CN109366401B - Air pressure driven lockable clamping mechanism and clamping method thereof - Google Patents
Air pressure driven lockable clamping mechanism and clamping method thereof Download PDFInfo
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- CN109366401B CN109366401B CN201811429149.6A CN201811429149A CN109366401B CN 109366401 B CN109366401 B CN 109366401B CN 201811429149 A CN201811429149 A CN 201811429149A CN 109366401 B CN109366401 B CN 109366401B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Fluid-Pressure Circuits (AREA)
Abstract
The invention provides a pneumatic drive lockable clamping mechanism, which is connected with a controller, uses air pressure as working power, and carries out clamping, loosening and locking operations on a component, and comprises: the three-position four-way electromagnetic valve and the two-position two-way electromagnetic valve are both connected with the controller; the first pneumatic control valve and the second pneumatic control valve are connected with a three-position four-way electromagnetic valve through gas paths; the first pneumatic cylinder and the second pneumatic cylinder are respectively internally provided with a first piston and a second piston, and the first pneumatic valve, the second pneumatic valve and the two-position two-way electromagnetic valve are connected with the same air path; and the clamping assembly is hinged with the first piston and the second piston. The three-position four-way electromagnetic valve is controlled by the controller to be electrified so as to change the mode of conveying working air flow to the first air control valve and the second air control valve, so that the first piston and the second piston move, and the clamping, locking and loosening operations of the clamping assembly are realized; when the controller is electrified to the two-position two-way electromagnetic valve, the two-position two-way electromagnetic valve is opened, and the clamping mechanism is unloaded by rapidly discharging working air flow.
Description
Technical Field
The invention relates to the field of pneumatic automatic clamping equipment, in particular to a pneumatic driving lockable clamping mechanism.
Background
Currently, during production assembly, workpieces need to be clamped so as to be moved to and fixed at a specific position. In order to improve the production efficiency, the clamping device needs to have certain automation capacity, and in order to protect the surface of a workpiece from being damaged and falling, the clamping force also needs to be controlled to a certain value. In the use process, the clamping device is required to be prevented from suddenly failing under the conditions of power failure and pressure loss, and the self-locking handover mechanism is required to be researched and developed to reduce the risk accidents in the assembly process.
Disclosure of Invention
The invention provides a pneumatic driving lockable clamping mechanism which can overcome the defects of the existing clamping technology in the assembly process of components, the opening and closing of an electromagnetic valve are controlled by a controller, the mode that the electromagnetic valve transmits working air flow to a pneumatic control valve is changed, the movement of a cylinder piston is further controlled, and the clamping mechanism is hinged with the cylinder piston, so that the clamping and the loosening of the components by the clamping mechanism are realized. The invention is designed with the gas circuit self-locking function, so that the clamping mechanism can keep self-locking when power is off and the gas source is in voltage loss in the process of clamping the workpiece. The assembly stability is improved, the damage risk of parts is avoided, and the production efficiency is improved.
In order to achieve the above object, the present invention provides an air-driven lockable clamping mechanism, which is connected to a controller, an air inlet and an air outlet, and clamps, releases and locks a component by using air pressure as operating power according to an instruction sent by the controller, the air-driven lockable clamping mechanism comprising:
the three-position four-way electromagnetic valve is connected with an air inlet and an air outlet of the external controller; the three-position four-way electromagnetic valve is electrified positively or negatively by a controller, so that the clamping mechanism clamps and releases components; when the controller does not electrify the three-position four-way electromagnetic valve, the locking part of the clamping mechanism is realized;
the two-position two-way electromagnetic valve is connected with an external controller and the air outlet; when the controller is used for electrifying the three-position four-way electromagnetic valve in a negative electricity mode and electrifying the two-position two-way electromagnetic valve, the two-position two-way electromagnetic valve is opened, working air flow is rapidly discharged from the two-position two-way electromagnetic valve, and unloading operation of the mechanism is achieved;
the first pneumatic control valve and the second pneumatic control valve which are completely the same are connected with a three-position four-way electromagnetic valve through gas paths; when the three-position four-way electromagnetic valve is electrified with positive electricity and the two-position two-way electromagnetic valve is not electrified, the gas path of the three-position four-way electromagnetic valve opens the first gas control valve and the second gas control valve, and simultaneously working gas flow is input to the first gas control valve and the second gas control valve; when the three-position four-way electromagnetic valve is electrified with negative electricity and the two-position two-way electromagnetic valve is not electrified, the air path of the three-position four-way electromagnetic valve opens the first air control valve and the second air control valve, but only inputs working air flow to the first air control valve; when the three-position four-way electromagnetic valve is not electrified, the three-position four-way electromagnetic valve does not output airflow, and the first air control valve and the second air control valve are closed;
the first pneumatic cylinder and the second pneumatic cylinder which are completely the same are respectively provided with a first piston and a second piston; the first pneumatic cylinder and the second pneumatic cylinder are both connected with a first pneumatic control valve, a second pneumatic control valve and a two-position two-way electromagnetic valve through gas circuits; the first pneumatic cylinder and the second pneumatic cylinder realize the movement of the first piston and the second piston by inputting or discharging working air flow;
and the clamping assembly is hinged with the first piston and the second piston, and realizes clamping, loosening, locking and unloading parts through the movement of the first piston and the second piston.
The first piston divides the first pneumatic cylinder into a first pneumatic cylinder first chamber and a first pneumatic cylinder second chamber; a first end of the first piston is positioned in the first pneumatic cylinder, and a second end of the first piston extends out of the second chamber of the first pneumatic cylinder; the second piston divides the second pneumatic cylinder into a second pneumatic cylinder first chamber and a second pneumatic cylinder second chamber; a second piston having a first end located within the second pneumatic cylinder and a second end extending from the second chamber of the second pneumatic cylinder; the first chamber of the first pneumatic cylinder and the first chamber of the second pneumatic cylinder are both connected with a second pneumatic control valve and a two-position two-way electromagnetic valve through air channels; the first pneumatic cylinder second chamber and the second pneumatic cylinder second chamber are both connected with a first pneumatic control valve.
The clamping assembly includes:
a fixed beam;
first and second identical clamping discs for clamping or unclamping a component placed between the first and second clamping discs;
a first link and a second link that are identical; two ends of the first connecting rod are hinged with the first end of the fixed beam and the first clamping disc respectively, and the middle part of the first connecting rod is hinged with the second end of the first piston; two ends of the second connecting rod are hinged with the second end of the fixed beam and the second clamping disc respectively, and the middle part of the second connecting rod is hinged with the second end of the second piston;
when the first piston and the second piston simultaneously extend out of the first pneumatic cylinder and the second pneumatic cylinder, the first connecting rod and the second connecting rod are respectively driven to move, and the first clamping disc and the second clamping disc realize clamping parts; when the first piston and the second piston retract into the first pneumatic cylinder and the second pneumatic cylinder simultaneously, the first connecting rod and the second connecting rod are driven to move respectively, and the first clamping disc and the second clamping disc are loosened.
But locking clamping mechanism of pneumatic drive still contains row and presses the module for unnecessary atmospheric pressure in the discharge working gas circuit, it contains to arrange presses the module:
the gas circuit of the overflow pressure reducing valve is connected and arranged between the three-position four-way electromagnetic valve and the first pneumatic control valve; when the air pressure in the overflow valve exceeds a preset safety value, the overflow pressure reducing valve exhausts air outwards, and the working air pressure in the mechanism is reduced to the safety value; the clamping force of the clamping assembly can be adjusted by adjusting the set safety value; the first pneumatic control valve also exhausts air outwards through the overflow pressure reducing valve;
and the air path of the one-way valve is connected and arranged between the three-position four-way electromagnetic valve and the overflow reducing valve, so that the working air flow flows from the three-position four-way electromagnetic valve to the overflow reducing valve in a one-way mode.
The first pneumatic cylinder and the second pneumatic cylinder realize the movement of the first piston and the second piston by inputting or discharging working air flows, and specifically, when the three-position four-way electromagnetic valve is electrified and the two-position two-way electromagnetic valve is not electrified, the first pneumatic control valve simultaneously inputs the working air flows to the first chamber of the first pneumatic cylinder and the first chamber of the second pneumatic cylinder; the second pneumatic control valve inputs working air flow to the second chamber of the first pneumatic cylinder and the second chamber of the second pneumatic cylinder at the same time; the first piston and the second piston extend outwards in a self-buffering manner through the fact that the stress areas of the first piston in the first pneumatic cylinder first cavity and the first pneumatic cylinder second cavity are different, and the stress areas of the second piston in the second pneumatic cylinder first cavity and the second pneumatic cylinder second cavity are different; meanwhile, the air flows of the second chamber of the first pneumatic cylinder and the second chamber of the second pneumatic cylinder sequentially flow through the first pneumatic valve and the overflow reducing valve and are discharged outwards.
The first pneumatic cylinder and the second pneumatic cylinder realize the movement of the first piston and the second piston through inputting or discharging working air flow, and the locking device further comprises a locking part which is kept when the three-position four-way solenoid valve is not electrified, the first pneumatic control valve and the second pneumatic control valve are closed, and the air passages of the first pneumatic control valve, the first pneumatic control cylinder, the second pneumatic cylinder and the second pneumatic control valve are self-locked, so that the first piston and the second piston do not move, and the locking part is kept when sudden power failure occurs in the clamping work.
The first pneumatic cylinder and the second pneumatic cylinder realize the movement of the first piston and the second piston by inputting or discharging working air flow, and the method also comprises the steps that when the three-position four-way electromagnetic valve is electrified and negatively and the two-position two-way electromagnetic valve is not electrified, the first pneumatic control valve inputs the working air flow to the second chamber of the first pneumatic cylinder and the second chamber of the second pneumatic cylinder, and the air flow of the first chamber of the first pneumatic cylinder and the first chamber of the second pneumatic cylinder sequentially flows through the second pneumatic control valve and the three-position four-way electromagnetic valve and is discharged outwards; the first piston second end and the second piston second end retract into the first pneumatic cylinder and the second pneumatic cylinder, respectively, to effect release of the component.
The first pneumatic cylinder and the second pneumatic cylinder realize the movement of the first piston and the second piston through inputting or discharging working air flow, and the method further comprises the steps that when the controller is electrified to the negative electricity of the three-position four-way solenoid valve and the two-position two-way solenoid valve, the two-position two-way solenoid valve is opened, the air flow in the first cavity of the first pneumatic cylinder and the first cavity of the second pneumatic cylinder is rapidly discharged from the two-position two-way solenoid valve, and the second end of the first piston and the second end of the second piston retract into the first pneumatic cylinder and the second pneumatic cylinder rapidly to realize unloading.
The air pressure driven lockable clamping mechanism also comprises a first energy accumulator and a second energy accumulator which are completely identical; the first energy accumulator is connected with the first pneumatic valve, the second chamber of the first pneumatic cylinder and the second chamber of the second pneumatic cylinder through a gas circuit; the second accumulator is connected with the second pneumatic control valve, the first pneumatic cylinder first chamber and the second pneumatic cylinder first chamber through a gas circuit; the stable transmission of working air flow between the two pneumatic control valves and the two pneumatic cylinders is realized through the first energy accumulator and the second energy accumulator, and the fluctuation of the working air flow is prevented.
The method for clamping the component is realized by adopting the clamping mechanism of the invention, and comprises the following steps:
s1, the controller positively charges the three-position four-way solenoid valve, and the two-position two-way solenoid valve is not electrified; the air flow of the air inlet is divided into three paths after passing through the three-position four-way electromagnetic valve, and the first path opens the first air control valve and the second air control valve; the second path enters a first pneumatic cylinder first chamber and a second pneumatic cylinder first chamber through a second pneumatic control valve; the third path enters a second cavity of the first pneumatic cylinder and a second cavity of the second pneumatic cylinder after passing through the check valve, the overflow pressure reducing valve and the first pneumatic control valve, and the first piston and the second piston extend out of the first pneumatic cylinder and the second pneumatic cylinder in a self-buffering manner, so that the clamping component is clamped; meanwhile, the air flows of the second chamber of the first pneumatic cylinder and the second chamber of the second pneumatic cylinder flow through the first pneumatic valve and the overflow pressure reducing valve and are discharged outwards; when the three-position four-way electromagnetic valve is powered off in the clamping process, the operation enters S2; when the clamping component needs to be loosened, the process goes to S3;
s2, closing the first pneumatic control valve and the second pneumatic control valve, locking the gas paths of the first pneumatic control valve, the second pneumatic control valve, the first pneumatic cylinder and the second pneumatic cylinder, keeping the first piston and the second piston still, and keeping the clamping component by the clamping component;
s3, the controller electrifys the three-position four-way solenoid valve with negative electricity and does not electrify the two-position two-way solenoid valve; the air flow of the air inlet is divided into two paths after passing through the three-position four-way electromagnetic valve; the first path opens a first pneumatic control valve and a second pneumatic control valve; the second path enters a second cavity of the first pneumatic cylinder and a second cavity of the second pneumatic cylinder after passing through the one-way valve, the overflow pressure reducing valve and the first pneumatic valve, and the first piston and the second piston retract into the first cylinder and the second cylinder at the same time, so that the clamping assembly loosens the part; simultaneously, the air flows of the first chamber of the first pneumatic cylinder and the first chamber of the second pneumatic cylinder are respectively discharged outwards through the second pneumatic control valve and the three-position four-way electromagnetic valve; when unloading, go to S4;
s4, the controller conducts negative electricity to the three-position four-way electromagnetic valve, conducts electricity to the two-position two-way electromagnetic valve, the two-position two-way electromagnetic valve is opened, working air flows of the first cavity of the first pneumatic cylinder and the first cavity of the second pneumatic cylinder are rapidly discharged through the two-position two-way electromagnetic valve, the first piston and the second piston retract into the first cylinder and the second cylinder rapidly, and unloading of the clamping assembly is achieved.
Compared with the prior art, the invention can realize automatic clamping, automatic loosening and unloading parts, thereby improving the production efficiency; the clamping mechanism has self-buffering work energy, can adjust the clamping force, can avoid damaging the surface quality of a workpiece, and can keep a certain clamping force; the invention also has the function of gas circuit self-locking, and can still keep the clamping mechanism clamped and kept unchanged when the power is off or the gas source loses pressure.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are an embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts according to the drawings:
FIG. 1 is a schematic view of a pneumatically actuated lockable clamping mechanism of the present invention;
FIG. 2 is a schematic view of a clamping assembly of the present invention
In the figure: 1. a three-position four-way electromagnetic valve; 2. a two-position two-way solenoid valve; 3. a one-way valve; 4. an overflow relief valve; 5. a first pneumatic valve; 6. a second pneumatic control valve; 7. a first accumulator; 8. a second accumulator; 9. a first pneumatic cylinder; 10. a second pneumatic cylinder; 11. a clamping assembly; 12. a first piston; 13. a second piston; 14. a first pneumatic cylinder first chamber; 15. a first pneumatic cylinder second chamber; 16. a second pneumatic cylinder first chamber; 17. a second pneumatic cylinder second chamber; 1101. a first clamping disk; 1102. a second clamping disk; 1103. a first link; 1104. a second link; 1105. and fixing the beam.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides an air-pressure-driven lockable clamping mechanism, which is connected to a controller, an air inlet and an air outlet, and clamps, releases and locks a component by using air pressure as working power according to an instruction sent by the controller, and comprises:
the three-position four-way electromagnetic valve 1 is connected with an air inlet and an air outlet of an external controller; the controller is used for electrifying positive electricity or negative electricity to the three-position four-way electromagnetic valve 1 to realize the clamping and loosening of components by the clamping mechanism; when the controller does not electrify the three-position four-way electromagnetic valve 1, the locking part of the clamping mechanism is realized;
the two-position two-way electromagnetic valve 2 is connected with an external controller and an air outlet; when the controller is used for electrifying the three-position four-way electromagnetic valve 1 in a negative electricity mode and electrifying the two-position two-way electromagnetic valve 2, the two-position two-way electromagnetic valve 2 is opened, working air flow is rapidly discharged from the two-position two-way electromagnetic valve 2, and unloading operation of the mechanism is achieved;
the first pneumatic control valve 5 and the second pneumatic control valve 6 which are completely the same are connected with the three-position four-way electromagnetic valve 1 through air paths; when the three-position four-way electromagnetic valve 1 is electrified positively, the gas circuit opens the first pneumatic control valve 5 and the second pneumatic control valve 6, and simultaneously inputs working gas flow to the first pneumatic control valve 5 and the second pneumatic control valve 6; when the three-position four-way electromagnetic valve 1 is electrified negatively, the air path opens the first air control valve 5 and the second air control valve 6, but only inputs working air flow to the first air control valve 5; when the three-position four-way electromagnetic valve 1 is not electrified, the three-position four-way electromagnetic valve 1 does not output airflow, and the first air control valve 5 and the second air control valve 6 are closed;
a first pneumatic cylinder 9 and a second pneumatic cylinder 10, identical, provided with a first piston 12 and a second piston 13, respectively; the first pneumatic cylinder 9 and the second pneumatic cylinder 10 are both in gas circuit connection with a first pneumatic control valve 5, a second pneumatic control valve 6 and a two-position two-way electromagnetic valve 2; the first pneumatic cylinder 9 and the second pneumatic cylinder 10 realize the movement of the first piston 12 and the second piston 13 by inputting or discharging working air flow;
and the clamping assembly 11 is hinged with the first piston 12 and the second piston 13, and realizes clamping, loosening, locking and unloading parts through the movement of the first piston 12 and the second piston 13.
The first piston 12 divides the first pneumatic cylinder 9 into a first pneumatic cylinder first chamber 14 and a first pneumatic cylinder second chamber 15; a first piston first end located within the first pneumatic cylinder 9 and a first piston second end extending from the first pneumatic cylinder second chamber 15; the second piston 13 divides the second pneumatic cylinder 10 into a second pneumatic cylinder first chamber 16 and a second pneumatic cylinder second chamber 17; a second piston first end is located in the second pneumatic cylinder 10 and a second piston second end extends from the second pneumatic cylinder second chamber 17; the first pneumatic cylinder first chamber 14 and the second pneumatic cylinder first chamber 16 are both in gas circuit connection with a second pneumatic control valve 6 and a two-position two-way electromagnetic valve 2; the first cylinder second chamber 15 and the second cylinder second chamber 17 are both connected to the first pneumatic valve 5.
As shown in fig. 2, the clamping assembly 11 includes:
a fixed beam 1105;
first and second clamping disks 1101 and 1102 identical to each other for clamping or unclamping a component placed between the first and second clamping disks 1101 and 1102;
identical first and second links 1103 and 1104; two ends of the first connecting rod 1103 are respectively hinged with the first end of the fixed beam 1105 and the first clamping disc 1101, and the middle part of the first connecting rod 1103 is hinged with the second end of the first piston; two ends of the second connecting rod 1104 are hinged with the second end of the fixed beam 1105 and the second clamping disc 1102 respectively, and the middle part of the second connecting rod 1104 is hinged with the second end of the second piston;
when the first piston 12 and the second piston 13 simultaneously extend out of the first pneumatic cylinder 9 and the second pneumatic cylinder 10, the first connecting rod 1103 and the second connecting rod 1104 are respectively driven to move, and the first clamping disc 1101 and the second clamping disc 1102 realize a clamping part; when the first piston 12 and the second piston 13 retract into the first pneumatic cylinder 9 and the second pneumatic cylinder 10 simultaneously, the first connecting rod 1103 and the second connecting rod 1104 are respectively driven to move, and the first clamping disk 1101 and the second clamping disk 1102 release parts.
But locking clamping mechanism of pneumatic drive still contains row and presses the module for unnecessary atmospheric pressure in the discharge working gas circuit, it contains to arrange presses the module:
the overflow pressure reducing valve 4 is arranged between the three-position four-way electromagnetic valve 1 and the first pneumatic control valve 5 in a gas path connection manner; when the air pressure in the overflow valve exceeds a preset safety value, the overflow pressure reducing valve 4 exhausts air outwards, and the working air pressure in the mechanism is reduced to the safety value; the clamping force of the clamping component 11 can be adjusted by adjusting the set safety value; the first pneumatic control valve 5 also exhausts air outwards through the overflow pressure reducing valve 4;
the check valve 3 is arranged between the three-position four-way solenoid valve 1 and the overflow reducing valve 4 in a gas circuit connection mode, one-way flow of working gas flow from the three-position four-way solenoid valve 1 to the overflow reducing valve 4 is achieved, the gas flow of the first pneumatic control valve 5 can be directly discharged from the overflow reducing valve 4, and the working gas flow cannot flow back into the three-position four-way solenoid valve 1.
The pneumatic drive lockable clamping mechanism also comprises a first energy accumulator 7 and a second energy accumulator 8 which are completely identical; the first energy accumulator 7 is connected with the first pneumatic valve 5, the first pneumatic cylinder second chamber 15 and the second pneumatic cylinder second chamber 17 through air passages; the second accumulator 8 is in gas circuit connection with the second gas control valve 6, the first pneumatic cylinder first chamber 14 and the second pneumatic cylinder first chamber 16; the stable transmission of the working air flow between the two pneumatic control valves and the two pneumatic cylinders is realized through the first energy accumulator and the second energy accumulator 8, and the fluctuation of the working air flow is prevented.
The first pneumatic cylinder 9 and the second pneumatic cylinder 10 realize the movement of a first piston 12 and a second piston 13 by inputting or discharging working air flows, specifically, when the three-position four-way solenoid valve 1 is electrified and the two-position two-way solenoid valve 2 is not electrified, the first pneumatic control valve 5 simultaneously inputs the working air flows to a first chamber 14 of the first pneumatic cylinder and a first chamber of the second pneumatic control valve 6; the second pneumatic control valve 6 inputs working air flow to the second cavity 15 of the first pneumatic cylinder and the second cavity of the second pneumatic control valve 6 at the same time; the self-buffering outward extension of the first piston 12 and the second piston 13 is realized through the different stress areas of the first piston 12 in the first pneumatic cylinder first chamber 14 and the first pneumatic cylinder second chamber 15 and the different stress areas of the second piston 13 in the second pneumatic cylinder first chamber 16 and the second pneumatic cylinder second chamber 17; meanwhile, the air flows of the first pneumatic cylinder second chamber 15 and the second pneumatic cylinder second chamber 17 sequentially pass through the first pneumatic valve 5 and the overflow reducing valve 4 and are discharged outwards.
The first pneumatic cylinder 9 and the second pneumatic cylinder 10 realize the movement of the first piston 12 and the second piston 13 through inputting or discharging working air flow, and the locking device further comprises a locking part which is kept when the three-position four-way electromagnetic valve 1 is not electrified and the first pneumatic control valve 5 and the second pneumatic control valve 6 are closed to realize the self-locking of the two pneumatic control valves and the air passages of the two pneumatic cylinders, so that the first piston 12 and the second piston 13 do not move, and the sudden power failure in the clamping work is realized.
The first pneumatic cylinder 9 and the second pneumatic cylinder 10 realize the movement of a first piston 12 and a second piston 13 through inputting or discharging working air flows, and the method further comprises the steps that when the three-position four-way electromagnetic valve 1 is electrified negatively and the two-position two-way electromagnetic valve 2 is not electrified, the first pneumatic control valve 5 inputs the working air flows into a second cavity 15 of the first pneumatic cylinder and a second cavity 17 of the second pneumatic cylinder, and the air flows of the first cavity 14 of the first pneumatic cylinder and the first cavity 16 of the second pneumatic cylinder sequentially flow through the second pneumatic control valve 6 and the three-position four-way electromagnetic valve 1 and are discharged outwards; the first piston second end and the second piston second end retract into the first pneumatic cylinder 9 and the second pneumatic cylinder 10, respectively, effecting the release of the component.
The first pneumatic cylinder 9 and the second pneumatic cylinder 10 realize the movement of the first piston 12 and the second piston 13 through inputting or discharging working air flow, and the method further comprises the steps that when the controller is used for electrifying the three-position four-way electromagnetic valve 1 and electrifying the two-position two-way electromagnetic valve 2, the two-position two-way electromagnetic valve 2 is opened, the air flow in the first chamber 14 of the first pneumatic cylinder and the first chamber 16 of the second pneumatic cylinder is rapidly discharged from the two-position two-way electromagnetic valve 2, and the second end of the first piston and the second end of the second piston are rapidly retracted into the first pneumatic cylinder 9 and the second pneumatic cylinder 10 to realize unloading.
The method for clamping the component is realized by adopting the clamping mechanism of the invention, and comprises the following steps:
s1, as shown in FIG. 1, the controller electrifys the three-position four-way solenoid valve 1 positively at a position a, and does not electrify the two-position two-way solenoid valve 2 at a position a 1; the air flow of the air inlet is divided into three paths after passing through the three-position four-way electromagnetic valve 1, and the first path enters the control ports of the first air control valve 5 and the second air control valve 6 to open the first air control valve 5 and the second air control valve 6; the second way enters the first pneumatic cylinder first chamber 14 and the second pneumatic cylinder first chamber 16 through the second pneumatic control valve 6; a third path of the air flow enters a second cavity 15 of the first pneumatic cylinder and a second cavity 17 of the second pneumatic cylinder after passing through the check valve 3, the overflow pressure reducing valve 4 and the first pneumatic control valve 5, and the first piston 12 and the second piston 13 extend out from the first pneumatic cylinder 9 and the second pneumatic cylinder 10 in a self-buffering manner to drive the first connecting rod 1103 and the second connecting rod 1104 of the clamping mechanism to move, so that the clamping parts of the first clamping disc 1101 and the second clamping disc 1102 are realized; meanwhile, the air flows of the first pneumatic cylinder second chamber 15 and the second pneumatic cylinder second chamber 17 flow through the first pneumatic valve and the overflow pressure reducing valve 4 and are discharged outwards; when the three-position four-way electromagnetic valve 1 is powered off in the clamping process, the process enters S2; when the clamping member is released, S3 is entered;
s2, the first pneumatic control valve 5 and the second pneumatic control valve 6 are closed, the first pneumatic control valve 5, the second pneumatic control valve 6, the first pneumatic cylinder 9 and the second pneumatic cylinder 10 are locked by pneumatic circuits, the first piston 12 and the second piston 13 are both stationary, the first link 1103 and the second link 1104 are both stationary, and the first clamping plate 1101 and the second clamping plate 1102 maintain clamping components;
s3, the controller electrifys the three-position four-way solenoid valve 1 at the position c and does not electrify the two-position two-way solenoid valve 2 at the position a 1; the air flow at the air inlet is divided into two paths after passing through the three-position four-way electromagnetic valve 1; the first path enters control ports of a first pneumatic control valve 5 and a second pneumatic control valve 6 to open the first pneumatic control valve 5 and the second pneumatic control valve 6; the second path enters a second cavity 15 of the first pneumatic cylinder and a second cavity 17 of the second pneumatic cylinder after passing through the check valve 3, the overflow pressure reducing valve 4 and the first pneumatic valve,
the first piston 12 and the second piston 13 retract into the first cylinder and the second cylinder simultaneously to drive the first connecting rod 1103 and the second connecting rod 1104 of the clamping mechanism to move, so that the first clamping disc 1101 and the second clamping disc 1102 loosen parts; meanwhile, the air flows of the first pneumatic cylinder first chamber 14 and the second pneumatic cylinder first chamber 16 are respectively exhausted outwards through the second pneumatic control valve 6 and the three-position four-way electromagnetic valve 1; when unloading, go to S4;
s4, the controller conducts negative electricity to the three-position four-way solenoid valve 1 at the position c, conducts electricity to the two-position two-way solenoid valve 2 at the position b1, the two-position two-way solenoid valve 2 is opened, working air flow of the first pneumatic cylinder first chamber 14 and the second pneumatic cylinder first chamber 16 is rapidly exhausted through the two-position two-way solenoid valve 2, the first piston 12 and the second piston 13 retract into the first air cylinder and the second air cylinder rapidly, and unloading of the first clamping disc 1101 and the second clamping disc 1102 is achieved.
Compared with the prior art, the invention can realize automatic clamping, automatic loosening and unloading parts, thereby improving the production efficiency; the clamping mechanism has self-buffering work energy, can adjust the clamping force, can avoid damaging the surface quality of a workpiece, and can keep a certain clamping force; the invention also has the function of gas circuit self-locking, and can still keep the clamping mechanism clamped and kept unchanged when the power is off or the gas source loses pressure.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a but locking clamping mechanism of pneumatic drive, connection controller, air inlet and gas outlet to according to the instruction that the controller sent, use atmospheric pressure as operating power, press from both sides tight, loosen, the locking operation to the part, its characterized in that contains:
the three-position four-way electromagnetic valve is connected with an air inlet and an air outlet of the external controller; the three-position four-way electromagnetic valve is electrified positively or negatively by a controller, so that the clamping mechanism clamps and releases components; when the controller does not electrify the three-position four-way electromagnetic valve, the locking part of the clamping mechanism is realized;
the two-position two-way electromagnetic valve is connected with an external controller and the air outlet; when the controller is used for electrifying the three-position four-way electromagnetic valve in a negative electricity mode and electrifying the two-position two-way electromagnetic valve, the two-position two-way electromagnetic valve is opened, working air flow is rapidly discharged from the two-position two-way electromagnetic valve, and unloading operation of the mechanism is achieved;
the first pneumatic control valve and the second pneumatic control valve which are completely the same are connected with a three-position four-way electromagnetic valve through gas paths; when the three-position four-way electromagnetic valve is electrified with positive electricity and the two-position two-way electromagnetic valve is not electrified, the air path of the three-position four-way electromagnetic valve opens the first air control valve and the second air control valve and simultaneously inputs working air flow to the first air control valve and the second air control valve; when the three-position four-way electromagnetic valve is electrified with negative electricity and the two-position two-way electromagnetic valve is not electrified, the air path of the three-position four-way electromagnetic valve opens the first air control valve and the second air control valve, but only inputs working air flow to the first air control valve; when the three-position four-way electromagnetic valve is not electrified, the three-position four-way electromagnetic valve does not output airflow, and the first air control valve and the second air control valve are closed;
the first pneumatic cylinder and the second pneumatic cylinder which are completely the same are respectively provided with a first piston and a second piston; the first pneumatic cylinder and the second pneumatic cylinder are both connected with a first pneumatic control valve, a second pneumatic control valve and a two-position two-way electromagnetic valve through gas circuits; the first pneumatic cylinder and the second pneumatic cylinder realize the movement of the first piston and the second piston by inputting or discharging working air flow;
and the clamping assembly is hinged with the first piston and the second piston, and realizes clamping, loosening, locking and unloading parts through the movement of the first piston and the second piston.
2. The pneumatically actuated lockable clamping mechanism of claim 1, the first piston dividing the first pneumatic cylinder into a first pneumatic cylinder first chamber and a first pneumatic cylinder second chamber; a first end of the first piston is positioned in the first pneumatic cylinder, and a second end of the first piston extends out of the second chamber of the first pneumatic cylinder; the second piston divides the second pneumatic cylinder into a second pneumatic cylinder first chamber and a second pneumatic cylinder second chamber; a second piston having a first end located within the second pneumatic cylinder and a second end extending from the second chamber of the second pneumatic cylinder; the first chamber of the first pneumatic cylinder and the first chamber of the second pneumatic cylinder are both connected with a second pneumatic control valve and a two-position two-way electromagnetic valve through air channels; the first pneumatic cylinder second chamber and the second pneumatic cylinder second chamber are both connected with a first pneumatic control valve.
3. The pneumatically actuated lockable clamping mechanism of claim 1, the clamping assembly comprising:
a fixed beam;
first and second identical clamping discs for clamping or unclamping a component placed between the first and second clamping discs;
a first link and a second link that are identical; two ends of the first connecting rod are hinged with the first end of the fixed beam and the first clamping disc respectively, and the middle part of the first connecting rod is hinged with the second end of the first piston; two ends of the second connecting rod are hinged with the second end of the fixed beam and the second clamping disc respectively, and the middle part of the second connecting rod is hinged with the second end of the second piston;
when the first piston and the second piston simultaneously extend out of the first pneumatic cylinder and the second pneumatic cylinder, the first connecting rod and the second connecting rod are respectively driven to move, and the first clamping disc and the second clamping disc realize clamping parts; when the first piston and the second piston retract into the first pneumatic cylinder and the second pneumatic cylinder simultaneously, the first connecting rod and the second connecting rod are driven to move respectively, and the first clamping disc and the second clamping disc are loosened.
4. The pneumatically actuated lockable clamping mechanism of claim 1, further comprising a pressure venting module for venting excess pneumatic pressure in the working air path, the pressure venting module comprising:
the gas circuit of the overflow pressure reducing valve is connected and arranged between the three-position four-way electromagnetic valve and the first pneumatic control valve; when the air pressure in the overflow valve exceeds a preset safety value, the overflow pressure reducing valve exhausts air outwards, and the working air pressure in the mechanism is reduced to the safety value; the clamping force of the clamping assembly can be adjusted by adjusting the set safety value; the first pneumatic control valve also exhausts air outwards through the overflow pressure reducing valve;
and the air path of the one-way valve is connected and arranged between the three-position four-way electromagnetic valve and the overflow reducing valve.
5. The pneumatically powered lockable clamping mechanism of claim 4, the first pneumatic cylinder and the second pneumatic cylinder configured to move the first piston and the second piston by inputting or exhausting a working gas flow, wherein the first pneumatic control valve is configured to simultaneously input the working gas flow to the first chamber of the first pneumatic cylinder and the first chamber of the second pneumatic cylinder when the three-position four-way solenoid valve is energized with a positive polarity and the two-position two-way solenoid valve is not energized; the second pneumatic control valve inputs working air flow to the second chamber of the first pneumatic cylinder and the second chamber of the second pneumatic cylinder at the same time; the first piston and the second piston extend outwards in a self-buffering manner through the fact that the stress areas of the first piston in the first pneumatic cylinder first cavity and the first pneumatic cylinder second cavity are different, and the stress areas of the second piston in the second pneumatic cylinder first cavity and the second pneumatic cylinder second cavity are different; meanwhile, the air flows of the second chamber of the first pneumatic cylinder and the second chamber of the second pneumatic cylinder sequentially flow through the first pneumatic valve and the overflow reducing valve and are discharged outwards.
6. The pneumatically actuated lockable clamping mechanism of claim 5, the first pneumatic cylinder and the second pneumatic cylinder effecting movement of the first piston and the second piston by inputting or exhausting a working gas stream, further comprising, when the three-position, four-way solenoid valve is de-energized, the first pneumatic valve and the second pneumatic valve are closed to effect gas path self-locking such that neither the first piston nor the second piston moves to effect retention of the locking element during a sudden power failure during clamping operation.
7. The pneumatically actuated lockable clamping mechanism of claim 3, the first pneumatic cylinder and the second pneumatic cylinder effecting movement of the first piston and the second piston by inputting or exhausting a working gas flow, further comprising, when the three-position, four-way solenoid valve is negatively energized and the two-position, two-way solenoid valve is not energized, the first pneumatic control valve inputting a working gas flow to the second chamber of the first pneumatic cylinder and the second chamber of the second pneumatic cylinder, the gas flow from the first chamber of the first pneumatic cylinder and the first chamber of the second pneumatic cylinder sequentially flowing through the second pneumatic control valve and the three-position, four-way solenoid valve and exhausting outwardly; the first piston second end and the second piston second end retract into the first pneumatic cylinder and the second pneumatic cylinder, respectively, to effect release of the component.
8. The pneumatically actuated lockable clamping mechanism of claim 7, the first pneumatic cylinder and the second pneumatic cylinder configured to effect movement of the first piston and the second piston by inputting or exhausting a working gas flow, further comprising, when the controller energizes the three-position, four-way solenoid valve with a negative electrical current and energizes the two-position, two-way solenoid valve, the two-position, two-way solenoid valve opens, the gas flow in the first chamber of the first pneumatic cylinder and the first chamber of the second pneumatic cylinder is rapidly exhausted from the two-position, two-way solenoid valve, and the second end of the first piston and the second end of the second piston retract rapidly into the first pneumatic cylinder and the second pneumatic cylinder to effect unloading.
9. The pneumatically powered lockable clamping mechanism of claim 1, further comprising identical first and second accumulators; the first energy accumulator is connected with the first pneumatic valve, the second chamber of the first pneumatic cylinder and the second chamber of the second pneumatic cylinder through a gas circuit; the second accumulator is connected with the second pneumatic control valve, the first pneumatic cylinder first chamber and the second pneumatic cylinder first chamber through a gas circuit.
10. A method of clamping a component using a clamping mechanism as claimed in any one of claims 1 to 9, comprising the steps of:
s1, the controller positively charges the three-position four-way solenoid valve, and the two-position two-way solenoid valve is not electrified; the air flow of the air inlet is divided into three paths after passing through the three-position four-way electromagnetic valve, and the first path opens the first air control valve and the second air control valve; the second path enters a first pneumatic cylinder first chamber and a second pneumatic cylinder first chamber through a second pneumatic control valve; the third path enters a second cavity of the first pneumatic cylinder and a second cavity of the second pneumatic cylinder after passing through the check valve, the overflow pressure reducing valve and the first pneumatic control valve, and the first piston and the second piston extend out of the first pneumatic cylinder and the second pneumatic cylinder in a self-buffering manner, so that the clamping component is clamped; meanwhile, the air flows of the second chamber of the first pneumatic cylinder and the second chamber of the second pneumatic cylinder flow through the first pneumatic valve and the overflow pressure reducing valve and then are discharged outwards; when the three-position four-way electromagnetic valve is powered off in the clamping process, the operation enters S2; when the clamping component needs to be loosened, the process goes to S3;
s2, closing the first pneumatic control valve and the second pneumatic control valve, locking the gas paths of the first pneumatic control valve, the second pneumatic control valve, the first pneumatic cylinder and the second pneumatic cylinder, keeping the first piston and the second piston still, and keeping the clamping component by the clamping component;
s3, the controller electrifys the three-position four-way solenoid valve with negative electricity and does not electrify the two-position two-way solenoid valve; the air flow of the air inlet is divided into two paths after passing through the three-position four-way electromagnetic valve; the first path opens a first pneumatic control valve and a second pneumatic control valve; the second path enters a second cavity of the first pneumatic cylinder and a second cavity of the second pneumatic cylinder after passing through the one-way valve, the overflow pressure reducing valve and the first pneumatic control valve, and the first piston and the second piston retract into the first cylinder and the second cylinder at the same time, so that the clamping assembly loosens the part; simultaneously, the air flows of the first chamber of the first pneumatic cylinder and the first chamber of the second pneumatic cylinder are respectively discharged outwards through the second pneumatic control valve and the three-position four-way electromagnetic valve; when unloading, go to S4;
s4, the controller conducts negative electricity to the three-position four-way electromagnetic valve, conducts electricity to the two-position two-way electromagnetic valve, the two-position two-way electromagnetic valve is opened, working air flows of the first cavity of the first pneumatic cylinder and the first cavity of the second pneumatic cylinder are rapidly discharged through the two-position two-way electromagnetic valve, the first piston and the second piston retract into the first cylinder and the second cylinder rapidly, and unloading of the clamping assembly is achieved.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811429149.6A CN109366401B (en) | 2018-11-27 | 2018-11-27 | Air pressure driven lockable clamping mechanism and clamping method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811429149.6A CN109366401B (en) | 2018-11-27 | 2018-11-27 | Air pressure driven lockable clamping mechanism and clamping method thereof |
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| CN109366401B true CN109366401B (en) | 2020-07-07 |
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| CN110081029B (en) * | 2019-03-15 | 2020-10-27 | 南京航空航天大学 | Hydraulic device for part deformation control and control method |
| CN117735220A (en) * | 2024-02-21 | 2024-03-22 | 宁德时代新能源科技股份有限公司 | Module overturning equipment and overturning method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3279484A (en) * | 1963-04-03 | 1966-10-18 | Ross Operating Valve Co | Pressure control system |
| DE3625222A1 (en) * | 1986-07-25 | 1988-02-04 | Index Werke Kg Hahn & Tessky | PRESSURE REGULATOR FOR HYDRAULICALLY CONTROLLED MACHINE TOOLS |
| CN2923195Y (en) * | 2006-06-12 | 2007-07-18 | 江苏富力数控机床有限公司 | Hydraulicpliers of clamping plate |
| CN103406846B (en) * | 2013-07-17 | 2016-06-08 | 上海福太隆汽车电子科技有限公司 | A kind of cylinder electric-control system of product frock |
| CN104421234A (en) * | 2013-09-03 | 2015-03-18 | 西安志越机电科技有限公司 | Hydraulic control system for hydraulic vice |
| CN203650347U (en) * | 2014-01-16 | 2014-06-18 | 南昌欧克传动技术有限公司 | Hydraulic control clamping device |
| CN205423365U (en) * | 2016-03-30 | 2016-08-03 | 安徽理工大学 | High performance hydraulic clamping device |
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