A sand-cast ball valve gripper

Abstract

This invention discloses a gripper for a sand-cast ball valve, comprising: an arc-shaped track on a support plate; a first gripping arm connected to both the support plate and a first gripping block; a slider slidably mounted on the arc-shaped track, and a second gripping arm connected to both the slider and the second gripping block; a gripper drive mounted on the support plate, with the first gripping arm and multiple second gripping arms connected to the actuating end of the gripper drive. The gripper drive can simultaneously move the first gripping block and multiple second gripping blocks towards the axis of the support plate, allowing them to jointly clamp the sand-cast ball valve. The second gripping arm in this invention can arbitrarily change position along the circumference of the support plate, thereby achieving the function of clamping the sand-cast ball valve at any non-uniformly distributed position along its circumference, improving the applicability and flexibility of the clamping position. The gripper in this invention can clamp sand-cast ball valves of different sizes. Because the first gripping block and multiple second gripping blocks are arranged sequentially along the circumference of the support plate, the gripper has high self-centering positioning accuracy.

Description

Technical Field

[0001] This invention relates to the field of ball valve processing equipment, and more specifically to a sand-cast ball valve gripper. Background Technology

[0002] The blank of a sand-cast ball valve has a complex gating and riser structure, which limits the number of positioning surfaces that can be used for clamping. Currently, the main method for clamping sand-cast ball valves is to externally clamp the flange. Ideally, the clamping positions would be evenly distributed on a cylindrical surface. However, the outer circle of the flange on the top of the actual valve body is usually lace-shaped. In addition, the complex gating and riser structure interferes with the originally evenly distributed clamping positions, resulting in an uneven circumferential distribution of the actual clamping positions. Furthermore, sand-cast ball valve blanks are characterized by large dimensional deviations and a weight that is usually several hundred kilograms. Therefore, the design of sand-cast ball valve clamps faces a triple challenge: difficulty in selecting clamping positions, high requirements for positioning accuracy, and the ability to withstand large loads.

[0003] Existing self-centering grippers mainly include two-finger, three-finger, and four-finger self-centering grippers. The finger spacing of the two-finger self-centering gripper is 180°, that of the three-finger self-centering gripper is 120°, and that of the four-finger self-centering gripper is 90°. These three types of self-centering grippers can only achieve clamping at specific positions of the workpiece. In reality, the shapes of workpieces vary, resulting in no suitable clamping position for the above three types of self-centering grippers. Therefore, it is necessary to design a special gripper to complete the clamping task.

[0004] The gripping effect and efficiency of the grippers directly affect the manufacturing cost and efficiency of the workpiece. Existing self-centering grippers are not flexible in selecting gripping positions, making it difficult to grip in non-circumferentially distributed positions, and they cannot achieve rapid switching between different numbers of gripping positions.

[0005] Therefore, how to provide a sand-cast ball valve gripper that can overcome the above problems is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a sand-cast ball valve gripper.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A sand-cast ball valve gripper, comprising:

[0009] A support plate, wherein an arc-shaped track is provided on the surface of the support plate, and the center of the circle defined by the center line of the arc-shaped track along its length direction coincides with the axis of the support plate;

[0010] A gripper assembly includes a reference gripper, adjustable grippers, and a gripper drive. The reference gripper includes a first clamping arm and a first clamping block. One end of the first clamping arm is connected to the support plate, and the other end of the first clamping arm is fitted with the first clamping block. Multiple adjustable grippers are provided, each including a slider, a second clamping arm, and a second clamping block. The slider is slidably mounted on the arc-shaped track. One end of the second clamping arm is connected to the slider, and the other end of the second clamping arm is fitted with the second clamping block. The gripper drive is mounted on the support plate. The first clamping arm and multiple second clamping arms are all connected to the actuating end of the gripper drive. The gripper drive can simultaneously move the first clamping block and multiple second clamping blocks towards the axis of the support plate. The first clamping block and multiple second clamping blocks are arranged in a circular pattern coaxial with the axis of the support plate, and the first clamping block and multiple second clamping blocks can jointly clamp the sand-cast ball valve.

[0011] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a sand-cast ball valve gripper. The present invention has one clamping arm and multiple clamping arms two, each of which is connected to multiple sliders. The support plate is designed with an arc-shaped track, and the sliders can slide on the arc-shaped track. The above design allows the clamping arms two to change positions arbitrarily along the circumference of the support plate, thereby realizing the function of clamping sand-cast ball valves at arbitrary positions with non-uniform circumferential distribution, which greatly improves the applicability and flexibility of the clamping position of the present application. The gripper in the present application can clamp sand-cast ball valves of different sizes. Since the clamping block one and multiple clamping blocks two are arranged sequentially along the circumference of the support plate, the gripper has a good self-centering function and high self-centering positioning accuracy.

[0012] Preferably, the clamping arm includes a connector, a connecting rod, a connector, and a connecting rod. The connector is fixed to the support plate. Two connecting rods are provided; one end of each connecting rod is hinged to the connector and each has a hinge axis line 1 and a hinge axis line 2. The other end of each connecting rod is hinged to the connector and each has a hinge axis line 3 and a hinge axis line 4. The hinge axis lines 1, 2, 3, and 4 are parallel to each other and arranged in a parallelogram. The hinge axis line 1 is perpendicular to the axis of the support plate. The clamping block is fixed to the connector. One end of the connecting rod is hinged to the side wall of one of the connecting rods and has a hinge axis line 5, which is parallel to the hinge axis line 1. The other end of the connecting rod is connected to the actuating end of the gripper drive. The clamping arm 2 includes a connector 3, a connecting rod 3, a connector 4, and a connecting rod 4. The connector 3 is fixed to the slider. There are two connecting rods 3. One end of each connecting rod 3 is hinged to the connector 3 and each has a hinge axis line 6 and a hinge axis line 7. The other end of each connecting rod 3 is hinged to the connector 4 and each has a hinge axis line 8 and a hinge axis line 9. The hinge axis lines 6, 7, 8, and 9 are parallel to each other and arranged in a parallelogram. The hinge axis line 6 is perpendicular to the axis line of the support plate. The clamping block 2 is fixed to the connector 4. One end of the connecting rod 4 is hinged to the side wall of one of the connecting rods 3 and has a hinge axis line 10. The hinge axis line 10 is parallel to the hinge axis line 6. The other end of the connecting rod 4 is connected to the execution end of the gripper drive. Both clamping arms one and two can move flexibly, enabling them to clamp sand-cast ball valves of different sizes.

[0013] Preferably, the gripper drive includes a telescopic cylinder, a mounting plate, a central shaft, a limiting ring, a first bearing, a second bearing, and a connecting block. The telescopic cylinder is fixed to the support plate, and the telescopic direction of the telescopic end of the cylinder is parallel to the axis of the support plate. The mounting plate is coaxially arranged with the support plate, and the telescopic end of the telescopic cylinder is fixed to the mounting plate. The central shaft is coaxially fixed to the mounting plate. The limiting ring is coaxially arranged with the mounting plate, and multiple limiting rings are provided, which are sequentially fitted together along the radial direction of the mounting plate. A first bearing is arranged between every two adjacent limiting rings along the radial direction of the mounting plate, and the first bearing is coaxially arranged with the mounting plate. The outer ring and inner ring are each interference-fitted with the inner wall of one of the limiting rings and the outer wall of one of the limiting rings adjacent to the radial direction of the mounting plate; the outer ring of the second bearing is interference-fitted with the inner wall of the innermost limiting ring, and the central shaft is interference-fitted with the inner ring of the second bearing; multiple connecting blocks are provided, and each of the multiple connecting blocks is fixed to a multiple of the limiting rings; the end of the second connecting rod away from the first connecting rod is hinged to the mounting plate and has a hinge axis line eleven, which is parallel to the hinge axis line five; the ends of the multiple fourth connecting rods away from the third connecting rod are each hinged to a multiple of the connecting blocks and have a hinge axis line twelve, which is parallel to the hinge axis line ten. The telescopic cylinder can drive the clamping arm one and clamping arm two to move, thereby realizing the convergence or separation of clamping block one and multiple clamping blocks two. The movement of clamping arm two along the circumference of the support plate does not affect the telescopic cylinder two from bringing clamping block one and multiple clamping blocks two together or apart.

[0014] Preferably, the adjustable gripper further includes a first bevel gear, a motor, and a second bevel gear. The first bevel gear is coaxially fixed to the support plate and is located inside the arc-shaped track. The first bevel gear has a centrally located clearance hole, and the telescopic cylinder is arranged inside the clearance hole. Multiple motors are provided, each fixed to multiple connecting parts. Multiple second bevel gears are provided, each coaxially fixed to the output shaft of a multiple motor, and simultaneously mesh with multiple first bevel gears. The second gripping arm can move smoothly along the circumference of the support plate.

[0015] Preferably, the adjustable gripper further includes limit switch one, limit switch two, limit switch three, and a positioning block. Two limit switches one are provided, both fixed to the support plate. The extension / retraction direction of the elastic contact of limit switch one is parallel to the axis of the support plate, and the two limit switches one are evenly arranged along the circumference of the support plate. Two limit switches two are provided, both fixed to the support plate. The extension / retraction direction of the elastic contact of limit switch two is parallel to the axis of the support plate. The connecting member one and the two limit switches two are sequentially and evenly arranged along the circumference of the support plate. Three limit switches are provided and fixed on the support plate. The extension direction of the elastic contact of the limit switch three is parallel to the axis of the support plate. The connecting piece one and the three limit switches three are arranged evenly along the circumference of the support plate. Multiple positioning blocks are provided and each is fixed to multiple connecting pieces three. The positioning blocks are provided with snap-fit ​​holes, and the elastic contact of the limit switch one, the elastic contact of the limit switch two, or the elastic contact of the limit switch three can be embedded in the snap-fit ​​holes. The motor, the limit switch one, the limit switch two, and the limit switch three are all electrically connected to an external controller. The above design can accurately position the three clamping arms two. One clamping arm one and three clamping arms two have different arrangements, namely, with the axis of the support plate as the center, two clamping arms two can be 180° apart, one clamping arm one and two clamping arms two can be 120° apart, and one clamping arm one and three clamping arms two can be 90° apart.

[0016] Preferably, a cover is also attached to the support plate, and the telescopic cylinder, the first bevel gear, and the second bevel gear are all located inside the cover. Multiple elongated holes are provided on the side wall of the cover, and multiple output shafts of the motors pass through each of the multiple elongated holes. The cover serves to shield and protect the first and second bevel gears. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 An integral isometric view of a sand-cast ball valve jaw. Figure 1 ;

[0019] Figure 2 An integral isometric view of a sand-cast ball valve jaw. Figure 2 ;

[0020] Figure 3A partial isometric view of a sand-cast ball valve jaw. Figure 1 ;

[0021] Figure 4 A partial isometric view of a sand-cast ball valve jaw. Figure 2 ;

[0022] Figure 5 A partial isometric view of a sand-cast ball valve jaw. Figure 3 ;

[0023] Figure 6 A partial isometric view of a sand-cast ball valve jaw. Figure 4 ;

[0024] Figure 7 This is an isometric view of a sand-cast ball valve with a gating system held by a clamp.

[0025] In the diagram:

[0026] 1 is the support plate, 2 is the arc-shaped track, 3 is the first connector, 4 is the first connecting rod, 5 is the second connector, 6 is the second connecting rod, 7 is the first clamping block, 8 is the slider, 9 is the third connector, 10 is the third connecting rod, 11 is the fourth connector, 12 is the fourth connecting rod, 13 is the second clamping block, 14 is the first bevel gear, 15 is the motor, 16 is the second bevel gear, 17 is the first limit switch, 18 is the second limit switch, 19 is the third limit switch, 20 is the positioning block, 200 is the snap-fit ​​hole, 21 is the telescopic cylinder, 22 is the mounting plate, 23 is the central shaft, 24 is the limit ring, 25 is the first bearing, 26 is the second bearing, 27 is the connecting block, and 28 is the cover. Detailed Implementation

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0028] This invention discloses a gripper for a sand-cast ball valve. The invention has one gripping arm and multiple gripping arms, each of which is connected to multiple sliders 8. The support plate 1 is designed with an arc-shaped track 2, and the sliders 8 can slide on the arc-shaped track 2. The above design allows the gripping arms to change positions arbitrarily along the circumference of the support plate 1, thereby realizing the function of gripping the sand-cast ball valve at any position that is not uniformly distributed in the circumference, which greatly improves the applicability and flexibility of the gripping position of this application.

[0029] The clamping arms one and two have a simple and reliable structure. While ensuring the flexible movement of the clamping arms one and two, the clamping blocks one 7 and two 13 can effectively clamp the sand-cast ball valve with large clamping force, high clamping stability and large clamping load.

[0030] By designing the telescopic cylinder 21, the telescopic movement of the telescopic cylinder 21 can realize the synchronous convergence or separation of clamping block 1 7 and multiple clamping blocks 2 13, ensuring the smooth operation of clamping arm 1 and clamping arm 2.

[0031] By designing the mounting plate 22, central shaft 23, limit ring 24, bearing 1 25, bearing 26 and connecting block 27, the clamping arm 2 can move flexibly along the circumference of the support plate 1 in the non-gripping state. The movement of the clamping arm 2 along the circumference of the support plate 1 does not affect the telescopic cylinder 21 driving the clamping arm 2 and the clamping block 2 13 to move.

[0032] By designing bevel gear 14, motor 15 and bevel gear 2 16, slider 8 and clamping arm 2 can move smoothly along the length of arc track 2.

[0033] By designing limit switch 17, limit switch 28, limit switch 319 and positioning block 20, the three clamping arms 2 can be precisely positioned. The clamping arm 1 and the three clamping arms 2 have different arrangements, namely, with the axis of the support plate 1 as the center, the two clamping arms 2 can be 180° apart, the clamping arm 1 and the two clamping arms 2 can be 120° apart, and the clamping arm 1 and the three clamping arms 2 can be 90° apart. This design can reliably clamp the sand-cast ball valve.

[0034] The gripper in this application can hold sand-cast ball valves of different sizes. At the same time, since the gripping block 7 and multiple gripping blocks 13 move synchronously and the gripping block 7 and multiple gripping blocks 13 are arranged sequentially along the circumference of the support plate 1, the gripper has a good self-centering function and high self-centering positioning accuracy.

[0035] Example

[0036] See appendix Figure 1-7 This is a schematic diagram of the overall and partial structure of one embodiment of the present invention. Specifically, the present invention discloses a sand-cast ball valve gripper, comprising:

[0037] The support plate 1 has a circular outer contour and an arc-shaped track 2 on its surface. The center of the circle defined by the center line of the arc-shaped track 2 along its length coincides with the axis of the support plate 1.

[0038] A gripper assembly, comprising a reference gripper, an adjustable gripper, and a gripper drive;

[0039] The reference gripper includes a gripping arm 1 and a gripping block 7. One end of the gripping arm 1 is connected to the support plate 1, and the other end of the gripping arm 1 is equipped with the gripping block 7.

[0040] The adjustable gripper is provided with multiple adjustable grippers, including a slider 8, a second clamping arm and a second clamping block 13. The slider 8 is slidably mounted on the arc track 2. One end of the second clamping arm is connected to the slider 8, and the other end of the second clamping arm is equipped with the second clamping block 13. The slider 8 can slide along the length of the arc track 2. The second clamping arm and the second clamping block 13 can change positions as the slider 8 moves, thereby adjusting the contact position between the second clamping block 13 and the sand-cast ball valve.

[0041] The gripper drive is mounted on the support plate 1. The gripping arm 1 and multiple gripping arms 2 are connected to the execution end of the gripper drive. The gripping block 1 7 and multiple gripping blocks 2 13 are arranged in a circular shape coaxial with the axis of the support plate 1. The gripper drive can simultaneously drive the gripping block 1 7 and the gripping block 2 13 to move, so that the gripping block 1 7 and the multiple gripping blocks 2 13 can converge or move away from the axis of the support plate 1. The above design ensures that the gripping block 1 7 and the multiple gripping blocks 2 13 can jointly clamp the sand-cast ball valve.

[0042] The clamping arm includes a first connector 3, a first connecting rod 4, a second connector 5, and a second connecting rod 6. The first connector 3 is fixed to the support plate 1 by bolts. There are two first connecting rods 4, one end of which is hinged to the first connector 3 and each has a hinge axis 1 and a hinge axis 2. The other end of each first connecting rod 4 is hinged to the second connector 5 and each has a hinge axis 3 and a hinge axis 4. The hinge axis 1, hinge axis 2, hinge axis 3, and hinge axis 4 are parallel to each other and arranged in a parallelogram shape. The first axis is perpendicular to the axis of the support plate 1; the clamping block 7 is fixed to the connecting piece 2 5; one end of the connecting rod 2 6 is hinged to the side wall of a connecting rod 4 and has a hinge axis 5, which is parallel to the first hinge axis; the other end of the connecting rod 2 6 is connected to the execution end of the gripper drive; on the one hand, the clamping arm 1 can be reliably connected to the execution end of the gripper drive; on the other hand, the clamping arm 1 can move flexibly, and the clamping block 7 can smoothly approach or move away from the axis of the support plate 1, that is, the clamping block 7 can smoothly approach or move away from the sand-cast ball valve;

[0043] The clamping arm 2 includes a connector 3 9, a connecting rod 3 10, a connector 4 11, and a connecting rod 4 12. Connector 3 9 is fixed to the slider 8 by bolts. There are two connecting rods 3 10, one end of which is hinged to connector 3 9, and each has a hinge axis line 6 and a hinge axis line 7. The other end of each connecting rod 3 10 is hinged to connector 4 11, and each has a hinge axis line 8 and a hinge axis line 9. Hinges 6, 7, 8, and 9 are parallel to each other and arranged in a parallelogram shape. The axis line six is ​​perpendicular to the axis line of the support plate 1; the clamping block two 13 is fixed to the connecting piece four 11; one end of the connecting rod four 12 is hinged to the side wall of a connecting rod three 10 and has a hinge axis line ten, which is parallel to the hinge axis line six; the other end of the connecting rod four 12 is connected to the execution end of the gripper drive; on the one hand, the clamping arm two can be reliably connected to the execution end of the gripper drive; on the other hand, the clamping arm two can move flexibly, and the clamping block two 13 can smoothly approach or move away from the axis line of the support plate 1, that is, the clamping block two 13 can smoothly approach or move away from the sand-cast ball valve.

[0044] The gripper drive includes a telescopic cylinder 21, a mounting plate 22, a central shaft 23, a limiting ring 24, a first bearing 25, a second bearing 26, and a connecting block 27. The telescopic cylinder 21 is fixed on the support plate 1. In this application, the telescopic cylinder 21 is an electric cylinder, and the telescopic direction of the telescopic end of the telescopic cylinder 21 is parallel to the axis of the support plate 1. The mounting plate 22 is a circular plate and is coaxially arranged with the support plate 1. The support plate 1 is arranged between the mounting plate 22 and the telescopic cylinder 21. The telescopic end of the telescopic cylinder 21 is fixed to the mounting plate 22 after passing through the plate surface of the support plate 1. The central shaft 23 is coaxially fixed on the mounting plate 22. The limiting ring 24 is coaxially arranged with the mounting plate 22. There are multiple limiting rings 24 with different diameters. One end wall of each of the multiple limiting rings 24 is fixed to the side of the mounting plate 22 away from the telescopic cylinder 21. The multiple limiting rings 24 are sequentially fitted together along the radial direction of the mounting plate 22. Every two adjacent limiting rings along the radial direction of the mounting plate 22 are... A bearing 25 is arranged between each of the limiting rings 24. The bearing 25 is coaxially arranged with the mounting plate 22. The outer and inner rings of the same bearing 25 are respectively interference-fitted with the inner wall of the limiting ring 24 and the outer wall of the limiting ring 24 adjacent to the radial direction of the mounting plate 22. The outer ring of the bearing 26 is interference-fitted with the inner wall of the innermost limiting ring 24. The central shaft 23 is interference-fitted with the inner ring of the bearing 26. Both bearing 25 and bearing 26 are deep groove ball bearings. Multiple connecting blocks 27 are provided, and each of the multiple connecting blocks 27 is fixed to a multiple limiting ring 24. The end of the connecting rod 26 away from the connecting rod 4 is hinged to the mounting plate 22 and has a hinge axis line eleven, which is parallel to the hinge axis line five. The ends of multiple connecting rods 4 12 away from the connecting rod 3 10 are each hinged to multiple connecting blocks 27 and have a hinge axis line twelve, which is parallel to the hinge axis line ten.

[0045] The telescopic cylinder 21 can drive the mounting plate 22 and the limiting ring 24 to reciprocate along the axis of the support plate 1. It is hinged to the mounting plate 22 via the second connecting rod 6 and the fourth connecting rod 12 is hinged to the connecting block 27. When the mounting plate 22 and the limiting ring 24 move, the first clamping block 7 and multiple second clamping blocks 13 can move towards or away from the axis of the support plate 1. By designing the central shaft 23, the limiting ring 24, the first bearing 25 and the second bearing 26, when the position of the second clamping block 13 is adjusted along the circumference of the support plate 1, the telescopic cylinder 21 can always reliably drive the clamping arm 2 to move, no matter how the position of the second clamping block 13 changes.

[0046] More specifically, the adjustable gripper also includes a bevel gear 14, a motor 15, and a bevel gear 16. The bevel gear 14 is coaxially fixed to the support plate 1 and is located inside the arc track 2. The bevel gear 14 has a clearance hole in the center, and a telescopic cylinder 21 is arranged inside the clearance hole. There are multiple motors 15, each of which is fixed to multiple connecting parts 9. The motor 15 in this application is a servo motor with a brake, that is, the motor 15 has a braking function after it stops, ensuring that the bevel gear 16 will not continue to rotate. There are multiple bevel gears 16, and each of the multiple bevel gears 16 is coaxially fixed to the output shaft of the multiple motors 15. The multiple bevel gears 16 mesh with multiple bevel gears 14 at the same time. The motor 15 drives the bevel gears 16 to rotate. While rotating, the bevel gears 16 can also rotate around the axis of the bevel gear 14, thereby realizing the position adjustment of the multiple gripping blocks 13.

[0047] More specifically, the adjustable gripper also includes limit switch one 17, limit switch two 18, limit switch three 19, and positioning block 20;

[0048] Two limit switches 17 are provided and both are fixed on the support plate 1. Each limit switch 17 has an elastic contact that can achieve elastic reset. Pressing the elastic contact can realize the circuit opening and closing of the limit switch 17. The extension and retraction direction of the elastic contact of the limit switch 17 is parallel to the axis of the support plate 1. The two limit switches 17 are evenly arranged around the circumference of the support plate 1, that is, with the center line of the support plate 1 as the center, the included angle between the two limit switches 17 is 180°.

[0049] Limit switch 18 is provided in two parts and is fixed on support plate 1. Limit switch 18 has elastic contact that can achieve elastic reset. Pressing the elastic contact can realize the circuit opening and closing of limit switch 18. The extension and retraction direction of the elastic contact of limit switch 18 is parallel to the axis of support plate 1. Connector 3 and the two limit switches 18 are arranged evenly along the circumference of support plate 1, that is, with the center line of support plate 1 as the center, connector 3 and the two limit switches 18 form an angle of 120° with each other.

[0050] There are three limit switches 19, all of which are fixed on the support plate 1. Each limit switch 19 has an elastic contact that can achieve elastic reset. Pressing the elastic contact can turn the circuit of the limit switch 19 on or off. The extension and retraction direction of the elastic contact of the limit switch 19 is parallel to the axis of the support plate 1. The connecting piece 3 and the three limit switches 19 are arranged evenly along the circumference of the support plate 1, that is, with the center line of the support plate 1 as the center, the connecting piece 3 and the three limit switches 19 form a 90° angle with each other.

[0051] The positioning block 20 is provided in multiple ways and each of them is fixed to multiple connecting parts 3 9. The positioning block 20 is provided with a snap-fit ​​hole 200. The snap-fit ​​hole 200 is directly opposite to the clamping block 2 13 along the axis of the support plate 1. The edge of the snap-fit ​​hole 200 is chamfered. The elastic contacts of limit switch 1 17, limit switch 2 18 and limit switch 3 19 are all smooth. The elastic contacts of limit switch 1 17, limit switch 2 18 or limit switch 3 19 can be embedded in the snap-fit ​​hole 200.

[0052] Motor 15, limit switch 17, limit switch 2 18 and limit switch 3 19 are all electrically connected to an external controller; in this application, there are three clamping arms 2. By designing limit switch 17, limit switch 2 18, limit switch 3 19 and positioning block 20, the three clamping arms 2 can be accurately positioned. One clamping arm 1 and three clamping arms 2 have different arrangements, that is, with the axis of the support plate 1 as the center, two clamping arms 2 can be 180° to each other, one clamping arm 1 and two clamping arms 2 can be 120° to each other, and one clamping arm 1 and three clamping arms 2 can be 90° to each other;

[0053] Motor 15 drives slider 8 to move on arc track 2. When limit switch 17, limit switch 28 or limit switch 319 moves into or out of the snap-fit ​​hole 200, limit switch 17, limit switch 28 or limit switch 319 will send a signal to the external controller.

[0054] When limit switch 17, limit switch 28, or limit switch 319 moves into the snap-fit ​​hole 200, the external controller controls motor 15 to stop immediately and lock, preventing clamping arm 2 from moving arbitrarily along the circumference of support plate 1 when clamping the sand-cast ball valve later.

[0055] A cylindrical cover 28 is also attached to the support plate 1. The telescopic cylinder 21, bevel gear 14 and bevel gear 26 are all located inside the cover 28. Multiple elongated holes are opened on the side wall of the cover 28. The output shaft of the motor 15 passes through the elongated holes. The tail end of the telescopic cylinder 21 is connected to the cover 28. The cover 28 can shield and protect the bevel gear 14 and bevel gear 26.

[0056] The gripper can clamp the sand-cast ball valve. Specifically, the clamping block 7 and multiple clamping blocks 13 can simultaneously press against the top flange of the sand-cast ball valve body. When the top flange of the sand-cast ball valve has an irregular outer contour or the sand-cast ball valve has a complex gating and riser structure, the motor 15 can be started, and the positions of multiple clamping arms 2 on the support plate 1 can be adjusted so that the clamping block 7 and clamping blocks 13 can effectively clamp the top flange of the sand-cast ball valve.

[0057] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0058] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sand cast ball valve collet, characterized by, The utility model relates to a sand casting ball valve clamping device, including: Supporting disc (1), the disc surface of supporting disc (1) is equipped with arc track (2), the center line defined in the length direction of arc track (2) coincides with the axis of supporting disc (1); Clamping jaw assembly, the clamping jaw assembly includes reference clamping jaw, adjustable clamping jaw and clamping jaw drive, the reference clamping jaw includes clamping arm one and clamping block one (7), one end of clamping arm one is connected with supporting disc (1), and the other end of clamping arm one is installed clamping block one (7);The adjustable clamping jaw is equipped with multiple, and the adjustable clamping jaw includes sliding block (8), clamping arm two and clamping block two (13), sliding block (8) is slidably installed on arc track (2), one end of clamping arm two is connected with sliding block (8), and the other end of clamping arm two is installed clamping block two (13);Clamping jaw drive is installed on supporting disc (1), and clamping arm one and multiple clamping arm two are connected with the execution end of clamping jaw drive, and clamping jaw drive can drive clamping block one (7) and multiple clamping block two (13) to approach the axis of supporting disc (1) simultaneously, and clamping block one (7) and multiple clamping block two (13) are arranged in the shape of circle with the axis of supporting disc (1), and clamping block one (7) and multiple clamping block two (13) can be clamped together sand casting ball valve; Clamping arm one includes connecting piece one (3), and connecting piece one (3) is fixed on supporting disc (1);Clamping arm two includes connecting piece three (9), and connecting piece three (9) is fixed with sliding block (8); Clamping jaw drive includes telescopic cylinder (21), and telescopic cylinder (21) is fixed on supporting disc (1), and the telescopic direction of telescopic end of telescopic cylinder (21) is parallel with the axis of supporting disc (1); Adjustable clamping jaw further includes bevel gear one (14), motor (15) and bevel gear two (16), bevel gear one (14) is coaxially fixed with supporting disc (1), bevel gear one (14) is located inside arc track (2), bevel gear one (14) is centrally provided with let -out hole, and let -out hole inside is arranged telescopic cylinder (21);Motor (15) is equipped with multiple and is fixed with multiple connecting piece three (9) respectively;Bevel gear two (16) is equipped with multiple, and multiple bevel gear two (16) are coaxially fixed with the output shaft of multiple motor (15) respectively, and multiple bevel gear two (16) are engaged with multiple bevel gear one (14) simultaneously; The adjustable clamping jaw further comprises a stroke switch one (17), a stroke switch two (18), a stroke switch three (19) and a positioning block (20), the stroke switch one (17) is provided with two and is fixed on the support disc (1), the elastic contact of the stroke switch one (17) is parallel to the axial line of the support disc (1) in the extension direction, and the two stroke switch ones (17) are evenly arranged along the circumference of the support disc (1); the stroke switch two (18) is provided with two and is fixed on the support disc (1), the elastic contact of the stroke switch two (18) is parallel to the axial line of the support disc (1) in the extension direction, the connecting piece one (3) and the two stroke switch two (18) are sequentially and evenly arranged along the circumference of the support disc (1); the stroke switch three (19) is provided with three and is fixed on the support disc (1), the elastic contact of the stroke switch three (19) is parallel to the axial line of the support disc (1) in the extension direction, the connecting piece one (3) and the three stroke switch three (19) are sequentially and evenly arranged along the circumference of the support disc (1); the positioning block (20) is provided with a plurality of and is fixed with a plurality of connecting pieces three (9), the positioning block (20) is provided with a clamping hole (200), the elastic contact of the stroke switch one (17), the elastic contact of the stroke switch two (18) or the elastic contact of the stroke switch three (19) can be embedded in the inner side of the clamping hole (200); the motor (15), the stroke switch one (17), the stroke switch two (18) and the stroke switch three (19) are electrically connected with an external controller.

2. A sand cast ball valve collet jaw according to claim 1, wherein, The clamping arm one further comprises a connecting rod one (4), a connecting piece two (5) and a connecting rod two (6); the connecting rod one (4) is provided with two, one end of the two connecting rod one (4) is hinged with the connecting piece one (3) and has a hinged axis one and a hinged axis two respectively, the other end of the two connecting rod one (4) is hinged with the connecting piece two (5) and has a hinged axis three and a hinged axis four respectively, the hinged axis one, the hinged axis two, the hinged axis three and the hinged axis four are parallel to each other and arranged in parallelogram, the hinged axis one is perpendicular to the axis of the support disc (1); the clamping block one (7) is fixed with the connecting piece two (5); one end of the connecting rod two (6) is hinged with the side wall of one connecting rod one (4) and has a hinged axis five, the hinged axis five is parallel to the hinged axis one, the other end of the connecting rod two (6) is connected with the execution end of the clamping jaw driving part; the clamping arm two further comprises a connecting rod three (10), a connecting piece four (11) and a connecting rod four (12), the connecting rod three (10) is provided with two, one end of the two connecting rod three (10) is hinged with the connecting piece three (9) and has a hinged axis six and a hinged axis seven respectively, the other end of the two connecting rod three (10) is hinged with the connecting piece four (11) and has a hinged axis eight and a hinged axis nine respectively, the hinged axis six, the hinged axis seven, the hinged axis eight and the hinged axis nine are parallel to each other and arranged in parallelogram, the hinged axis six is perpendicular to the axis of the support disc (1); the clamping block two (13) is fixed with the connecting piece four (11); one end of the connecting rod four (12) is hinged with the side wall of one connecting rod three (10) and has a hinged axis ten, the hinged axis ten is parallel to the hinged axis six, the other end of the connecting rod four (12) is connected with the execution end of the clamping jaw driving part.

3. A sand cast ball valve collet jaw according to claim 2, wherein, The clamping jaw driving member further comprises a mounting disc (22), a central shaft (23), a limiting ring (24), a bearing one (25), a bearing two (26) and a connecting block (27); the mounting disc (22) is coaxially arranged with the support disc (1), and the telescopic end of the telescopic cylinder (21) is fixed with the mounting disc (22); the central shaft (23) is coaxially fixed on the mounting disc (22); the limiting ring (24) is coaxially arranged with the mounting disc (22), and a plurality of limiting rings (24) are sequentially sleeved together along the radial direction of the mounting disc (22); one bearing one (25) is arranged between every adjacent two limiting rings (24) along the radial direction of the mounting disc (22), and the bearing one (25) is coaxially arranged with the mounting disc (22); the outer ring and the inner ring of the same bearing one (25) are respectively in interference fit with the inner side wall of one limiting ring (24) and the outer side wall of one limiting ring (24) along the radial direction of the mounting disc (22); the outer ring of the bearing two (26) is in interference fit with the inner side wall of the innermost limiting ring (24), and the central shaft (23) is in interference fit with the inner ring of the bearing two (26); a plurality of connecting blocks (27) are provided, and each of the plurality of connecting blocks (27) is fixed with a plurality of limiting rings (24); the end of the connecting rod two (6) away from the connecting rod one (4) is hinged with the mounting disc (22) and has a hinged shaft center line eleven, and the hinged shaft center line eleven is parallel with the hinged shaft center line five; the end of each of a plurality of connecting rod fours (12) away from the connecting rod three (10) is hinged with a plurality of connecting blocks (27) and has a hinged shaft center line twelve, and the hinged shaft center line twelve is parallel with the hinged shaft center line ten.

4. A sand cast ball valve collet jaw according to claim 1 wherein, A cover body (28) is further buckled on the support disc (1), and the telescopic cylinder (21), the bevel gear one (14) and the bevel gear two (16) are located in the cover body (28), a plurality of long strip holes are formed in the side wall of the cover body (28), and the output shafts of a plurality of motors (15) are respectively arranged in the plurality of long strip holes.

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