A multi-suction cup vacuum gripper control system and control method

Abstract

The present invention belongs to the field of automated manufacturing and assembly technology, and specifically relates to a multi-suction cup vacuum gripper control system and control method, including a main relay, and a suction cup relay and a negative pressure sensor provided in conjunction with each suction cup; a pair of normally open contact pairs of the main relay are connected in series with the left coil of the main solenoid valve, a pair of normally closed contact pairs are connected in series with the right coil of the main solenoid valve, and a pair of normally open contact pairs are connected in series with the left coil of the main and auxiliary switching solenoid valves; a pair of normally open contact pairs of each suction cup relay are connected in series with the left coil of its matching solenoid valve, and a pair of normally closed contact pairs are connected in series with the right coil of its matching solenoid valve; each negative pressure sensor is set to output a high level to the matching suction cup relay control coil when the vacuum degree is lower than a threshold value. The technical problem to be solved by the present invention is that when a suction cup in a multi-suction cup vacuum gripper leaks, the leaking suction cup is blocked from the main gas path, so as not to affect the normal operation of other suction cups.

Description

Technical Field

[0001] The invention belongs to the technical field of automated manufacturing and assembly, and in particular relates to a multi-suction cup vacuum gripper control system and a control method. Background Art

[0002] In the field of automated manufacturing and assembly, vacuum grippers are widely used in the suction, transfer, clamping and fixing of workpieces due to their simple structure, flexible adaptability to workpieces, high degree of automation and wide range of applications. Multi-suction cup vacuum grippers can increase the contact area, provide greater load-bearing capacity and improve the stress state of the workpiece when it is sucked, so they are often used to suck workpieces with characteristics such as heavy weight, large contact surface and weak rigidity.

[0003] In the current multi-suction cup vacuum grippers, each suction cup is equipped with a check valve, which controls the air path of the suction cup that is not in contact with the workpiece to check the return of the suction cup, so as not to affect the normal operation of other suction cups. However, when this method faces suction cup leakage or failure, the pressure difference is insufficient, resulting in the check valve being unable to check the return, and the air path of the non-working suction cup cannot be blocked from the main air path in time, which may affect the normal operation of other suction cups, thereby causing the entire gripper device to fail to suck the workpiece. Summary of the invention

[0004] The technical problem to be solved by the present invention is that when a suction cup in a multi-suction cup vacuum suction device leaks, the leaking suction cup is blocked from the main air path so as not to affect the normal operation of other suction cups.

[0005] The present invention is achieved through the following technical solutions:

[0006] A multi-suction cup type vacuum suction device control system comprises a main relay, and suction cup relays and negative pressure sensors matched with each suction cup; the main relay comprises two pairs of normally open contact pairs and one pair of normally closed contact pairs, one pair of normally open contact pairs is connected in series with the left position control coil of the main electromagnetic valve, one pair of normally closed contact pairs is connected in series with the right position control coil of the main electromagnetic valve, and one pair of normally open contact pairs is connected in series with the left position or right position control coil of the main and auxiliary switching electromagnetic valves; each suction cup relay comprises one pair of normally open contact pairs and one pair of normally closed contact pairs, one pair of normally open contact pairs is connected in series with the left position control coil of the matched electromagnetic valve, and one pair of normally closed contact pairs is connected in series with the right position control coil of the matched electromagnetic valve; the contact pairs are connected in series with the electromagnetic valve control coil and then connected to a power supply; each negative pressure sensor is set to output a high level to the matched suction cup relay control coil when the vacuum degree is lower than a threshold value.

[0007] When powered on in working state, when a pair of normally open contacts of the main relay is connected in series with the left position control coil of the main and auxiliary switching solenoid valves, a control signal is input to the main relay, and the contact pair connected in series with the left position control coil of the main and auxiliary switching solenoid valves is switched from normally open to normally closed; when a pair of normally open contacts of the main relay is connected in series with the right position control coil of the main and auxiliary switching solenoid valves, a control signal is input to the main relay, and the contact pair connected in series with the right position control coil of the main and auxiliary switching solenoid valves is switched from normally open to normally closed;

[0008] The contact pair connected in series with the left control coil of the main solenoid valve switches from normally open to normally closed, and the contact pair connected in series with the right control coil of the main solenoid valve switches from normally closed to normally open;

[0009] When all suction cups are normal, the contact pairs connected in series of the left-position control coils of each suction cup solenoid valve are normally open, and the contact pairs connected in series of the right-position control coils of each suction cup solenoid valve are normally closed, and the vacuum air source is provided by the main air circuit; when there is a suction cup leak, the contact pairs connected in series of the left-position control coils of the normal suction cup solenoid valves are normally open, and the contact pairs connected in series of the right-position control coils of the normal suction cup solenoid valves are normally closed, the negative pressure sensor of the leaking suction cup outputs a high level to the matching suction cup relay control coil, the contact pairs connected in series of the left-position control coils of the sucker solenoid valves of the leaking suction cup are switched from normally open to normally closed, and the contact pairs connected in series of the right-position control coils of the leaking suction cup solenoid valves are switched from normally closed to normally open, and the main air circuit is switched to the auxiliary air circuit without affecting the normal operation of other suction cups.

[0010] A multi-suction cup vacuum gripper control method, based on the multi-suction cup vacuum gripper control system described above, in working state, when powered on,

[0011] When a pair of normally open contacts of the main relay is connected in series with the left control coil of the main and auxiliary switching solenoid valves, a control signal is input to the main relay, and the contact pair connected in series with the left control coil of the main and auxiliary switching solenoid valves is switched from normally open to normally closed; when a pair of normally open contacts of the main relay is connected in series with the right control coil of the main and auxiliary switching solenoid valves, a control signal is input to the main relay, and the contact pair connected in series with the right control coil of the main and auxiliary switching solenoid valves is switched from normally open to normally closed;

[0012] The contact pair connected in series with the left control coil of the main solenoid valve switches from normally open to normally closed, and the contact pair connected in series with the right control coil of the main solenoid valve switches from normally closed to normally open;

[0013] When all suction cups are normal, the contact pairs connected in series with the left control coils of each suction cup solenoid valve are normally open, and the contact pairs connected in series with the right control coils of each suction cup solenoid valve are normally closed; when there is a suction cup leak, the contact pairs connected in series with the left control coils of a normal suction cup solenoid valve are normally open, and the contact pairs connected in series with the right control coils of a normal suction cup solenoid valve are normally closed, the negative pressure sensor of the leaking suction cup outputs a high level to the matching suction cup relay control coil, and the contact pairs connected in series with the left control coils of the sucker solenoid valves of the leaking suction cup switch from normally open to normally closed, and the contact pairs connected in series with the right control coils of the leaking suction cup solenoid valves switch from normally closed to normally open.

[0014] As a preferred solution, each suction cup relay also includes a pair of normally open contacts; the pair of normally open contacts of each suction cup relay are connected in parallel with each other and then connected in series with the auxiliary vacuum pump to form a loop, and the auxiliary vacuum pump is started when the suction cup leaks.

[0015] Furthermore, in the working state, when power is turned on, the contact pair connected in series between the main relay and the auxiliary vacuum pump switches from normally open to normally closed. When all suction cups are normal, the contact pairs connected in series between each suction cup relay and the auxiliary vacuum pump are normally open. When there is a suction cup leaking, the contact pair connected in series between the suction cup relay matching the leaking suction cup and the auxiliary vacuum pump switches from normally open to normally closed.

[0016] Furthermore, the main relay also includes a pair of normally open contacts, and the pair of normally open contacts of the main relay is connected in series to the auxiliary vacuum pump circuit.

[0017] As a preferred solution, the negative pressure sensor is a digital pressure sensor, the power supply end of the digital pressure sensor is connected to the positive electrode, the ground end is connected to the negative electrode, and the signal output end is connected to the matching suction cup relay control coil and then connected to the negative electrode.

[0018] As an alternative, the resistance of the negative pressure sensor decreases as the pressure increases. Each suction cup is also equipped with a PNP transistor. The emitter of the PNP transistor is connected to the positive electrode, the base is connected to the negative electrode, the collector is connected to the matching suction cup relay control coil and then to the negative electrode. The negative pressure sensor is connected in series to the emitter or base of the PNP transistor.

[0019] As another alternative, the resistance of the negative pressure sensor decreases as the pressure increases. Each suction cup is also equipped with an NPN transistor. The base of the NPN transistor is connected to the positive electrode, the emitter is connected to the negative electrode, the collector is connected to the matching suction cup relay control coil and then connected to the positive electrode. The negative pressure sensor is connected in series to the base or emitter of the NPN transistor.

[0020] In addition, in the working state, when the power is off, the contact pair connected in series of the left or right position control coil of the main and auxiliary switching solenoid valves switches from normally closed to normally open; the contact pair connected in series of the left position control coil of the main solenoid valve is normally open, and the contact pair connected in series of the right position control coil of the main solenoid valve is normally closed; the contact pair connected in series of the left position control coil of each suction cup relay is normally open, and the contact pair connected in series of the right position control coil of the main solenoid valve is normally closed.

[0021] In addition, in the non-working state, when power is on or off, the contact pair connected in series of the left or right control coil of the main and auxiliary switching solenoid valves is normally open; the contact pair connected in series of the left control coil of the main solenoid valve is normally open, and the contact pair connected in series of the right control coil of the main solenoid valve is normally closed; the contact pairs connected in series of the left control coils of each suction cup solenoid valve are all normally open, and the contact pairs connected in series of the right control coils of each suction cup solenoid valve are all normally closed.

[0022] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0023] In view of the multi-suction cup vacuum gripper in which the sucked workpiece is subjected to uniform force, large load and uniform load distribution, there are problems such as local leakage and failure of the suction cup that affect the safety and reliability of the gripper, as well as the shortcomings of the current check valve cutting off the branch, a multi-suction cup vacuum gripper is proposed, which has multi-point workpiece suction, uniform suction force distribution of the suction cup, redundant and stable design of the air source of each suction cup, real-time detection and isolation of abnormal working suction cups and normal working suction cups, to ensure the safe and reliable operation of the gripper device, and is suitable for high-safety and reliability suction of workpieces with characteristics such as large loads, large contact surfaces and weak rigidity.

[0024] Redundant air supply and safe switching of suction cup air source: The vacuum and negative pressure status of each suction cup is monitored in real time through the negative pressure sensor, and the dual air source redundant air supply and safe switching design is adopted to block the branch that has leakage and other factors that affect the vacuum status of the air circuit from other normal branches, so as to ensure that the reliability of each branch suction cup is not reduced due to the abnormal operation of individual suction cups. For suction cups in normal working state, the negative pressure tank provides a stable and reliable vacuum and negative pressure source to ensure the stability and reliability of the suction state of the sucked workpiece; suction cups below the set threshold, that is, leaking suction cups, use redundant air source auxiliary vacuum pumps to supply air separately, and the air circuits between abnormal working suction cups and normal working suction cups are isolated, so as to achieve high safety and reliability of the whole set of suction equipment; in addition, when the device is accidentally powered off, the main air circuit and the auxiliary air circuit can be switched to the negative pressure tank with air pressure buffer to supply the vacuum and negative pressure source in real time through electrical means, and at the same time, each solenoid valve device maintains the state before power failure, which can prevent the workpiece from falling and being damaged on the one hand, and give users enough time to respond to safety emergency operations on the other hand.

[0025] In addition, it relies entirely on pure electrical logic design and does not require a controller, ensuring the simplicity and low cost of the entire device, universal adaptability, and safety and reliability in situations such as power failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention is further described in detail below in conjunction with the accompanying drawings. The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention.

[0027] Figure 1 It is a gas circuit connection diagram when the power is on or off in the non-working state of Example 1.

[0028] Figure 2 It is a schematic diagram of the gas circuit connection when the suction cups are normally powered on in the working state of Example 1.

[0029] Figure 3 It is a schematic diagram of the gas path connection when the suction cups in the working state of Example 1 are normally powered off.

[0030] Figure 4 This is a schematic diagram of the gas circuit connection when the suction cup is powered on and there is a gas leak in the working state of Example 1.

[0031] Figure 5 It is a schematic diagram of the gas circuit connection when the suction cup has a gas leak and the power is cut off in the working state of Example 1.

[0032] Figure 6 It is a schematic diagram of the open and closed states of the relay contacts when the power is on or off in the non-working state of Example 2, and when the suction cups are normal in the working state or there is a leakage and the power is off.

[0033] Figure 7 It is a schematic diagram of the open and closed states of the relay contacts when the suction cups are normally powered on in the working state of Example 2.

[0034] Figure 8 It is a schematic diagram of the open and closed state of the relay contacts when the suction cup has a leak and is powered on in the working state of Example 2.

[0035] Fig. 9 It is a gas circuit connection diagram when the power is on or off in the non-working state of Example 3.

[0036] Fig.10 1 is a schematic diagram of the gas circuit connection when the suction cups are normally powered on in the working state of Example 3.

[0037] Fig.11 It is a schematic diagram of the gas path connection when the suction cup is in the working state of Example 3 and the power is off without leakage.

[0038] Fig.12 1 is a schematic diagram of the gas circuit connection when the suction cups are normally powered on in the working state of Example 3.

[0039] Fig.13 It is a schematic diagram of the gas circuit connection when the suction cup has a leak and the power is cut off in the working state of Example 3.

[0040] Fig.14 It is a schematic diagram of the open and closed states of the relay contacts when the power is on or off in the non-working state of Example 4, and when the suction cups are normal in the working state or there is a leakage and the power is off.

[0041] Fig.15 It is a schematic diagram of the open and closed states of the relay contacts when the suction cups are normally powered on in the working state of Example 4.

[0042] Fig.16 It is a schematic diagram of the open and closed state of the relay contacts when the suction cup has a leak and is powered on in the working state of Example 4.

[0043] Reference numerals and corresponding component names:

[0044] 1-main vacuum pump; 2-auxiliary vacuum pump; 3-check valve; 4-negative pressure tank; 10-main circuit solenoid valve; 11-main-auxiliary switching solenoid valve; 12-suction cup one solenoid valve; 13-suction cup two solenoid valve; 14-suction cup three solenoid valve; 21-suction fixture mounting plate; 22-suction cup one negative pressure sensor; 23-suction cup two negative pressure sensor; 24-suction cup three negative pressure sensor; 25-suction cup mounting hole; 26-suction cup one; 27-suction cup two; 28-suction cup three; 30-workpiece; 31-suction cup one three-way pipe joint; 32-suction cup two three-way pipe joint; 33-suction cup three three-way pipe joint; 41-gas circuit one; 42-gas circuit two; 43-gas circuit three; 44-gas circuit four; 45-gas circuit five; 46-gas circuit six; 47-gas circuit seven; 48-gas circuit eight; 100-electrical unit. 102-main relay; 103-suction cup one relay; 104-suction cup two relay; 105-suction cup three relay; 110-input terminal; 111-AC power supply positive; 112-AC power supply negative; 113-DC 24V positive; 114-DC negative; 115-input control signal. DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0046] In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is apparent to one of ordinary skill in the art that these specific details are not necessarily employed to practice the present invention. In other instances, well-known structures, circuits, materials, or methods are not specifically described in order to avoid obscuring the present invention.

[0047] Throughout the specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "one embodiment," "an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily all refer to the same embodiment or example. In addition, particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. In addition, it will be appreciated by those of ordinary skill in the art that the figures provided herein are for illustrative purposes and that the figures are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0048] In the description of the present invention, it should be understood that the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the scope of protection of the present invention.

[0049] According to GB / T 32215-2015 / ISO 11727:1999 "Identification of air ports and control mechanisms of pneumatic control valves and other components" in Appendix A 5 / 2 valve (i.e., two-position five-way solenoid valve) and 5 / 3 valve (i.e., three-position five-way center-position pressurized solenoid valve) when the center position is case b) port 1 to port 2 and port 4 are connected, and port 3 and port 5 are closed; when the 5 / 2 valve is in the left position, port 1 and port 4 are connected, port 2 and port 3 are connected, and port 5 is closed; when the 5 / 2 valve is in the right position, port 1 and port 2 are connected, port 4 and port 5 are connected, and port 3 is closed; when the 5 / 3 valve is in the left position, port 1 and port 4 are connected, port 2 and port 3 are connected, and port 5 is closed; when the 5 / 3 valve is in the middle position, port 1 and port 2 are connected, port 1 and port 4 are connected, port 3 is closed, and port 5 is closed; when the 5 / 1 valve is in the right position, port 1 and port 2 are connected, port 4 and port 5 are connected, and port 3 is closed.

[0050] Example 1

[0051] This embodiment provides a multi-suction cup vacuum suction device gas path device, such as Figure 1-Figure 5As shown, it includes a main vacuum pump 1, an auxiliary vacuum pump 2, a main-auxiliary switching solenoid valve 11, and a suction cup one solenoid valve 12 matched with the suction cup one 26, a suction cup two solenoid valve 13 matched with the suction cup two 27, and a suction cup three solenoid valve 14 matched with the suction cup three 28; the main-auxiliary switching solenoid valve 11 is a three-position five-way center-position pressurized solenoid valve, and the suction cup one solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 are two-position five-way double-control solenoid valves.

[0052] This embodiment also includes a negative pressure tank 4 and a main electromagnetic valve 10. The main vacuum pump 1 is connected to the negative pressure tank 4 by a pipeline. The main vacuum pump 1 generates a vacuum negative pressure source. A one-way valve 3 is provided between the main vacuum pump 1 and the negative pressure tank 4, which only allows gas to flow from the negative pressure tank 4 to the main vacuum pump 1, so as to realize the one-way transmission of the vacuum negative pressure gas source from the main vacuum pump 1 to the negative pressure tank 4 to prevent backflow. The negative pressure tank 4 realizes the storage and stable vacuum degree of the vacuum negative pressure source, and provides a vacuum negative pressure source with stable pressure for the subsequent operation. The main electromagnetic valve 10 is a two-position five-way electromagnetic valve. The air port 4 of the main electromagnetic valve 10 and the negative pressure tank 4 are connected through an air path 1 41, and the air port 5 of the main electromagnetic valve 10 and the air port 1 of the main and auxiliary switching electromagnetic valves 11 are connected through an air path 2 42.

[0053] The air port 2 of the suction cup one solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 are closed, the air port 4 of the suction cup one solenoid valve 12 is connected to the suction cup one 26 through the air circuit six 46, the air port 4 of the suction cup two solenoid valve 13 is connected to the suction cup two 27 through the air circuit seven 47, and the air port 4 of the suction cup three solenoid valve 14 is connected to the suction cup three 28 through the air circuit eight 48.

[0054] The auxiliary vacuum pump 2 generates a vacuum negative pressure source as a redundant vacuum negative pressure source for the device. The auxiliary vacuum pump 2 is connected to the air port 3 of the main-auxiliary switching solenoid valve 11 through the air circuit three 43, the air port 4 of the main-auxiliary switching solenoid valve 11 and the air port 1 of the suction cup one solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 are connected through the air circuit four 44, and the air port 2 of the main-auxiliary switching solenoid valve 11 and the air port 5 of the suction cup one solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 are connected through the air circuit five 45.

[0055] The main circuit solenoid valve 10 and the suction cup one solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 are double-control solenoid valves, and the main-sub switch solenoid valve 11 is a double-control double-spring solenoid valve.

[0056] Suction cup 1 26 is equipped with suction cup 1 negative pressure sensor 22 and suction cup 1 three-way pipe joint 31, suction cup 2 27 is equipped with suction cup 2 negative pressure sensor 23 and suction cup 2 three-way pipe joint 32, and suction cup 3 28 is equipped with suction cup 3 negative pressure sensor 24 and suction cup 3 three-way pipe joint 33. The air port 4 of suction cup 1 solenoid valve 12 is connected with the three ports of air circuit 6 46, suction cup 1 26 and suction cup 1 negative pressure sensor 22 are respectively connected with the three ports of suction cup 1 three-way pipe joint 31. The air port 4 of suction cup 2 solenoid valve 13 is connected with the three ports of air circuit 7 47, suction cup 2 27 and suction cup 2 negative pressure sensor 23 are respectively connected with the three ports of suction cup 2 three-way pipe joint 32. The air port 4 of suction cup 3 solenoid valve 14 is connected with the three ports of air circuit 8 48, suction cup 3 28 and suction cup 3 negative pressure sensor 24 are respectively connected with the three ports of suction cup 3 three-way pipe joint 33.

[0057] The present embodiment also includes a suction device mounting plate 21, on which a suction cup mounting hole 25 is provided. The suction cup mounting hole 25 is a through hole for connecting the suction device to the transfer mechanism. Suction cup 1 26, suction cup 2 27, and suction cup 3 28 are evenly installed on the bottom lower end surface of the suction cup mounting hole 25. Suction cup 1 three-way pipe joint 31, suction cup 2 three-way pipe joint 32, and suction cup 3 three three-way pipe joint 33 are installed on the top upper end surface of the suction cup mounting hole 25 and fixed by threaded connection. More suction cups can be arranged according to actual needs. Suction cup 1 26, suction cup 2 27, and suction cup 3 28 are in contact with the workpiece 30 and suck the workpiece 30 by vacuum negative pressure.

[0058] The present embodiment further includes an electrical unit 100 for receiving a negative pressure sensor signal, and the electrical unit 100 is used to control the main and auxiliary switching solenoid valves 11, the suction cup 1 solenoid valve 12, the suction cup 2 solenoid valve 13, the suction cup 3 solenoid valve 14, and the main circuit solenoid valve 10. The electrical unit controls the operation of the gripper by inputting a control signal of 0 or DC 24V.

[0059] The present embodiment further provides a method for switching a multi-suction cup vacuum fixture when leakage occurs. Based on the multi-suction cup vacuum fixture air path device described above, the working states under various working conditions are shown in Table 1.

[0060] Table 1 Working status under various working conditions

[0061]

[0062]

[0063] Working principle:

[0064] 1. The gripper does not work (input control signal 115 is 0)

[0065] Each suction cup is connected to the atmosphere as follows:

[0066] (1) The main circuit solenoid valve 10 works in the right position, and the gas circuit 2 42 is connected to the atmosphere;

[0067] (2) The main-auxiliary switching solenoid valve 11 is in the middle position, the auxiliary vacuum pump 2 does not work, and the gas path 3 43 is blocked;

[0068] (3) The main-slave switching solenoid valve 11 works in the middle position, the gas circuit 4 44 and the gas circuit 5 45 are connected with the gas circuit 2 42, and the gas circuit 6 46, the gas circuit 7 47 and the gas circuit 8 48 are connected to the atmosphere via the gas circuit 4 44 and the gas circuit 2 42 respectively, so that each suction cup is connected to the atmosphere.

[0069] 2. The gripper works (the input control signal 115 is DC 24V)

[0070] (1) When the vacuum negative pressure of each suction cup meets the requirements through the vacuum negative pressure sensor detection, the vacuum negative pressure gas source is provided by the negative pressure tank 4;

[0071] ① The main circuit solenoid valve 10 works in the left position, and the gas circuit 2 42 is connected to the negative pressure tank 4 through the gas circuit 1 41;

[0072] ② The auxiliary vacuum pump 2 does not work, and the gas path 3 43 is connected to the gas path 5 45 but is blocked;

[0073] ③ The main and auxiliary switching solenoid valves 11 work in the left position, and the gas circuit 4 44 is connected to the negative pressure tank 4 via the gas circuit 2 42 and the gas circuit 1 41;

[0074] ④ Each suction cup solenoid valve works in the right position, and the gas circuit 6 46 is connected to the negative pressure tank 4 through the gas circuit 4 44, the gas circuit 2 42, and the gas circuit 1 41;

[0075] In order to realize the holding function in the case of power failure, the main solenoid valve 10 works in the right position by default. If the power is accidentally cut off, the suction cup solenoid valve 12 keeps working in the right position, the main and auxiliary switching solenoid valves 11 work in the middle position, and the main solenoid valve 10 works in the left position. Each suction cup is supplied with air by the negative pressure tank 4.

[0076] (2) The air source of the suction cup air circuit that does not meet the negative pressure requirement is provided by the auxiliary vacuum pump 2. The air source of the suction cup air circuit that meets the negative pressure requirement is still supplied by the negative pressure tank 4.

[0077] ① The auxiliary vacuum pump 2 works to provide a vacuum negative pressure source for the gas circuit 3 43;

[0078] ② The main circuit solenoid valve 10 works in the left position, the main-sub switch solenoid valve 11 works in the left position, the gas circuit four 44 is connected with the gas circuit two 42, the gas circuit five 45 is connected with the gas circuit three 43, the normal suction cup matching suction cup solenoid valve works in the right position, and its working gas circuit is connected with the gas circuit four 44; the leakage suction cup matching suction cup solenoid valve works in the left position, and its working gas circuit is connected with the gas circuit five 45.

[0079] If the power is cut off unexpectedly, the main and auxiliary switching solenoid valves 11 work in the middle position, the gas circuit four 44 and the gas circuit five 45 are both supplied with gas by the negative pressure tank 4, and the main circuit solenoid valve 10 works in the left position.

[0080] In working state, when powered on, if Figure 2 , Figure 4 As shown, the auxiliary vacuum pump 2 is connected to the air port 3 of the main-auxiliary switching solenoid valve 11, the main-auxiliary switching solenoid valve 11 is switched from the middle position to the left position, the air path 4 44 is connected to the air path 2 42, the air path 5 45 is connected to the air path 3 43, the main path solenoid valve 10 is switched from the right position to the left position, and the air path 2 42 is connected to the air path 1 41; when the suction cup 1 26, the suction cup 2 27, and the suction cup 3 28 are all normal, as shown in FIG. Figure 2 As shown, the suction cup one solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 are all in the right position, the gas circuit six 46, the gas circuit seven 47, and the gas circuit eight 48 are all connected with the gas circuit four 44, the suction cup one 26 is connected with the negative pressure tank 4 through the gas circuit six 46, the gas circuit four 44, the gas circuit two 42, and the gas circuit one 41 in sequence, the suction cup two 27 is connected with the negative pressure tank 4 through the gas circuit seven 47, the gas circuit four 44, the gas circuit two 42, and the gas circuit one 41 in sequence, and the suction cup three 28 is connected with the negative pressure tank 4 through the gas circuit eight 48, the gas circuit four 44, the gas circuit two 42, and the gas circuit one 41 in sequence; when the suction cup one 26 is leaking, and the suction cup two 27 and the suction cup three 28 are normal, as shown in FIG. Figure 4 As shown, the solenoid valve 12 of the suction cup 1 is switched from the right position to the left position, the gas circuit 6 46 is connected to the gas circuit 5 45, the suction cup 1 26 is connected to the auxiliary vacuum pump 2 through the gas circuit 6 46, the gas circuit 5 45, and the gas circuit 3 43 in sequence, and the gas circuits of the suction cup 2 27 and the suction cup 3 28 remain unchanged. The auxiliary vacuum pump 2 generates a vacuum negative pressure source as a redundant vacuum negative pressure source for the device, that is, when a suction cup in the device leaks, the auxiliary vacuum pump 2 works and provides a vacuum negative pressure source for the leaking suction cup 1 26, so as to avoid the vacuum leakage or failure of the suction cup, which affects the negative pressure stability in the negative pressure tank 4 and the normal and stable operation of other suction cups.

[0081] In working state, when power is off, Figure 3 , Figure 5 As shown, since the main and auxiliary switching solenoid valves 11 are double-controlled double-spring solenoid valves for left and right positions, the main and auxiliary switching solenoid valves 11 are switched from the left position to the middle position by the spring force, and the gas circuit 44 is connected with the gas circuit 2 42, and the gas circuit 5 45 is connected with the gas circuit 2 42. Since the main circuit solenoid valve 10 and the suction cup one solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 are double-controlled solenoid valves, they maintain the original working position after power failure. The main circuit solenoid valve 10 is in the left position, and the gas circuit 2 42 is connected with the gas circuit 1 41. The suction cup one solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 maintain the working position when powered on (including when they are all normal and when there is a leak). After power failure, the stable negative pressure gas source in the negative pressure tank 4 can still be relied on to prevent the workpiece 30 from losing suction and falling when the power is accidentally cut off, and emergency operations can be taken at the same time.

[0082] In non-working state, when power is on or off, such as Figure 1As shown, the main-sub switch solenoid valve 11 is located in the middle position, the gas circuit 4 44 is connected with the gas circuit 2 42, and the gas circuit 5 45 is connected with the gas circuit 2 42. The main circuit solenoid valve 10 is located in the right position, and the gas circuit 2 42 is connected to the atmosphere. The suction cup 1 solenoid valve 12, the suction cup 2 solenoid valve 13, and the suction cup 3 solenoid valve 14 are all located in the right position. The suction cup 1 26 is connected to the atmosphere through the gas circuit 6 46, the gas circuit 5 45, and the gas circuit 2 42 in sequence, the suction cup 2 27 is connected to the atmosphere through the gas circuit 7 47, the gas circuit 5 45, and the gas circuit 2 42 in sequence, and the suction cup 3 28 is connected to the atmosphere through the gas circuit 8 48, the gas circuit 5 45, and the gas circuit 2 42 in sequence.

[0083] How to use:

[0084] Step 1: Fix the fixture mounting plate 21 on the motion mechanism, such as a manipulator, a machine tool motion axis, etc., and connect each electrical input terminal 110: AC power positive 111, AC power negative 112, DC 24V positive 113, DC negative 114, and input control signal 115.

[0085] Step 2: The suction cup moves until it contacts the workpiece 30 to be sucked, and the control input signal inputs a DC 24V signal to detect the vacuum negative pressure measurement value of the suction cup one negative pressure sensor 22, the suction cup two negative pressure sensor 23, and the suction cup three negative pressure sensor 24 (more sensors and suction cups can be set according to actual needs). The sensor automatically compares the measurement value with the set threshold value. For the air path with a measurement value less than the set threshold value, the auxiliary vacuum pump 2 is started and a vacuum negative pressure source is provided to the branch via the air path three 43, the main-auxiliary switching solenoid valve 11, and the air path five 45; for the air path with a measurement value greater than the set threshold value, a vacuum negative pressure source is provided by the main vacuum pump 1, via the one-way valve 3, the negative pressure tank 4, the air path one 41, the main solenoid valve 10, the air path two 42, the main-auxiliary switching solenoid valve 11, and the air path four 44.

[0086] Step 3: During operation, if there is an accidental power failure, the main solenoid valve 10 works in the left position and the main-sub switch solenoid valve 11 works in the middle position. The vacuum negative pressure source is provided via the negative pressure tank 4, gas circuit 1 41, the main solenoid valve 10, gas circuit 2 42, the main-sub switch solenoid valve 11, gas circuit 4 44 and gas circuit 5 45. That is, all suction cups are provided by the negative pressure tank 4, and the gas circuit is switched to the main circuit with air pressure buffer, providing users with safe emergency operation response time.

[0087] Step 4: After the device is used, the control input signal inputs a 0V signal, the auxiliary vacuum pump 2 stops working, the main solenoid valve 10 works in the right position, so that the output gas source of the negative pressure tank 4 is closed, the main and auxiliary switching solenoid valves 11 work in the middle position, and the atmosphere is used as the input gas source of the main solenoid valve 10, and is connected to the gas circuit 6 46, the gas circuit 7 47, and the gas circuit 8 48 through the gas circuit 2 42, the main and auxiliary switching solenoid valves 11, and the gas circuit 4 44, respectively, to achieve the separation and disengagement of each suction cup from the workpiece 30.

[0088] Example 2

[0089] This embodiment provides a multi-suction cup vacuum gripper control system. Figure 6-Figure 8 As shown, based on the multi-suction cup type vacuum suction device air path device and the leakage switching method described in Example 1, this embodiment includes a main relay 102, and a suction cup one relay 103 and a suction cup one negative pressure sensor 22 provided in conjunction with the suction cup one 26, a suction cup two relay 104 and a suction cup two negative pressure sensor 23 provided in conjunction with the suction cup two 27, and a suction cup three relay 105 and a suction cup three negative pressure sensor 24 provided in conjunction with the suction cup three 28; the main relay 102 includes two pairs of normally open contact pairs and one pair of normally closed contact pairs, and one pair of normally The open contact pair 23-24 is connected in series with the left position control coil of the main electromagnetic valve 10, a pair of normally closed contact pairs 11-12 is connected in series with the right position control coil of the main electromagnetic valve 10, and a pair of normally open contact pairs 33-34 is connected in series with the left position control coil of the main and auxiliary switching electromagnetic valves 11; the sucker one relay 103, the sucker two relay 104, and the sucker three relay 105 respectively include a pair of normally open contact pairs and a pair of normally closed contact pairs, and the pair of normally open contact pairs 13-14 of the sucker one relay 103 is connected in series with the sucker one electromagnetic valve 12 The left position control coil is connected in series, a pair of normally closed contact pairs 11-12 of the sucker one relay 103 is connected in series with the right position control coil of the sucker one solenoid valve 12, a pair of normally open contact pairs 13-14 of the sucker two relay 104 is connected in series with the left position control coil of the sucker two solenoid valve 13, a pair of normally closed contact pairs 11-12 of the sucker two relay 104 is connected in series with the right position control coil of the sucker two solenoid valve 13, a pair of normally open contact pairs 13-14 of the sucker three relay 105 is connected in series with the left position control coil of the sucker three solenoid valve 14, A pair of normally closed contact pairs 11-12 of the suction cup three relay 105 is connected in series with the right position control coil of the suction cup three solenoid valve 14; the contact pair and the solenoid valve control coil are connected in series and connected between the DC 24V positive 113 and the DC negative 114; the suction cup one negative pressure sensor 22, the suction cup two negative pressure sensor 23, and the suction cup three negative pressure sensor 24 are set to output a high level to the suction cup one relay 103 control coil, the suction cup two relay 104 control coil, and the suction cup three relay 105 control coil when the vacuum degree is lower than the threshold value.

[0090] The sucker 1 relay 103, the sucker 2 relay 104, and the sucker 3 relay 105 also include a pair of normally open contacts respectively; the pair of normally open contacts 21-22 of the sucker 1 relay 103, the pair of normally open contacts 21-22 of the sucker 2 relay 104, and the pair of normally open contacts 21-22 of the sucker 3 relay 105 are connected in parallel with each other, and then connected in series with the auxiliary vacuum pump 2 to form a loop, which is connected between the positive 111 of the AC power supply and the negative 112 of the AC power supply. The main relay 102 also includes a pair of normally open contacts, and the pair of normally open contacts 13-14 of the main relay 102 is connected in series to the auxiliary vacuum pump 2 loop. In addition, the main vacuum pump 1 is also connected between the positive 111 of the AC power supply and the negative 112 of the AC power supply, that is, when the device is powered on, the main vacuum pump 1 runs.

[0091] The suction cup one negative pressure sensor 22, the suction cup two negative pressure sensor 23, and the suction cup three negative pressure sensor 24 are used to measure the vacuum negative pressure values ​​of the suction cup one 26, the suction cup two 27, and the suction cup three 28 respectively. The negative pressure sensor is a digital pressure sensor with a measurement range of -1.0 to 0 Bar, with a PNP type digital state output signal, and the threshold is set according to actual needs. When the sensor measurement value is lower than the set threshold, it outputs a 24V signal, and when the measurement value is not lower than the set threshold, it outputs 0. The power supply end of the digital pressure sensor is connected to the DC 24V positive 113 pole, the ground wire end is connected to the DC negative 114 pole, and the signal output end is connected to the matching suction cup relay control coil and then connected to the DC negative 114 pole.

[0092] This embodiment provides a multi-suction cup vacuum gripper control method. Based on the multi-suction cup vacuum gripper control system described above, in the working state, when powered on, Figure 7 , Figure 8 As shown,

[0093] When a pair of normally open contacts of the main relay 102 and the left position control coil of the main-sub switch solenoid valve 11 are connected in series, a control signal 115 is input to the main relay 102. The input control signal 115 is a 24V DC signal. After the control coil of the main relay 102 is connected, a DC negative 114 is connected. The contact pair of the left position control coil of the main-sub switch solenoid valve 11 is switched from normally open to normally closed, and the main-sub switch solenoid valve 11 works in the left position.

[0094] The contact pair of the left-position control coil of the main solenoid valve 10 is switched from normally open to normally closed, and the contact pair of the right-position control coil of the main solenoid valve 10 is switched from normally closed to normally open, and the main solenoid valve 10 works in the left position;

[0095] When the suction cup 1 26, suction cup 2 27, and suction cup 3 28 are all normal, Figure 7As shown, the contact pairs of the left-position control coils of the suction cup solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 are all normally open, and the contact pairs of the right-position control coils of the suction cup solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 are all normally closed. The suction cup solenoid valve 12, the suction cup two solenoid valve 13, and the suction cup three solenoid valve 14 all work in the right position; when the suction cup 26 leaks, such as Figure 8 As shown, the contact pairs connected in series by the left control coils of the second sucker solenoid valve 13 and the third sucker solenoid valve 14 are normally open, and the contact pairs connected in series by the right control coils of the second sucker solenoid valve 13 and the third sucker solenoid valve 14 are normally closed, and the second sucker solenoid valve 13 and the third sucker solenoid valve 14 are both working in the right position; when the first sucker negative pressure sensor 22 detects that the vacuum negative pressure value is higher than the set threshold, it outputs a 24V DC signal high level to the control coil of the first sucker relay 103, and the control coil of the first sucker relay 103 is turned on, and the contact pairs connected in series by the left control coil of the first sucker solenoid valve 12 are switched from normally open to normally closed, and the contact pairs connected in series by the right control coil of the first sucker solenoid valve 12 are switched from normally closed to normally open, and the first sucker solenoid valve 12 is switched from the right position to the left position. That is, when the device is powered on, if the vacuum negative pressure value detected by the suction cup supporting negative pressure sensor is lower than the set threshold, the suction cup supporting suction cup solenoid valve works in the left position, otherwise the suction cup supporting suction cup solenoid valve works in the right position.

[0096] In working state, when powered on, if Figure 7 , Figure 8 As shown, the contact pair of the main relay 102 connected in series with the auxiliary vacuum pump 2 is switched from normally open to normally closed; when all the suction cups are normal, the contact pairs of each suction cup relay connected in series with the auxiliary vacuum pump 2 are all normally open. When there is a suction cup leaking, the contact pair of the suction cup relay supporting the leaking suction cup and the auxiliary vacuum pump 2 is switched from normally open to normally closed. That is, after the control signal 115 is input, and at least one of the measured values ​​of the suction cup negative pressure sensor 22, the suction cup negative pressure sensor 23, and the suction cup negative pressure sensor 24 is lower than the set threshold, the auxiliary vacuum pump 2 is running.

[0097] In working state, when power is off, Figure 6 As shown, the contact pair connected in series by the left position control coil of the main-sub switching solenoid valve 11 is switched from normally closed to normally open, and the main-sub switching solenoid valve 11 works in the middle position; the contact pair connected in series by the left position control coil of the main solenoid valve 10 is normally open, and the contact pair connected in series by the right position control coil of the main solenoid valve 10 is normally closed, but the main solenoid valve 10 maintains the working position before power failure; the contact pair connected in series by the left position control coil of each suction cup relay is normally open, and the contact pair connected in series by the right position control coil of the main solenoid valve 10 is normally closed, but the suction cup solenoid valves supporting each suction cup maintain the original working position (including leakage working in the left position and normal working in the right position).

[0098] In non-working state, when power is on or off, such as Figure 6As shown, the contact pair connected in series with the left position control coil of the main and sub-switching solenoid valves 11 is normally open, the contact pair connected in series with the left position control coil of the main solenoid valve 10 is normally open, the contact pair connected in series with the right position control coil of the main solenoid valve 10 is normally closed, the contact pairs connected in series with the left position control coils of each suction cup solenoid valve are all normally open, and the contact pairs connected in series with the right position control coils of each suction cup solenoid valve are all normally closed.

[0099] Example 3

[0100] This embodiment provides a multi-suction cup vacuum suction device gas path device, such as Figure 9-13 As shown, relative to Example 1, this embodiment connects the auxiliary vacuum pump 2 with the air port 3 of the main-auxiliary switching solenoid valve 11, and changes it to connecting the auxiliary vacuum pump 2 with the air port 5 of the main-auxiliary switching solenoid valve 11, connecting the air port 4 of the main-auxiliary switching solenoid valve 11 with the air port 5 of each suction cup solenoid valve, connecting the air port 2 of the main-auxiliary switching solenoid valve 11 with the air port 1 of each suction cup solenoid valve, and the remaining air circuit connection methods are consistent with Example 1.

[0101] This embodiment also provides a method for switching leakage of a multi-suction cup vacuum gripper, such as Figure 9-13 As shown, based on the multi-suction cup type vacuum gripper gas path device of this embodiment, when powered on in the working state, as Fig.10 , Fig.12 As shown, the main and auxiliary switching solenoid valve 11 is switched from the middle position to the right position. Fig.11 , Fig.13 As shown, the main-slave switching solenoid valve 11 is switched from the right position to the middle position. The remaining states of the solenoid valve working position are consistent with those in Example 1.

[0102] Example 4

[0103] This embodiment provides a multi-suction cup vacuum gripper control system. Figure 14-16 As shown, relative to Example 2, this embodiment connects a pair of normally open contacts of the main relay 102 and the left-position control coil of the main-sub switching solenoid valve 11 in series, which is transformed into a pair of normally open contacts of the main relay 102 and the right-position control coil of the main-sub switching solenoid valve 11 connected in series, and the remaining circuit connection methods are consistent with Example 2.

[0104] This embodiment also provides a multi-suction cup vacuum gripper control method, such as Figure 14-16 As shown, based on the multi-suction cup vacuum gripper control system of this embodiment, in the working state, when powered on, as Fig.15 , Fig.16 As shown, a control signal 115 is input to the main relay 102, and the contact pair of the right position control coil of the main and auxiliary switching solenoid valve 11 is switched from normally open to normally closed. Fig.14 As shown, the contact pair of the right control coil of the main and auxiliary switching solenoid valve 11 is switched from normally closed to normally open. Fig.14 As shown, the contact pair of the right position control coil of the main and auxiliary switching solenoid valve 11 is normally open. The remaining states of the relay contact pair are consistent with those of the second embodiment.

[0105] Example 5

[0106] This embodiment provides a multi-suction cup vacuum gripper control system. Compared with Embodiment 2, this embodiment replaces the digital pressure sensor with a negative pressure sensor and a PNP transistor. The resistance of the negative pressure sensor decreases as the pressure increases. Each suction cup is also equipped with a PNP transistor. The emitter of the PNP transistor is connected to the positive electrode, the base is connected to the negative electrode, the collector is connected to the matching suction cup relay control coil and then connected to the negative electrode. The negative pressure sensor is connected in series to the emitter or base of the PNP transistor.

[0107] Example 6

[0108] This embodiment provides a multi-suction cup vacuum gripper control system. Compared with Embodiment 2, this embodiment replaces the digital pressure sensor with a negative pressure sensor and an NPN transistor. The resistance of the negative pressure sensor decreases as the pressure increases. Each suction cup is also equipped with an NPN transistor. The base of the NPN transistor is connected to the positive electrode, the emitter is connected to the negative electrode, the collector is connected to the matching suction cup relay control coil and then connected to the positive electrode. The negative pressure sensor is connected in series to the base or emitter of the NPN transistor.

[0109] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-suction cup vacuum gripper control system, based on a multi-suction cup vacuum gripper air path device, including a main vacuum pump, a secondary vacuum pump, and a main-secondary switching solenoid valve; characterized in that: It also includes a negative pressure tank, a main vacuum pump and the negative pressure tank are connected by pipelines, the main vacuum pump generates a vacuum negative pressure source, and a one-way valve is provided between the main vacuum pump and the negative pressure tank, which only allows gas to flow from the negative pressure tank to the main vacuum pump; it includes a main relay, and a suction cup relay and a negative pressure sensor provided in conjunction with each suction cup; the main relay includes 2 pairs of normally open contact pairs and 1 pair of normally closed contact pairs, 1 pair of normally open contact pairs is connected in series with the left position control coil of the main electromagnetic valve, 1 pair of normally closed contact pairs is connected in series with the right position control coil of the main electromagnetic valve, and 1 pair of normally open contact pairs is connected in series with the left position or right position control coil of the main and auxiliary switching electromagnetic valves; each suction cup relay includes 1 pair of normally open contact pairs and 1 pair of normally closed contact pairs, 1 pair of normally open contact pairs is connected in series with the left position control coil of the matching electromagnetic valve, and 1 pair of normally closed contact pairs is connected in series with the right position control coil of the matching electromagnetic valve; the contact pairs are connected in series with the electromagnetic valve control coil and then connected to the power supply; each negative pressure sensor is set to output a high level to the matching suction cup relay control coil when the vacuum degree is lower than the threshold value.

2. The multi-suction cup vacuum gripper control system according to claim 1, characterized in that: Each suction cup relay also includes a pair of normally open contacts; the pair of normally open contacts of each suction cup relay are connected in parallel with each other and then connected in series with the auxiliary vacuum pump to form a loop.

3. The multi-suction cup vacuum gripper control system according to claim 2, characterized in that: The main relay also includes a pair of normally open contacts, and the pair of normally open contacts of the main relay is connected in series to the auxiliary vacuum pump circuit.

4. The multi-suction cup vacuum gripper control system according to claim 3, characterized in that: The negative pressure sensor is a digital pressure sensor. The power supply end of the digital pressure sensor is connected to the positive electrode, the ground end is connected to the negative electrode, and the signal output end is connected to the matching suction cup relay control coil and then to the negative electrode.

5. The multi-suction cup vacuum gripper control system according to any one of claims 1 to 3, characterized in that: The resistance of the negative pressure sensor decreases as the pressure increases. Each suction cup is also equipped with a PNP transistor. The emitter of the PNP transistor is connected to the positive electrode, the base is connected to the negative electrode, the collector is connected to the matching suction cup relay control coil and then connected to the negative electrode. The negative pressure sensor is connected in series to the emitter or base of the PNP transistor.

6. The multi-suction cup vacuum gripper control system according to any one of claims 1 to 3, characterized in that: The resistance of the negative pressure sensor decreases as the pressure increases. Each suction cup is also equipped with an NPN transistor. The base of the NPN transistor is connected to the positive electrode, the emitter is connected to the negative electrode, the collector is connected to the matching suction cup relay control coil and then connected to the positive electrode. The negative pressure sensor is connected in series to the base or emitter of the NPN transistor.

7. A method for controlling a multi-suction cup vacuum gripper, based on the multi-suction cup vacuum gripper control system according to claim 4, characterized in that: In working state, when powered on, When a pair of normally open contacts of the main relay is connected in series with the left control coil of the main and auxiliary switching solenoid valves, a control signal is input to the main relay, and the contact pair connected in series with the left control coil of the main and auxiliary switching solenoid valves is switched from normally open to normally closed; when a pair of normally open contacts of the main relay is connected in series with the right control coil of the main and auxiliary switching solenoid valves, a control signal is input to the main relay, and the contact pair connected in series with the right control coil of the main and auxiliary switching solenoid valves is switched from normally open to normally closed; The contact pair connected in series with the left control coil of the main solenoid valve switches from normally open to normally closed, and the contact pair connected in series with the right control coil of the main solenoid valve switches from normally closed to normally open; When all suction cups are normal, the contact pairs connected in series with the left control coils of each suction cup solenoid valve are normally open, and the contact pairs connected in series with the right control coils of each suction cup solenoid valve are normally closed; when there is a suction cup leak, the contact pairs connected in series with the left control coils of a normal suction cup solenoid valve are normally open, and the contact pairs connected in series with the right control coils of a normal suction cup solenoid valve are normally closed, the negative pressure sensor of the leaking suction cup outputs a high level to the matching suction cup relay control coil, and the contact pairs connected in series with the left control coils of the sucker solenoid valves of the leaking suction cup switch from normally open to normally closed, and the contact pairs connected in series with the right control coils of the leaking suction cup solenoid valves switch from normally closed to normally open.

8. The multi-suction cup vacuum gripper control method according to claim 7, characterized in that: In the working state, when power is turned on, the contact pair connected in series between the main relay and the auxiliary vacuum pump switches from normally open to normally closed. When all suction cups are normal, the contact pairs connected in series between each suction cup relay and the auxiliary vacuum pump are normally open. When there is a suction cup leaking, the contact pair connected in series between the suction cup relay matching the leaking suction cup and the auxiliary vacuum pump switches from normally open to normally closed.

9. The multi-suction cup vacuum gripper control method according to claim 7 or 8, characterized in that: In the working state, when the power is off, the contact pair connected in series of the left or right control coil of the main and auxiliary switching solenoid valve switches from normally closed to normally open; the contact pair connected in series of the left control coil of the main solenoid valve is normally open, and the contact pair connected in series of the right control coil of the main solenoid valve is normally closed; the contact pair connected in series of the left control coil of each suction cup relay is normally open, and the contact pair connected in series of the right control coil of the main solenoid valve is normally closed.

10. A method for controlling a multi-suction cup vacuum gripper, based on the multi-suction cup vacuum gripper control system according to claim 4, characterized in that: In the non-working state, when power is on or off, the contact pair connected in series of the left or right control coil of the main and auxiliary switching solenoid valves is normally open; the contact pair connected in series of the left control coil of the main solenoid valve is normally open, and the contact pair connected in series of the right control coil of the main solenoid valve is normally closed; the contact pairs connected in series of the left control coils of each suction cup solenoid valve are all normally open, and the contact pairs connected in series of the right control coils of each suction cup solenoid valve are all normally closed.

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