, thereby driving each jaw to make relative movement outward, and finally release part 30.

[0045] S3. Controlling the three-jaw chuck 19 to tighten part 30: Press the motor start button 4, the coil of the second relay 14 (KA2) is energized, causing the normally open switch of the second relay 14 (KA2) to close, achieving self-locking. It is connected to the DC power supply 124V interface through wire P101, then through the right interface of the emergency stop switch 6 (SB1), through wire P110 to the left end of the fourth relay 23 (KA4), then from the right interface of the fourth relay (KA4) 23, through line P111 to the positive interface of the motor 10, and finally from the negative terminal of the motor 10 through wire N104 to the GND interface of the DC power supply 1. The motor 10 is energized and works, driving the three-jaw chuck 19 to rotate through the gear set, thereby tightening the clamped part 30.

[0046] The above are preferred embodiments of the present invention. Those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments described above. Any obvious improvements, substitutions or modifications made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims

1. An automatic tightening device, characterized in that, include: The control unit includes a DC power supply (1), a voltage regulating valve (3), a motor start button (4), a motor stop button (5), an emergency stop switch (6), a first button (7), a second button (8), a solenoid reversing valve (11), a first relay (13), a second relay (14), a third relay (15), a fourth relay (23), and a driver (17). The left interface of the emergency stop switch (6) is connected to the 24V power interface of the DC power supply (1), and the right interface of the emergency stop switch (6) is connected to the left interface of the first button (7). The right interface of the first button (7) is connected to the left interface of the second button (8) and the normally open switch of the first relay (13). The normally open switch of the first relay (13), the second button (8), and the coil A1 port of the first relay (13) are connected. The coil A2 port of the first relay (13) is connected to the DC power supply (1). The emergency stop switch (6) is connected to the left interface of the motor stop button (5). The right interface of the motor stop button (5) is connected to the left interface of the motor start button (4) and the normally open switch of the second relay (14). The normally open switch of the second relay (14), the motor start button (4) and the coil A1 port of the second relay (14) are connected. The coil A2 port of the second relay (14) is connected to the GND interface of the DC power supply (1). The right interface of the emergency stop switch (6) is connected to the left interface of the normally open switch of the third relay (15). The right interface of the normally open switch of the third relay (15) is connected to one end of the electromagnet of the electromagnetic reversing valve (11). The other end of the electromagnet of the electromagnetic reversing valve (11) is connected to the GND interface of the DC power supply (1). The right interface of the emergency stop switch (6) is connected to the left interface of the normally open switch of the fourth relay (23). The execution unit includes a motor (10), a pneumatic cylinder (12), and a three-jaw chuck (19). The motor (10) is connected to the right interface of the normally open switch of the fourth relay (23). The other end of the motor (10) is connected to the GND interface of the DC power supply (1). The motor (10) is connected to the three-jaw chuck (19) through a gear set. The bottom of the three-jaw chuck (19) is equipped with three jaws through three sliders. The pneumatic cylinder (12) is provided with port B (1201) and port A (1207) on its upper part. The pneumatic cylinder (12) is connected to the air pump through a solenoid reversing valve (11) and a pressure regulating valve (3). The bottom of the pneumatic cylinder (12) is connected to three connecting rods through a rotating joint (1204). Each connecting rod is connected to each slider.

2. The automatic tightening device according to claim 1, characterized in that: The DC power supply (1) is installed on the upper part of the fixed platform (16). A fixed support plate (2) is provided above the fixed platform (16) and connected to the fixed support (18) below. An operating platform (9) is installed around the fixed support (18) through a fixed fence (22). The motor start button (4), motor stop button (5), emergency stop switch (6), first button (7), and second button (8) are provided on the operating platform (9). The electromagnetic reversing valve (11) is at the top of the fixed support plate (2). The first relay (13), second relay (14), third relay (15), and fourth relay (23) are adjacent to each other and installed on the fixed platform (16) below the fixed support plate (2). The pressure regulating valve (3) is installed on the side of the fixed support plate (2) and above the driver (17). The driver (17) is installed on the fixed platform (16).

3. The automatic tightening device according to claim 2, characterized in that: The fixed platform (16) is provided with a protective cover (32) on its upper part. The protective cover (32) is provided with a joint bearing (31) and a window (35).

4. The automatic tightening device according to claim 1, characterized in that: The motor (10) is mounted on the upper part of the fixed platform (16), the pneumatic cylinder (12) is mounted on the upper part of the fixed platform (16) and distributed between the motor (10) and the pressure regulating valve (3), and the three-jaw chuck (19) is below the fixed platform (16).

5. The automatic tightening device according to claim 1, characterized in that: The pneumatic cylinder (12) includes a cylinder barrel (1202), a rotating joint (1204), and a cylinder rod (1208). The cylinder barrel (1202) is provided with a B port (1201), an A port (1207), and a fixing bolt (1206). A fixing flange (1203) is installed on the cylinder rod (1208). One end of the cylinder rod (1208) is connected to the cylinder barrel (1202), and the other end is connected to the rotating joint (1204). The bottom of the rotating joint (1204) is connected to a slider lug via three connecting rods, and each slider lug is connected to a corresponding slider.

6. The automatic tightening device according to claim 1, characterized in that: The motor (10) is connected to the second gear (26) via a coupling (25), the second gear (26) meshes with the first gear (24), and the first gear (24) is connected to the three-jaw chuck (19).

7. A control method for an automatic tightening device, characterized in that, The specific steps are as follows: S1. Control the three-jaw chuck (19) to clamp the part (30): Press the first button (7) to de-energize the electromagnet of the electromagnetic reversing valve (11). The gas in the air pump enters the B port (1201) of the pneumatic cylinder (12) through the pressure regulating valve (3). The pneumatic cylinder (12) drives the rotating joint (1204) and the connecting rod to make relative movements. The connecting rod pulls each slider, thereby driving each jaw to make relative movements inward, and finally clamps the part (30). S2. Control the three-jaw chuck (19) to release the part (30): Press the second button (8) to energize the electromagnet of the electromagnetic reversing valve (11), so that the gas in the air pump enters the A port (1207) of the pneumatic cylinder (12) through the pressure regulating valve (3), so that the pneumatic cylinder (12) drives the rotating joint (1204) and the connecting rod to make relative movements, and the connecting rod pulls each slider, thereby driving each jaw to make relative movements outward, and finally release the part (30); S3. Control the three-jaw chuck (19) to tighten the part (30): Press the motor start button (4), the coil of the second relay (14) is energized, so that the normally open switch of the second relay (14) is closed to achieve self-locking. The motor (10) is powered on and drives the three-jaw chuck (19) to rotate through the gear set, thereby tightening the clamped part (30).

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