Clamping device and cleaning equipment

Abstract

The utility model 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 plurality of 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 utility model relates to valve body cleaning technical field, especially a clamping device and cleaning equipment. BACKGROUND

[0002] At present, the cleaning of valve body parts usually needs to be completed by means of a high-pressure cleaning machine, and in the cleaning process, the valve body parts are clamped by a clamping mechanism at the front end of a robot arm and then enter a cleaning bin for cleaning, and a clamping detection assembly is usually arranged on the clamping mechanism to detect whether the valve body parts are clamped in place, and under the influence of high-temperature and high-pressure fluid sprayed by the high-pressure cleaning machine, the damage frequency of the clamping detection assembly is high, and the clamping detection assembly needs to be frequently replaced, and the replacement downtime is long, which seriously affects the production rhythm. SUMMARY

[0003] The utility model discloses a clamping device and cleaning equipment, aiming at improving the problem that the clamping detection assembly in the high-pressure cleaning machine is easy to be damaged.

[0004] To achieve the above-mentioned purpose, the clamping device provided by the utility model comprises:

[0005] A clamping mechanism comprises a base and a plurality of clamping parts, at least one of the plurality of clamping parts is arranged as a movable clamping part, the movable clamping part is movably arranged on the base and can clamp or release a workpiece in cooperation with other clamping parts within its movement stroke, and the movable clamping part also has a plurality of to-be-detected positions within its movement stroke.

[0006] A plurality of detection assemblies are arranged corresponding to the plurality of to-be-detected positions, and each detection assembly comprises a detection air pipe and a shielding part, a pressure detection device is further arranged in the detection air pipe, and one of the air outlet end of the detection air pipe and the shielding part is arranged on the movable clamping part, and the other is arranged within the movement stroke of the movable clamping part.

[0007] The shielding part is configured to block the air outlet end of the detection air pipe when the movable clamping part moves to the corresponding to-be-detected position, 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] The air outlet end of at least one of the detection air pipes is arranged towards the first direction, and the corresponding shielding part can close the air outlet end of the detection air pipe along the first direction within the movement stroke of the movable clamping part.

[0010] In an embodiment, the plurality of positions to be detected includes a relaxed position, the corresponding detection air pipe is a first air pipe, and the corresponding shielding part is a first shielding part.

[0011] The movable clamping part is away from other clamping parts in the relaxed position 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 a relaxed position signal.

[0012] In an 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 an embodiment, the plurality of positions to be detected includes a clamped position, the corresponding detection air pipe is a second air pipe, and the corresponding shielding part is a second shielding part.

[0015] The movable clamping part is close to other clamping parts in the clamped 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 clamped position signal.

[0016] In an embodiment, the plurality of positions to be detected includes a folded position, the movable clamping part is folded to abut against other clamping parts in the folded position, the corresponding detection air pipe is a third air pipe, and the corresponding shielding part is a third shielding part.

[0017] The base is further provided with a mounting part, a movable part is movably arranged on the mounting part along a first direction, the second shielding part and the third shielding part are respectively arranged at two ends of the movable part along the first direction, air outlet ends of the second air pipe and the third air pipe are respectively arranged on corresponding two sides of the movable part along the first direction and are arranged towards the movable part, and 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, and in the process that the movable clamping part moves from the clamped position to the folded 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 folded position signal.

[0019] In an embodiment, one of the plurality of clamping parts is a matched clamping part, the matched clamping part is movably arranged along the first direction and synchronously close to or away from the movable clamping part.

[0020] The fitting clamping part comprises the mounting part.

[0021] In an embodiment, a spring is arranged between the movable part and the mounting part, and the spring is used to drive the movable part away from the air outlet end of the third air pipe.

[0022] In an embodiment, the plurality of to-be-measured positions comprises a folding position, the corresponding detection air pipe is a third air pipe, and the corresponding shielding part is a third shielding part.

[0023] The movable clamping part can be folded against the other clamping part in the folding 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 folding-in-place signal.

[0024] To achieve the above object, the cleaning equipment comprises the clamping device.

[0025] In the technical scheme, the movable clamping part has a plurality of to-be-measured positions in its movable stroke, a detection assembly is arranged for each to-be-measured position, one of the detection air pipe and the shielding part of the detection assembly is arranged in the movable clamping part and moves with the movable clamping part, and the other is arranged in the movable stroke of the movable clamping part. When the movable clamping part reaches the corresponding to-be-measured position, the shielding part can shield the air outlet end of the detection air pipe, and the pressure detection device arranged in the detection air pipe can send a to-place signal after identifying the pressure change, thereby achieving the identification of the movable clamping part in the corresponding to-be-measured position. On this basis, the detection air pipe protects the pressure detection device, and the pressure detection device can be arranged at any position in the detection air pipe. The pressure detection device can be arranged away from the harsh cleaning environment through the extension of the detection air pipe, thereby prolonging the service life of the pressure detection device. The detection assembly in the technical scheme has low complexity and high detection stability. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings from the structures shown in the drawings without creative labor.

[0027] Figure 1 The structure diagram of the clamping device provided by the present application, in which the movable clamping part is in a relaxed position;

[0028] Figure 2The structure schematic view of the movable clamping part in the clamping device in a clamping position is provided.

[0029] Figure 3 The structure schematic view of the movable clamping part in the clamping device in a clamping position is provided.

[0030] Explanation of the drawing reference numerals:

[0031] 100, clamping device;

[0032] 1, clamping mechanism; 11, clamping part; 111, movable clamping part; 112, matched 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 piece;

[0033] 200, workpiece; X, first direction.

[0034] The realization, functional features and advantages of the utility model will be further described with reference to the drawings in combination with the embodiments. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by the person skilled in the art without creative labor fall within the protection scope of the utility model.

[0036] It should be noted that if the directionality indication is involved in the embodiments of the utility model, the directionality indication is only used to explain the relative position relationship, movement condition and the like between the components in a certain specific posture, and if the specific posture changes, the directionality indication also changes accordingly.

[0037] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary technical personnel, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor in the protection scope required by the present application.

[0038] At present, the cleaning of valve body parts usually needs the help of high-pressure cleaning machine. During the cleaning process, the valve body parts are clamped by the clamping mechanism at the front end of the robot arm and then enter the cleaning bin for cleaning. The clamping mechanism is usually provided with a clamping detection assembly for detecting whether the valve body parts are clamped in place. Under the influence of high-temperature and high-pressure fluid sprayed by the high-pressure cleaning machine, the damage frequency of the clamping detection assembly is high, and it needs to be replaced frequently, which seriously affects the production rhythm.

[0039] It can be known from the analysis of the above problems that the current clamping detection assembly is usually composed of a switch sensor and a signal line thereof. These components are relatively sensitive and are easily damaged in a high-temperature and high-pressure cleaning environment. In the related countermeasures, it is also proposed to set the switch sensor away from the cleaning station to improve the service life of the switch sensor. However, the switch sensor is away from the original measurement position, and additional mechanical structures are needed to transmit the displacement of the original clamping mechanism to the new position. With the increase of transmission distance, the complexity of mechanical structure is also increased, which is easy to cause additional accidents and is not worth the cost.

[0040] Therefore, there is an urgent need in the field to provide a new countermeasure, which can set the sensor away from the cleaning station and obtain stable clamping signals. It can be considered to set a detection gas path on the basis of the clamping mechanism, to realize the blocking and conduction of the detection gas path through the clamping and loosening movement of the clamping mechanism, and to judge the state of the clamping mechanism through the high and low pressure in the detection gas path.

[0041] In view of this, the utility model provides a kind of clamping mechanism, to improve the problem that current high-pressure cleaning machine clamping detection assembly is easily damaged, the following is described with reference to the drawings, wherein, Figure 1 The structure diagram of the loose position of the movable clamping part in the clamping device provided by the present application is shown in the figure. Figure 2 The structure diagram of the clamping position of the movable clamping part in the clamping device provided by the present application is shown in the figure. Figure 3 The structure diagram of the clamping device provided by the present application is shown in the figure.

[0042] In an embodiment of the utility model, clamping device 100 includes clamping mechanism 1 and multiple detection components 2, clamping mechanism 1 includes base 12 and multiple clamping parts 11, at least one of multiple clamping parts 11 is set to movable clamping part 111, movable clamping part 111 is movably arranged at base 12, and can hold or release workpiece 200 in cooperation with other clamping parts 11 within its movable stroke, movable clamping part 111 also has multiple to-be-measured positions within its movable stroke, multiple detection components 2 are set corresponding to multiple to-be-measured positions respectively, detection component 2 includes detection air pipe 22 and shielding part 21, pressure detection device 23 is also arranged in detection air pipe 22, one of the air outlet end 22a of detection air pipe 22 and shielding part 21 is arranged in movable clamping part 111, and the other is arranged within the movable stroke of movable clamping part 111, shielding part 21 is configured to block the air outlet end 22a of detection air pipe 22 when movable clamping part 111 moves to the corresponding to-be-measured position, so that pressure detection device 23 in detection air pipe 22 sends the corresponding in-place signal.

[0043] It should be noted that the power source of movable clamping part 111 in multiple clamping parts 11 can be clamping cylinder or clamping drive motor, and the embodiment does not limit this, "at least one of multiple clamping parts 11 is set to movable clamping part 111" of course includes the scheme that multiple clamping parts 11 are set to movable clamping part 111 respectively, no matter how many movable clamping parts 111 are set, under the cooperation with other clamping parts 11, multiple clamping parts 11 should be able to hold or release workpiece 200, for example, two clamping parts 11 are set, one of the two clamping parts 11 is set to movable clamping part 111, and the other is set to fixed clamping part 11, movable clamping part 111 can realize the holding or releasing of workpiece 200 in the process of approaching and moving away from fixed clamping part 11, or both clamping parts 11 are set to movable clamping part 111, and the two movable clamping parts 111 can cooperate to hold or release workpiece 200, the main purpose of the embodiment is to propose a scheme that the to-be-measured position of movable clamping part 111 is identified through the cooperation of detection air pipe 22 and shielding part 21, and the to-be-measured position can have multiple possibilities according to different clamping requirements, and the embodiment does not limit this, for example, multiple to-be-measured positions can include one or more of clamping position (the position of multiple clamping parts 11 holding workpiece 200), relaxation position (the position of multiple clamping parts 11 completely releasing workpiece 200), and intermediate position (the position of movable clamping part 111 within its movable stroke being between clamping position and relaxation position).

[0044] The detection assembly 2 is provided in multiple sets, each corresponding to a plurality of to-be-detected positions, that is, each detection assembly 2 is responsible for detecting and identifying the arrival of the movable clamping part 111 at the corresponding to-be-detected position, therefore, the detection air pipe 22 in each detection assembly 2 should have a separate air outlet passage, and in the use process of the clamping device 100, each detection air pipe 22 should maintain the state of air outlet through the air outlet end 22a thereof, when the shielding part 21 does not shield the air outlet end 22a of the detection air pipe 22, it represents that the movable clamping part 111 has not arrived at the corresponding to-be-detected position, and the pressure detection device 23 in the detection air pipe 22 can detect the first pressure, when the shielding part 21 shields the air outlet end 22a of the detection air pipe 22, the pressure in the detection air pipe 22 rises, and the pressure detection device 23 can detect the second pressure, that is, the to-be-detected signal, which represents that the movable clamping part 111 has arrived at the corresponding to-be-detected position. Generally, the detection air pipe 22 can be provided in an extending manner, as long as the air tightness of the detection air pipe 22 meets the standard, the pressure detection device 23 arranged at any position in the detection air pipe 22 can play a detection role. The structure type of the “pressure detection device 23” is various, for example, piezoelectric pressure sensor, resistance type pressure sensor, etc., and the specific structure type of the pressure detection device 23 is not limited in the embodiment of the utility model.

[0045] The purpose of “one of the air outlet end 22a of the detection air pipe 22 and the shielding part 21 is arranged on the movable clamping part 111, and the other is arranged in the activity stroke of the movable clamping part 111” is to associate one of the air outlet end 22a of the detection air pipe 22 and the shielding part 21 with the activity of the movable clamping part 111, that is, it can move with the movable clamping part 111, and the embodiment does not limit which one of the two is arranged on the movable clamping part 111, which can be the air outlet end 22a of the detection air pipe 22 or the shielding part 21, and the other is arranged in the activity stroke of the movable clamping part 111, and the purpose is that when the movable clamping part 111 arrives at the corresponding to-be-detected position, the shielding part 21 can block the air outlet end 22a of the detection air pipe 22, for example, the shielding part 21 is arranged on the movable clamping part 111, and the air outlet end 22a of the detection air pipe 22 is arranged in the activity stroke of the movable clamping part 111, when the movable clamping part 111 arrives at the corresponding to-be-detected position, the shielding part 21 can shield the air outlet end 22a of the detection air pipe 22, and the shielding part 21 can shield the air outlet end 22a of the detection air pipe 22 in multiple ways, for example, the air outlet end 22a of the detection air pipe 22 is arranged towards the shielding part 21, the shielding part 21 directly shields the air outlet end 22a by covering, the direction of the air outlet end 22a of the detection air pipe 22 is perpendicular to the relative movement direction of the air outlet end 22a and the shielding part 21, and the shielding part 21 gradually shields the air outlet end 22a by cutting in.

[0046] The utility model provides technical scheme provided by the utility model discloses a movable clamping part 111 has a plurality of measured positions in its movable stroke, sets up detection assembly 2 respectively through corresponding plurality of measured positions, and one of detection air pipe 22 and shelter part 21 of detection assembly 2 sets up in movable clamping part 111 and moves along with it, wherein the other sets up in the movable stroke of movable clamping part 111, when movable clamping part 111 reaches corresponding measured position, shelter part 21 can shield the air outlet end 22a of detection air pipe 22, and the pressure detection device 23 inside the setting of this detection air pipe 22 can send in-place signal after identifying pressure change, by which the identification of movable clamping part 111 at corresponding measured position is realized, on this basis, detection air pipe 22 plays a protective role to pressure detection device 23, and pressure detection device 23 can be set at any position in detection air pipe 22, and the service life of pressure detection device 23 can be improved by the extension setting of detection air pipe 22 away from the severe cleaning environment, and the complexity of detection assembly 2 in the utility model technical scheme is lower, and the detection stability is higher.

[0047] In an embodiment, the movable clamping part 111 is movably arranged along a first direction X; the air outlet end 22a of at least one of the detection air pipes 22 is arranged towards the first direction X, and the corresponding shelter part 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 part 111.

[0048] The air outlet end 22a of at least one of the detection air pipes 22 is arranged towards the first direction X, and of course, the air outlet end 22a of all the detection air pipes 22 can be arranged towards the first direction X. Since the movable clamping part 111 is movably arranged along the first direction X, regardless of whether the shelter part 21 is arranged on the movable clamping part 111 or not, when the movable clamping part 111 reaches the corresponding measured position along the first direction X (the air outlet end 22a of the detection air pipe 22 at the measured position is arranged towards the first direction X), the shelter part 21 can positively press and close the air outlet end 22a of the corresponding detection air pipe 22 along the first direction X. Compared with the mode of cutting into the air outlet end 22a, the present technical solution can apply a certain pressure to the air outlet end 22a of the detection air pipe 22 by the shelter part 21, ensure the air tightness inside the detection air pipe 22, and make the internal pressure detection device 23 more accurately measure the second pressure.

[0049] Please refer to Figure 1 In an embodiment, the plurality of measured positions includes a relaxed position, the corresponding detection air pipe 22 is set as a first air pipe 221, and the corresponding shelter part 21 is set as a first shelter part 211; the movable clamping part 111 can be away from other clamping parts 11 at the relaxed position to loosen the workpiece 200, the first shelter part 211 shields the air outlet end 22a of the first air pipe 221, and the pressure detection device 23 in the first air pipe 221 can send a relaxed in-place signal.

[0050] The first shielding part 211 in the embodiment refers to the shielding part 21 in the detection assembly 2 corresponding to the relaxed position, and the first air pipe 221 refers to the detection air pipe 22 in the detection assembly 2 corresponding to the relaxed position.

[0051] In the technical solution, one of the plurality of to-be-detected positions is defined as the relaxed position, the movable clamping part 111 can be away from other clamping parts 11 at the relaxed position and loosen the workpiece 200, and under the cooperation of the first shielding part 211, the first air pipe 221 and the movable clamping part 111, the pressure detection device 23 inside the first air pipe 221 can accurately feed back the relaxed-to-position signal to the outside, so as to facilitate the timely transfer of the workpiece 200 cleaned and the timely clamping of the workpiece 200 not cleaned by the clamping device 100, and the cleaning rhythm is improved.

[0052] In an embodiment, the first shielding part 211 is arranged on the movable clamping part 111, and 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 arrangement positions of the first shielding part 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 part 111, and the first shielding part 211 can be arranged on the base 12. However, this arrangement undoubtedly causes the main pipe segment of the first air pipe 221 to move with the movable clamping part 111, and the movement precision control of the movable clamping part 111 is difficult to guarantee. In the technical solution, the first shielding part 211 is arranged on the movable clamping part 111, and the air outlet end 22a of the first air pipe 221 is arranged on the base 12. Since the first shielding part 211 has a simple structure and is not connected to other structures, the movable clamping part 111 only needs to drive the first shielding part 211 to move in its movement stroke, and the movement precision control of the movable clamping part 111 is easy to guarantee.

[0054] Please refer to Figure 2 In an embodiment, the plurality of to-be-detected positions include a clamping position, the corresponding detection air pipe 22 is arranged as a second air pipe 222, the corresponding shielding part 21 is arranged as a second shielding part 212, the movable clamping part 111 can be close to other clamping parts 11 at the clamping position to clamp the workpiece 200, and the second shielding part 212 can 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 a clamped-to-position signal.

[0055] The second shielding part 212 in the embodiment refers to the shielding part 21 in the detection assembly 2 corresponding to the clamping position, and the second air pipe 222 refers to the detection air pipe 22 in the detection assembly 2 corresponding to the clamping position.

[0056] In the technical solution, one of the multiple to-be-tested positions is defined as the clamping position, the movable clamping part 111 can approach the other clamping parts 11 at the clamping position and clamp the workpiece 200 together with the other clamping parts 11. With the cooperation of the second shielding part 212, the second air pipe 222 and the movable clamping part 111, the pressure detection device 23 inside the second air pipe 222 can accurately feed back the clamping-in-position signal to the outside, so that the high-pressure fluid nozzle in the cleaning equipment can be opened in time and the workpiece 200 can be cleaned, which is beneficial to improving the cleaning rhythm.

[0057] Generally, the clamping action positions of the multiple clamping parts 11 on the workpiece 200 are determined, that is, the clamping position of the movable clamping part 111 is determined. If the multiple clamping parts 11 are clamped to other positions of the workpiece 200 (clamping deviation), the movable clamping part 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 to-be-tested positions include a closing position, the movable clamping part 111 can close and abut against the other clamping parts 11 at the closing position, the corresponding detection air pipe 22 is a third air pipe 223, and the corresponding shielding part 21 is a third shielding part 213. The base 12 is further provided with a mounting part 112a, the mounting part 112a is movably provided with a movable part 4 along the first direction X, the second shielding part 212 and the third shielding part 213 are respectively arranged at the two ends of the movable part 4 along the first direction X, the gas 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 and face the movable part 4, wherein the gas outlet end 22a of the second air pipe 222 is arranged on the movable clamping part 111. The movable clamping part 111 is movably arranged along the first direction X. During the movement of the movable clamping part 111 from the clamping position to the closing position, the gas outlet end 22a of the second air pipe 222 can push the movable part 4 to move through the second shielding part 212, so that the third shielding part 213 shields the gas outlet end 22a of the third air pipe 223, and the pressure detection device 23 in the third air pipe 223 can send a closing-in-position 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 gas outlet ends 22a of the second gas pipe 222 and the third gas pipe 223 are respectively arranged on the corresponding two sides of the movable part 4 along the first direction X. This makes the gas outlet end 22a of the second gas pipe 222 be just shielded by the second shielding part 212 when the movable clamping part 111 reaches the clamping position, the gas outlet end 22a of the second gas pipe 222 can push the movable part 4 to move along the first direction X during the process that the movable clamping part 111 continues to approach the closing position, and the movable part 4 can drive the third shielding part 213 to shield the gas outlet end 22a of the third gas pipe 223 when the movable clamping part 111 reaches the closing position, so that the pressure detection device 23 in the third gas pipe 223 can timely trigger the closing-in-place signal.

[0060] In the above technical solution, through the movable arrangement of the movable part 4 along the first direction X, the movable clamping part 111 can drive the third shielding part 213 to move during the process that the movable clamping part 111 moves from the clamping position to the closing position, the movable part 4 can shield the gas outlet end 22a of the third gas pipe 223 at the closing position, so that the pressure detection device 23 in the third gas pipe 223 can timely trigger the closing-in-place signal. The closing position and the clamping position can be associated through the movable part 4, and the movable arrangement of the movable clamping part 111 between the closing position and the clamping position is not affected.

[0061] It is worth noting that when the movable clamping part 111 is at the closing position, the gas outlet end 22a of the second gas pipe 222 is shielded by the second shielding part 212, the pressure detection device 23 in the second gas pipe 222 can send a clamping-in-place signal, the gas outlet end 22a of the third gas pipe 223 is shielded by the third shielding part 213, and the pressure detection device 23 in the third gas pipe 223 can send a 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 at the same time, 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 arranged as a cooperating clamping part 112, the cooperating clamping part 112 is movably arranged along the first direction X and synchronously approaches or moves away from the movable clamping part 111; wherein the cooperating clamping part 112 comprises a mounting part 112a.

[0063] The "synchronous approaching or moving away of the matched clamping part 112 and the movable clamping part 111" means that the power of the matched clamping part 112 and the movable clamping part 111 comes from the same driving source. It can be understood that the combination of a single matched clamping part 112 and a movable clamping part 111 can realize the clamping of the workpiece 200. The "matched clamping part 112 includes the mounting part 112a" means that the gas outlet end 22a of the third gas pipe 223 and the movable part 4 are both arranged on the matched clamping part 112.

[0064] Compared with the scheme that the clamping part 11 other than the movable clamping part 111 is arranged as the fixed clamping part 11, in the above technical scheme, the synchronous approaching or moving away of the matched clamping part 112 and the movable clamping part 111 makes the matched 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 positioning state.

[0065] Further, in an embodiment, the 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 move away from the gas outlet end 22a of the third gas pipe 223.

[0066] The function of the "spring 3" is to reset and drive. When the movable clamping part 111 is in the closing position, the spring 3 should be in the compressed state. During the process that the movable clamping part 111 moves from the closing position to the clamping position, the spring 3 can drive the movable part 4 to move away from the gas outlet end 22a of the third gas 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 scheme, through the arrangement of the spring 3, the stable autonomous resetting effect of the movable part 4 can be provided, so as to facilitate the next contact between the second shielding part 212 and the gas outlet end 22a of the second gas pipe 222.

[0068] Please refer to Figure 3 In an embodiment, the plurality of to-be-detected positions includes the closing position, the corresponding detection gas pipe 22 is arranged as the third gas pipe 223, and the corresponding shielding part 21 is arranged as the third shielding part 213. The movable clamping part 111 can be closed and abutted against other clamping parts 11 in the closing position, and the third shielding part 213 can shield the gas outlet end 22a of the third gas pipe 223. The pressure detection device 23 in the third gas pipe 223 can send a closing-in-place signal.

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

[0070] In the technical solution, one of the plurality of positions to be detected is defined as the closing position, the movable clamping part 111 can be closed to abut against other clamping parts 11 at the closing position, and under the cooperation of the third shielding part 213, the third air pipe 223 and the movable clamping part 111, the pressure detection device 23 inside the third air pipe 223 can accurately feed back the closing-in-place signal to the outside, so that the clamping device 100 can stop the closing driving action of the movable clamping part 111 in time, and the energy consumption of the device is reduced.

[0071] The utility model also proposes a kind of cleaning equipment, and the cleaning equipment includes clamping mechanism 1, and the specific structure of the clamping mechanism 1 refers to above-mentioned embodiment, since the cleaning equipment of the utility model adopts all technical solutions of above-mentioned embodiment, at least has all beneficial effects brought by the technical scheme of above-mentioned embodiment, here no longer one by one elaboration.Except this, cleaning equipment can also include high-pressure fluid spray head and cleaning bin structure, the utility model embodiment is not limited to this;It is worth mentioning that the cleaning object of the cleaning equipment is not only limited to valve body parts, but also possibly other arbitrary parts needing cleaning.

[0072] The above is only preferred embodiment of the utility model, and does not limit the patent range of the utility model, and equivalent structural transformation using the utility model specification and drawing contents under the concept of the utility model, or direct / indirect application in other related technical fields are included in the patent protection range of the utility model.

Claims

1. A clamping device, characterized in that The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism.

2. The clamping device of claim 1, wherein The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism.

3. The clamping device of claim 1, wherein The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism.

4. The clamping device of claim 3, wherein The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism.

5. The clamping device of claim 1, wherein The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism.

6. The clamping device of claim 5, wherein The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping mechanism and a detection assembly thereof, and more particularly to a clamping mechanism and a detection assembly thereof for detecting the clamping state of a clamping mechanism. The utility model relates to a clamping The movable clamping part is arranged along the first direction, and during movement of the movable clamping part from the clamping position to the folding position, the outlet end of the second air pipe can push the movable part to move through the second blocking part, so that the third blocking part blocks the outlet end of the third air pipe, and the pressure detection device in the third air pipe can send a folding-in-place signal.

7. The clamping device of claim 6, wherein One of the plurality of clamping parts is arranged as a matching clamping part, which is arranged along the first direction and synchronously approaches or moves away from the movable clamping part. The matching clamping part comprises the mounting part.

8. The clamping device of claim 6, wherein A spring is arranged between the movable part and the mounting part, which is used to drive the movable part to move away from the outlet end of the third air pipe.

9. The clamping device of claim 1, wherein The plurality of to-be-tested positions comprises a folding position, the corresponding detection air pipe is arranged as a third air pipe, and the corresponding blocking part is arranged as a third blocking part. The movable clamping part can abut against other clamping parts in the folding position, and the third blocking part blocks the outlet end of the third air pipe, and the pressure detection device in the third air pipe can send a folding-in-place signal.

10. A cleaning apparatus characterized by, The clamp device comprises any one of claims 1 to 9.

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