Clamping device and cleaning equipment

Abstract

The invention discloses a clamping device and cleaning equipment, and relates to the field of valve body cleaning, the clamping device comprises a clamping mechanism and a plurality of detection assemblies, the clamping mechanism comprises a base and a plurality of clamping parts, at least one of the multiple clamping parts is arranged to be a movable clamping part, the movable clamping part is movably arranged on the base, and the detection assemblies are arranged on the base; the movable clamping part can be matched with other clamping parts to clamp or loosen a workpiece in the movable stroke of the movable clamping part, and the movable clamping part is further provided with a plurality of positions to be detected in the movable stroke of the movable clamping part; the multiple detection assemblies are arranged corresponding to multiple to-be-detected positions respectively, each detection assembly comprises a detection air pipe and a shielding part, a pressure detection device is arranged in each detection air pipe, one of the air outlet end of each detection air pipe and the shielding part is arranged on the movable clamping part, and the other one is arranged in the movable stroke of the movable clamping part. According to the technical scheme, when the air outlet end of the detection air pipe is shielded by the shielding part, the pressure detection device can remotely and stably obtain the in-place signal, and the service life of the pressure detection device is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of valve body cleaning, and particularly to a clamping device and a cleaning device. Background Art

[0002] Currently, the cleaning of valve body parts usually needs to be completed with the help of a high-pressure cleaning machine. During the cleaning process, the valve body parts are clamped by a clamping mechanism at the front end of a robot arm and then enter the cleaning chamber for cleaning. A clamping detection component is usually provided on the clamping mechanism to detect whether the valve body parts are clamped in place. Under the influence of the high-temperature and high-pressure fluid sprayed by the high-pressure cleaning machine, the damage frequency of the clamping detection component remains high, and it needs to be replaced frequently. The downtime for replacement is relatively long, seriously affecting the production rhythm. Summary of the Invention

[0003] The main purpose of the present invention is to propose a clamping device and a cleaning device, aiming to improve the problem that the clamping detection component in the current high-pressure cleaning machine is easily damaged.

[0004] To achieve the above object, the clamping device proposed by the present invention includes:

[0005] A clamping mechanism, including a base and a plurality of clamping parts. At least one of the plurality of clamping parts is set as a movable clamping part. The movable clamping part is movably arranged on the base and can cooperate with other clamping parts to clamp or release a workpiece within its moving stroke. The movable clamping part also has a plurality of positions to be detected within its moving stroke; and,

[0006] A plurality of detection components, respectively arranged corresponding to the plurality of positions to be detected. The detection component includes a detection air pipe and a blocking part. A pressure detection device is also arranged in the detection air pipe. One of the air outlet ends of the detection air pipe and the blocking part is arranged on the movable clamping part, and the other is arranged within the moving stroke of the movable clamping part;

[0007] The blocking part is configured to block the air outlet end of the detection air pipe when the movable clamping part moves to the corresponding position to be detected, so that the pressure detection device in the detection air pipe sends a corresponding in-place signal.

[0008] In an embodiment, the movable clamping part is movably arranged along a first direction;

[0009] At least one of the air outlet ends of the detection air pipes is arranged facing the first direction, and the corresponding blocking part can close the air outlet end of the detection air pipe along the first direction within the moving stroke of the movable clamping part.

[0010] In an embodiment, the plurality of positions to be detected include a relaxation position. The corresponding detection air pipe is set as a first air pipe, and the corresponding blocking part is set as a first blocking part;

[0011] When in the relaxed position, the movable clamping part can move away from the other clamping parts to release the workpiece. The first shielding part shields the air outlet end of the first air pipe, and the pressure detection device in the first air pipe can send out a signal indicating that the relaxation is in place.

[0012] In one embodiment, the first shielding part is arranged on the movable clamping part;

[0013] The air outlet end of the first air pipe is arranged on the base.

[0014] In one embodiment, the multiple positions to be measured include the clamping position, the corresponding detection air pipe is set as the second air pipe, and the corresponding shielding part is set as the second shielding part;

[0015] When in the clamping position, the movable clamping part can move close to the other clamping parts to clamp the workpiece, and the second shielding part shields the air outlet end of the second air pipe. The pressure detection device in the second air pipe can send out a signal indicating that the clamping is in place.

[0016] In one embodiment, the multiple positions to be measured include the closing position. When in the closing position, the movable clamping part can close and abut against the other clamping parts. The corresponding detection air pipe is set as the third air pipe, and the corresponding shielding part is set as the third shielding part;

[0017] The base is further provided with an installation part. An activity part is movably arranged on the installation part along a first direction. The second shielding part and the third shielding part are respectively arranged at two ends of the activity part along the first direction. The air outlet ends of the second air pipe and the third air pipe are respectively arranged on the corresponding two sides of the activity part along the first direction and face the activity part. Wherein, the air outlet end of the second air pipe is arranged on the movable clamping part;

[0018] The movable clamping part is movably arranged along the first direction. During the process that the movable clamping part moves from the clamping position to the closing position, the air outlet end of the second air pipe can push the activity part to move through the second shielding part, so that the third shielding part shields the air outlet end of the third air pipe. The pressure detection device in the third air pipe can send out a signal indicating that the closing is in place.

[0019] In one embodiment, one of the multiple clamping parts is set as a cooperating clamping part. The cooperating clamping part is movably arranged along the first direction and moves close to or away from the movable clamping part synchronously;

[0020] Wherein, the cooperating clamping part includes the installation part.

[0021] In one embodiment, a spring is provided between the movable member and the mounting portion, and the spring is used to drive the movable member away from the air outlet end of the third air pipe.

[0022] In one embodiment, the multiple positions to be measured include a closing position, the corresponding detection air pipe is set as the third air pipe, and the corresponding shielding portion is set as the third shielding portion;

[0023] The movable clamping portion can close and abut against other clamping portions at the closing position, so that the third shielding portion shields the air outlet end of the third air pipe, and the pressure detection device in the third air pipe can send a signal indicating that the closing is in place.

[0024] To achieve the above object, the cleaning equipment proposed by the present invention includes the above clamping device.

[0025] In the technical solution provided by the present invention, the movable clamping portion has multiple positions to be measured within its movable stroke. By respectively arranging detection components corresponding to the multiple positions to be measured, one of the detection air pipe of the detection component and the shielding portion is arranged on the movable clamping portion and moves therewith, and the other is arranged within the movable stroke of the movable clamping portion. When the movable clamping portion reaches the corresponding position to be measured, the shielding portion can shield the air outlet end of the detection air pipe. The pressure detection device arranged inside the detection air pipe can send a signal indicating that it is in place after identifying the pressure change, thereby realizing the identification of the movable clamping portion at the corresponding position to be measured. On this basis, the detection air pipe plays a role in protecting the pressure detection device, and the pressure detection device can be arranged at any position inside the detection air pipe. By extending the detection air pipe, the pressure detection device can be kept away from the harsh cleaning environment, thereby improving the service life of the pressure detection device. The complexity of the detection component in the technical solution of the present invention is relatively low, and the detection stability is relatively high. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0027] Figure 1 It is a schematic structural diagram of the movable clamping portion of the clamping device provided by the present invention in a relaxed position;

[0028] Figure 2 It is a schematic structural diagram of the movable clamping portion of the clamping device provided by the present invention in a clamping position;

[0029] Figure 3Schematic diagram of the structure of the movable clamping part of the clamping device provided by the present invention in the closed position.

[0030] Explanation of the reference numerals in the drawings:

[0031] 100. Clamping device;

[0032] 1. Clamping mechanism; 11. Clamping part; 111. Movable clamping part; 112. Cooperative clamping part; 112a. Mounting part; 12. Base; 2. Detection assembly; 21. Shielding part; 211. First shielding part; 212. Second shielding part; 213. Third shielding part; 22. Detection air pipe; 22a. Air outlet end; 221. First air pipe; 222. Second air pipe; 223. Third air pipe; 23. Pressure detection device; 3. Spring; 4. Movable part;

[0033] 200. Workpiece; X. First direction.

[0034] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] It should be noted that if there are directional indications in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture. If this specific posture changes, the directional indications will also change accordingly.

[0037] In addition, if there are descriptions such as "first" and "second" in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0038] At present, the cleaning of valve body parts usually needs to be completed with the help of a high-pressure cleaning machine. During the cleaning process, the valve body parts are clamped by a clamping mechanism at the front end of the robot arm and then enter the cleaning chamber for cleaning. A clamping detection component is usually arranged on the clamping mechanism to detect whether the valve body parts are clamped in place. Under the influence of the high-temperature and high-pressure fluid sprayed by the high-pressure cleaning machine, the damage frequency of the clamping detection component remains high, and it needs to be frequently replaced. The replacement downtime is relatively long, seriously affecting the production rhythm.

[0039] Analyzing the above problems, it can be seen that the current clamping detection component usually consists of a switch sensor and its signal line. These components are relatively sensitive and are extremely easy to be damaged in a high-temperature and high-pressure cleaning environment. In the relevant countermeasures, it has also been proposed to set the switch sensor away from the cleaning station to improve the service life of the switch sensor. However, since the switch sensor is far away from the original position to be measured, additional mechanical structures are required to transmit the displacement of the original clamping mechanism to the new position. As the transmission distance increases, the complexity of the mechanical structure also increases accordingly, and additional accidents are likely to occur, which is not worth the candle.

[0040] There is an urgent need in the art to provide a new solution. It is necessary to set the sensor away from the cleaning station and obtain a stable clamping signal. It can be considered to set a detection air path on the basis of the clamping mechanism. The blocking and conduction of the detection air path are realized through the clamping and loosening displacement actions of the clamping mechanism, and the state of the clamping mechanism can be judged by the high and low pressure in the detection air path.

[0041] In view of this, the present invention provides a clamping mechanism, aiming to improve the problem that the clamping detection component in the current high-pressure cleaning machine is easily damaged. The following is described in conjunction with the accompanying drawings, wherein, Figure 1 is a schematic structural view of the movable clamping part of the clamping device provided by the present invention in a relaxed position; Figure 2 is a schematic structural view of the movable clamping part of the clamping device provided by the present invention in a clamping position; Figure 3 is a schematic structural view of the movable clamping part of the clamping device provided by the present invention in a closed position.

[0042] In an embodiment of the present invention, the clamping device 100 includes a clamping mechanism 1 and a plurality of detection components 2. The clamping mechanism 1 includes a base 12 and a plurality of clamping portions 11. At least one of the plurality of clamping portions 11 is set as a movable clamping portion 111. The movable clamping portion 111 is movably arranged on the base 12 and can cooperate with other clamping portions 11 to clamp or release the workpiece 200 within its moving stroke. The movable clamping portion 111 also has a plurality of positions to be detected within its moving stroke. The plurality of detection components 2 are respectively arranged corresponding to the plurality of positions to be detected. The detection component 2 includes a detection air pipe 22 and a shielding portion 21. A pressure detection device 23 is also arranged in the detection air pipe 22. One of the air outlet ends 22a of the detection air pipe 22 and the shielding portion 21 is arranged on the movable clamping portion 111, and the other is arranged within the moving stroke of the movable clamping portion 111. The shielding portion 21 is configured to block the air outlet end 22a of the detection air pipe 22 when the movable clamping portion 111 moves to the corresponding position to be detected, so that the pressure detection device 23 in the detection air pipe 22 sends out a corresponding in-place signal.

[0043] It should be noted that the power source of the movable clamping portion 111 among the plurality of clamping portions 11 can be a clamping cylinder or a clamping driving motor, and this embodiment does not limit this. "At least one of the plurality of clamping portions 11 is set as a movable clamping portion 111" certainly includes the scheme where each of the plurality of clamping portions 11 is set as a movable clamping portion 111. Regardless of the number of movable clamping portions 111, under the cooperation with other clamping portions 11, the plurality of clamping portions 11 should be able to clamp or release the workpiece 200. For example, if there are two clamping portions 11, one of the two clamping portions 11 is set as a movable clamping portion 111 and the other is set as a fixed clamping portion 11, the movable clamping portion 111 can clamp or release the workpiece 200 when approaching and departing from the fixed clamping portion 11. Or both of the two clamping portions 11 are set as movable clamping portions 111, and the two movable clamping portions 111 can cooperate with each other to clamp or release the workpiece 200. The main purpose of this embodiment is to propose a scheme for identifying the position to be detected of the movable clamping portion 111 through the cooperation of the detection air pipe 22 and the shielding portion 21. The position to be detected may have various possibilities according to different clamping requirements, and this embodiment does not limit this. For example, the plurality of positions to be detected may include one or more of a clamping position (the position where the plurality of clamping portions 11 clamp the workpiece 200), a relaxation position (the position where the plurality of clamping portions 11 completely release the workpiece 200), and an intermediate position (the position where the movable clamping portion 111 is in the middle of the clamping position and the relaxation position within its moving stroke).

[0044] In this solution, multiple detection components 2 are provided, which are respectively arranged corresponding to multiple positions to be measured. That is, each detection component 2 is solely responsible for detecting and identifying the arrival of the movable clamping portion 111 at the corresponding position to be measured. Therefore, the detection air pipes 22 in the multiple detection components 2 should all have independent air outlet passages. During the use of the clamping device 100, each detection air pipe 22 should maintain the state of discharging air outward through its own air outlet end 22a. When the shielding portion 21 does not shield the air outlet end 22a of the detection air pipe 22, it means that the movable clamping portion 111 has not reached the corresponding position to be measured, and the pressure detection device 23 in the detection air pipe 22 can detect the first pressure. When the shielding portion 21 shields the air outlet end 22a of the detection air pipe 22, the pressure in the detection air pipe 22 increases, and the pressure detection device 23 can detect the second pressure. The second pressure signal is also the in-place signal, representing that the movable clamping portion 111 has reached the corresponding position to be measured. Generally speaking, the detection air pipe 22 can be arranged in an extended manner. As long as the airtightness of the detection air pipe 22 meets the standard, setting the pressure detection device 23 at any position in the detection air pipe 22 can play a detection role. There are many structural types of the "pressure detection device 23", such as piezoelectric pressure sensors, resistive pressure sensors, etc. The specific structural type of the pressure detection device 23 is not limited in the embodiments of the present invention.

[0045] The purpose of "one of the air outlet end 22a of the detection air pipe 22 and the shielding portion 21 is arranged on the movable clamping portion 111, and the other is arranged within the moving stroke of the movable clamping portion 111" is to associate one of the air outlet end 22a of the detection air pipe 22 and the shielding portion 21 with the movement of the movable clamping portion 111, that is, it can move along with the movable clamping portion 111. In this embodiment, it is not limited which one of the two is arranged on the movable clamping portion 111. It may be the air outlet end 22a of the detection air pipe 22 or the shielding portion 21. The other of the two is arranged within the moving stroke of the movable clamping portion 111. The purpose is that when the movable clamping portion 111 reaches the corresponding position to be measured, the shielding portion 21 can block the air outlet end 22a of the detection air pipe 22. For example, the shielding portion 21 is arranged on the movable clamping portion 111, and the air outlet end 22a of the detection air pipe 22 is arranged within the moving stroke of the movable clamping portion 111. When the movable clamping portion 111 reaches the corresponding position to be measured, the shielding portion 21 can shield the air outlet end 22a of the detection air pipe 22. There are various ways for the shielding portion 21 to shield the air outlet end 22a of the detection air pipe 22. For example, the air outlet end 22a of the detection air pipe 22 is arranged facing the shielding portion 21, and the shielding portion 21 directly shields the air outlet end 22a by covering. The orientation of the air outlet end 22a of the detection air pipe 22 is perpendicular to the direction of the relative movement of the air outlet end 22a and the shielding portion 21, and the shielding portion 21 gradually shields the air outlet end 22a in a cutting-in manner.

[0046] In the technical solution provided by the present invention, the movable clamping portion 111 has a plurality of positions to be measured within its movable stroke. By respectively arranging the detection assemblies 2 corresponding to the plurality of positions to be measured, one of the detection air pipes 22 of the detection assembly 2 and the shielding portion 21 is arranged on the movable clamping portion 111 and moves therewith, and the other is arranged within the movable stroke of the movable clamping portion 111. When the movable clamping portion 111 reaches the corresponding position to be measured, the shielding portion 21 can block the air outlet end 22a of the detection air pipe 22. The pressure detection device 23 arranged inside the detection air pipe 22 can send a signal indicating that the position is reached after identifying the pressure change, thereby realizing the identification of the movable clamping portion 111 at the corresponding position to be measured. On this basis, the detection air pipe 22 plays a role in protecting the pressure detection device 23, and the pressure detection device 23 can be arranged at any position within the detection air pipe 22. By extending the detection air pipe 22, the pressure detection device 23 can be kept away from the harsh cleaning environment, thereby prolonging the service life of the pressure detection device 23. In the technical solution of the present invention, the complexity of the detection assembly 2 is relatively low, and the detection stability is relatively high.

[0047] In one embodiment, the movable clamping portion 111 is movably arranged along the first direction X; the air outlet end 22a of at least one of the detection air pipes 22 is arranged facing the first direction X, and the corresponding shielding portion 21 can close the air outlet end 22a of the detection air pipe 22 along the first direction X within the movable stroke of the movable clamping portion 111.

[0048] "The air outlet end 22a of at least one of the detection air pipes 22 is arranged facing the first direction X". Of course, it is also possible that the air outlet ends 22a of all the detection air pipes 22 are arranged facing the first direction X. Since the movable clamping portion 111 is movably arranged along the first direction X, regardless of whether the shielding portion 21 is arranged on the movable clamping portion 111 or not, when the movable clamping portion 111 reaches the corresponding position to be measured along the first direction X (the air outlet end 22a of the detection air pipe 22 at this position to be measured is arranged facing the first direction X), the shielding portion 21 can press and close the air outlet end 22a of the corresponding detection air pipe 22 along the first direction X. Compared with the way of cutting into and closing the air outlet end 22a, in this technical solution, the shielding portion 21 can apply a certain pressure to the air outlet end 22a of the detection air pipe 22 to ensure the airtightness inside the detection air pipe 22, so that the internal pressure detection device 23 can measure the second pressure more accurately.

[0049] Please refer to Figure 1 , in one embodiment, the plurality of positions to be measured include a relaxation position. The corresponding detection air pipe 22 is set as the first air pipe 221, and the corresponding shielding portion 21 is set as the first shielding portion 211; the movable clamping portion 111 can move away from other clamping portions 11 at the relaxation position to release the workpiece 200. The first shielding portion 211 blocks the air outlet end 22a of the first air pipe 221, and the pressure detection device 23 inside the first air pipe 221 can send a relaxation-in-place signal.

[0050] In this embodiment, the first shielding portion 211 refers to the shielding portion 21 in the detection component 2 corresponding to the relaxed position, and the first air pipe 221 refers to the detection air pipe 22 in the detection component 2 corresponding to the relaxed position.

[0051] In the above technical solution, one of the multiple positions to be measured is defined as the relaxed position. The movable clamping portion 111 can move away from other clamping portions 11 at the relaxed position and release the workpiece 200. With the cooperation of the first shielding portion 211, the first air pipe 221, and the movable clamping portion 111, the pressure detection device 23 inside the first air pipe 221 can accurately feedback the signal of reaching the relaxed position outward, so as to facilitate the subsequent timely transfer of the workpiece 200 after cleaning and the timely clamping of the workpiece 200 to be cleaned by the clamping device 100, which is beneficial to improving the cleaning rhythm.

[0052] In one embodiment, the first shielding portion 211 is arranged on the movable clamping portion 111; the air outlet end 22a of the first air pipe 221 is arranged on the base 12.

[0053] The above embodiment does not limit the specific setting positions of the first shielding portion 211 and the air outlet end 22a of the first air pipe 221. The air outlet pipe of the first air pipe 221 can be arranged on the movable clamping portion 111, and the first shielding portion 211 can be arranged on the base 12. However, this setting method will undoubtedly cause the main pipe section of the first air pipe 221 to move with the movable clamping portion 111, and it is difficult to ensure the movement accuracy control of the movable clamping portion 111. In this technical solution, the first shielding portion 211 is arranged on the movable clamping portion 111, and the air outlet end 22a of the first air pipe 221 is arranged on the base 12. Since the structure of the first shielding portion 211 is simple and there is no connection with other structures, the movable clamping portion 111 only needs to drive the first shielding portion 211 to move within its movement stroke, and it is easy to ensure the movement accuracy control of the movable clamping portion 111.

[0054] Please refer to Figure 2 , in one embodiment, the multiple positions to be measured include the clamping position, the corresponding detection air pipe 22 is set as the second air pipe 222, and the corresponding shielding portion 21 is set as the second shielding portion 212; the movable clamping portion 111 can approach other clamping portions 11 at the clamping position to clamp the workpiece 200, and make the second shielding portion 212 shield the air outlet end 22a of the second air pipe 222, and the pressure detection device 23 in the second air pipe 222 can send out the signal of reaching the clamping position.

[0055] In this embodiment, the second shielding portion 212 refers to the shielding portion 21 in the detection component 2 corresponding to the clamping position, and the second air pipe 222 refers to the detection air pipe 22 in the detection component 2 corresponding to the clamping position.

[0056] In the above technical solution, one of the multiple positions to be measured is defined as a clamping position. The movable clamping portion 111 can approach the other clamping portions 11 at the clamping position and cooperate with the other clamping portions 11 to clamp the workpiece 200. With the cooperation of the second shielding portion 212, the second air pipe 222, and the movable clamping portion 111, the pressure detection device 23 inside the second air pipe 222 can accurately feedback an in-place clamping signal outward, so that the high-pressure fluid nozzle in the cleaning device can be opened in time and the workpiece 200 can be cleaned, which is beneficial to improving the cleaning rhythm.

[0057] Generally speaking, the clamping action parts of the multiple clamping portions 11 on the workpiece 200 are determined, that is, the clamping position of the movable clamping portion 111 is determined. If the multiple clamping portions 11 have the problem of clamping deviation (clamping to other parts of the workpiece 200), the movable clamping portion 111 cannot reach the clamping position, that is, the pressure detection device 23 inside the second air pipe 222 cannot be triggered.

[0058] Further, please refer to Figure 3 , in an embodiment, the multiple positions to be measured include a closing position. The movable clamping portion 111 can close and abut against the other clamping portions 11 at the closing position. The corresponding detection air pipe 22 is set as the third air pipe 223, and the corresponding shielding portion 21 is set as the third shielding portion 213; the base 12 is further provided with a mounting portion 112a, and a movable member 4 is movably arranged on the mounting portion 112a along the first direction X. The second shielding portion 212 and the third shielding portion 213 are respectively arranged at both ends of the movable member 4 along the first direction X. The air outlet ends 22a of the second air pipe 222 and the third air pipe 223 are respectively arranged on the corresponding two sides of the movable member 4 along the first direction X and face the movable member 4. Among them, the air outlet end 22a of the second air pipe 222 is arranged at the movable clamping portion 111; the movable clamping portion 111 is movably arranged along the first direction X. During the process of the movable clamping portion 111 moving from the clamping position to the closing position, the air outlet end 22a of the second air pipe 222 can push the movable member 4 to move through the second shielding portion 212, so that the third shielding portion 213 shields the air outlet end 22a of the third air pipe 223, and the pressure detection device 23 in the third air pipe 223 can send out a closing-in-place signal.

[0059] It should be noted that the movable clamping part 111 is movably arranged on the base 12 along the first direction X, the movable part 4 is movably arranged on the mounting part 112a along the first direction X, the second shielding part 212 and the third shielding part 213 are respectively arranged at both ends of the movable part 4 along the first direction X, and the air outlet ends 22a of the second air pipe 222 and the third air pipe 223 are respectively arranged on the corresponding two sides of the movable part 4 along the first direction X. This enables the air outlet end 22a of the second air pipe 222 to be just shielded by the second shielding part 212 when the movable clamping part 111 reaches the clamping position. During the process of the movable clamping part 111 continuing to move closer to the closing position, the air outlet end 22a of the second air pipe 222 can push the movable part 4 to move along the first direction X. When the movable clamping part 111 reaches the closing position, the movable part 4 can just drive the third shielding part 213 to shield the air outlet end 22a of the third air pipe 223, so that the pressure detection device 23 in the third air pipe 223 can trigger the closing-in-place signal in time.

[0060] In the above technical solution, through the movable arrangement of the movable part 4 along the first direction X, when the movable clamping part 111 moves from the clamping position to the closing position, the movable part 4 can drive the third shielding part 213 to move. The movable part 4 can shield the air outlet end 22a of the third air pipe 223 at the closing position, so that the pressure detection device 23 in the third air pipe 223 can trigger the closing-in-place signal in time. The movable part 4 can connect the two detection components 2 at the closing position and the clamping position, and does not affect the movement of the movable clamping part 111 between the closing position and the clamping position.

[0061] It is worth noting that when the movable clamping part 111 is at the closing position, the air outlet end 22a of the second air pipe 222 is shielded by the second shielding part 212, and the pressure detection device 23 inside the second air pipe 222 can send out the clamping-in-place signal. The air outlet end 22a of the third air pipe 223 is shielded by the third shielding part 213, and the pressure detection device 23 inside the third air pipe 223 can send out the closing-in-place signal. At this time, the priority of the closing-in-place signal is higher, that is, when the clamping-in-place signal and the closing-in-place signal appear simultaneously, it should also be determined that the movable clamping part 111 is at the closing position.

[0062] Further, in an embodiment, one of the plurality of clamping parts 11 is set as the cooperating clamping part 112. The cooperating clamping part 112 is movably arranged along the first direction X and moves closer to or away from the movable clamping part 111 synchronously. Among them, the cooperating clamping part 112 includes a mounting part 112a.

[0063] "The cooperating clamping part 112 and the movable clamping part 111 approach or move away synchronously" means that the power sources of the cooperating clamping part 112 and the movable clamping part 111 are from the same driving source. It can be understood that the combination of a single cooperating clamping part 112 and a movable clamping part 111 can achieve the clamping of the workpiece 200; "The cooperating clamping part 112 includes a mounting part 112a" means that the air outlet end 22a of the third air pipe 223 and the movable part 4 are both arranged on the cooperating clamping part 112.

[0064] Compared with the solution of setting the clamping part 11 other than the movable clamping part 111 as a fixed clamping part 11, in the above technical solution, the cooperating clamping part 112 and the movable clamping part 111 approach or move away synchronously, so that the cooperating clamping part 112 and the movable clamping part 111 can approach and clamp the workpiece 200 synchronously, which is beneficial to accurately clamping the workpiece 200 in the positioned state.

[0065] Further, in an embodiment, a spring 3 is arranged between the movable part 4 and the mounting part 112a, and the spring 3 is used to drive the movable part 4 to be arranged away from the air outlet end 22a of the third air pipe 223.

[0066] The function of the "spring 3" is for reset driving. When the movable clamping part 111 is in the closed position, the spring 3 should be in a compressed state. When the movable clamping part 111 moves from the closed position to the clamping position, the spring 3 can drive the movable part 4 to be arranged away from the air outlet end 22a of the third air pipe 223 until the movable clamping part 111 reaches the clamping position, and then the spring 3 returns to the natural elongation state.

[0067] In the above technical solution, through the arrangement of the spring 3, a stable self-resetting effect can be provided for the movable part 4, so as to facilitate the next contact between the second shielding part 212 and the air outlet end 22a of the second air pipe 222.

[0068] Please refer to Figure 3 , in an embodiment, a plurality of positions to be measured include a closed position, the corresponding detection air pipe 22 is set as the third air pipe 223, and the corresponding shielding part 21 is set as the third shielding part 213; the movable clamping part 111 can be closed and abutted against other clamping parts 11 in the closed position, so that the third shielding part 213 shields the air outlet end 22a of the third air pipe 223, and the pressure detection device 23 in the third air pipe 223 can send out a signal indicating that the closing is in place.

[0069] The "closed position" means the position where the movable clamping part 111 is closed and abutted against other clamping parts 11, and there is no workpiece 200 between the plurality of clamping parts 11 at this time; the third shielding part 213 in this embodiment refers to the shielding part 21 in the detection component 2 corresponding to the closed position, and the third air pipe 223 refers to the detection air pipe 22 in the detection component 2 corresponding to the closed position.

[0070] In the above technical solution, one of the multiple positions to be measured is defined as the closing position. The movable clamping portion 111 can be closed and abutted against the other clamping portions 11 at the closing position. With the cooperation of the third shielding portion 213, the third air pipe 223, and the movable clamping portion 111, the pressure detection device 23 inside the third air pipe 223 can accurately feedback an in-place closing signal outwards, so that the clamping device 100 can timely stop performing the closing driving action on the movable clamping portion 111, reducing the energy consumption of the device.

[0071] The present invention also provides a cleaning device, which includes a clamping mechanism 1. The specific structure of the clamping mechanism 1 refers to the above embodiments. Since this cleaning device adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated one by one here. In addition, the cleaning device may further include a high-pressure fluid spray head and a cleaning chamber structure, which are not limited in the embodiments of the present invention; it is worth mentioning that the cleaning object of this cleaning device is not limited to valve body parts, but may also be any other parts that need to be cleaned.

[0072] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. A clamping device, characterized in that: include: A clamping mechanism, comprising a base and a plurality of clamping parts, at least one of the plurality of clamping parts being configured as a movable clamping part, the movable clamping part being movably disposed on the base and being able to cooperate with other clamping parts to clamp or release a workpiece within its movable travel, the movable clamping part also having a plurality of positions to be measured within its movable travel; and, A plurality of detection components are respectively arranged corresponding to the plurality of positions to be tested, the detection components include a detection air pipe and a shielding portion, a pressure detection device is further arranged in the detection air pipe, one of the air outlet end of the detection air pipe and the shielding portion is arranged in the movable clamping portion, and the other is arranged within the movable travel of the movable clamping portion; The shielding portion is configured to block the air outlet of the detection air pipe when the movable clamping portion moves to the corresponding position to be tested, so that the pressure detection device in the detection air pipe sends a corresponding arrival signal.

2. The clamping device according to claim 1, characterized in that The movable clamping portion is movably arranged along a first direction; The air outlet end of at least one of the detection air pipes is arranged toward the first direction, and the corresponding shielding portion can close the air outlet end of the detection air pipe along the first direction within the movable stroke of the movable clamping portion.

3. The clamping device according to claim 1, characterized in that The plurality of positions to be tested include a relaxed position, the corresponding detection air tube is set as a first air tube, and the corresponding shielding portion is set as a first shielding portion; The movable clamping part can be away from the other clamping parts in the relaxation position to loosen the workpiece, the first shielding part shields the air outlet end of the first air pipe, and the pressure detection device in the first air pipe can send a relaxation signal.

4. The clamping device according to claim 3, characterized in that The first shielding portion is arranged on the movable clamping portion; The air outlet end of the first air pipe is arranged on the base.

5. The clamping device according to claim 1, characterized in that The plurality of positions to be tested include a clamping position, the corresponding detection air pipe is set as a second air pipe, and the corresponding shielding portion is set as a second shielding portion; The movable clamping part can be close to other clamping parts at the clamping position to clamp the workpiece, and the second shielding part shields the air outlet end of the second air pipe, and the pressure detection device in the second air pipe can send a clamping in place signal.

6. The clamping device according to claim 5, characterized in that The plurality of positions to be tested include a closed position, the movable clamping part can be closed and abutted against other clamping parts at the closed position, the corresponding detection air pipe is set as a third air pipe, and the corresponding shielding part is set as a third shielding part; The base is further provided with a mounting portion, a movable part is movably provided on the mounting portion along the first direction, the second shielding portion and the third shielding portion are respectively provided at two ends of the movable part along the first direction, the air outlet ends of the second air pipe and the third air pipe are respectively provided at corresponding two sides of the movable part along the first direction and are provided toward the movable part, wherein the air outlet end of the second air pipe is provided at the movable clamping portion; The movable clamping part is movably arranged along the first direction. During the movement of the movable clamping part from the clamping position to the closing position, the air outlet end of the second air pipe can push the movable part to move through the second shielding part, so that the third shielding part shields the air outlet end of the third air pipe, and the pressure detection device in the third air pipe can send a closing position signal.

7. The clamping device according to claim 6, characterized in that One of the plurality of clamping portions is configured as a matching clamping portion, the matching clamping portion is movably configured along the first direction, and moves toward or away from the movable clamping portion synchronously; Wherein, the mating clamping portion includes the mounting portion.

8. The clamping device according to claim 6, characterized in that A spring is arranged between the movable part and the mounting portion, and the spring is used to drive the movable part to be arranged away from the air outlet end of the third air pipe.

9. The clamping device according to claim 1, characterized in that: The plurality of positions to be tested include a closed position, the corresponding detection air pipe is set as a third air pipe, and the corresponding shielding portion is set as a third shielding portion; The movable clamping part can be closed and abutted against the other clamping parts at the closing position, and the third shielding part shields the air outlet end of the third air pipe, and the pressure detection device in the third air pipe can send a closing position signal.

10. A cleaning device, characterized in that: Comprising a clamping device as claimed in any one of claims 1 to 9.

Images