Clamp cylinder control system with emergency stop reverse thrust function

Abstract

The application discloses a clamp cylinder control system with an emergency stop reverse thrust function, and relates to the technical field of clamp cylinder control systems.It comprises an air source, a clamp cylinder, a main control valve, a pneumatic clamping switch, a pneumatic opening switch and a clamp cylinder emergency stop reverse thrust control system, which comprises a PLC controller, an emergency stop reverse thrust control button electrically connected to the input end of the PLC controller, a normally open auxiliary control electromagnetic valve, a normally closed on-off electromagnetic valve and a normally open on-off electromagnetic valve electrically connected to the output end of the PLC controller; the normally open auxiliary control electromagnetic valve is connected in series in the rodless cavity air path, the normally open on-off electromagnetic valve is connected in series in the rod cavity air path, a reverse thrust control air path is arranged between the rod cavity G port of the clamp cylinder and the air source, and the normally closed on-off electromagnetic valve is connected in series in the reverse thrust control air path. Thus, the original clamp cylinder is provided with an emergency stop reverse thrust system, the fast reverse thrust function is realized, the clamp cylinder is stopped in an emergency, and the fast reverse thrust is realized, so that the safety of the equipment is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of clamp cylinder control system, and particularly relates to a clamp cylinder control system with emergency stop and reverse thrust function. BACKGROUND

[0002] The pneumatic clamp is widely used in mechanical production, and has rapid response, simple installation, maintenance and operation, and can be adapted to large, medium and small clamps. The principle of the pneumatic clamp is relatively simple, which generally uses the air compression in the cylinder as a power source, and realizes the clamping or opening of the parts by controlling the change of the air pressure in the cylinder. In order to adapt to the development of large machinery, such as the clamp cylinder used in the production of large tractors, the volume is also relatively large.

[0003] In the process of fixing the workpiece by using the pneumatic clamp, unexpected situations will inevitably occur, such as the parts are not clamped in place, the operator's standing position is wrong, etc. If unexpected situations occur, the air inlet source needs to be quickly closed by using the emergency stop switch. Because the compressed air thrust in the clamp cylinder is very large, even if the air inlet source is quickly closed, there will still be a large residual air pressure in the pipeline, which is difficult to quickly realize pressure relief through the self pressure relief port, so the residual high pressure air will push the piston rod of the clamp cylinder to continue to move, and the entire pressure relief process will be very slow, which cannot be quickly stopped, not only easy to cause the parts to be scrapped, but also will bring great safety hazards to the operator. SUMMARY

[0004] In order to overcome the above defects, the purpose of the present application is to provide a clamp cylinder control system with emergency stop and reverse thrust function, which realizes the rapid reverse thrust function by increasing the emergency stop and reverse thrust system in the original clamp cylinder, realizes the emergency stop of the clamp cylinder, and realizes the rapid reverse thrust, so as to improve the safety of the equipment.

[0005] In order to achieve the above object, the present application provides a clamp cylinder control system with emergency stop and reverse thrust function, comprising a gas source and a clamp cylinder; a clamp cylinder normal working control system is arranged between the gas source and the clamp cylinder, and is used for controlling the extension or retraction of the cylinder piston rod; the clamp cylinder normal working control system comprises a main control valve, a pneumatic clamping switch and a pneumatic opening switch; the main control valve is connected with the gas source through a main gas path, a working port A of the main control valve is connected with a rod cavity G port of the clamp cylinder through a rod cavity gas path, and a working port B of the main control valve is connected with a rodless cavity H port of the clamp cylinder through a rodless cavity gas path; the pneumatic clamping switch and the pneumatic opening switch are connected in parallel and communicate with the main gas path; characterized in that further comprising: a clamp cylinder emergency stop and reverse thrust control system, the clamp cylinder emergency stop and reverse thrust control system comprises a PLC controller, an emergency stop and reverse thrust control button electrically connected with an input end of the PLC controller, an always-on auxiliary control electromagnetic valve, a normally closed on-off electromagnetic valve and an always-on on-off electromagnetic valve electrically connected with an output end of the PLC controller respectively; the always-on auxiliary control electromagnetic valve is connected in series in the rodless cavity gas path, the always-on on-off electromagnetic valve is connected in series in the rod cavity gas path, a reverse thrust control gas path is arranged between the rod cavity G port of the clamp cylinder and the gas source, and the normally closed on-off electromagnetic valve is connected in series in the reverse thrust control gas path.

[0006] Preferably, the main control valve is a two-position five-way valve, the always-on auxiliary control electromagnetic valve is a two-position two-way electromagnetic valve, and the two-position two-way electromagnetic valve is provided with a vent port R.

[0007] Preferably, the PLC controller is electrically connected with a time relay, and the PLC controller and the time relay are located in an electric control box and are electrically connected with a power module respectively.

[0008] Preferably, the time relay is a delay time relay, and the reverse thrust control gas path and the rod cavity gas path are connected through a gas path three-way joint.

[0009] Preferably, the PLC controller is electrically connected with a plurality of emergency stop and reverse thrust control buttons, and the plurality of emergency stop and reverse thrust control buttons are connected in parallel.

[0010] Preferably, the clamp cylinder control system further comprises a gas path valve row, a plurality of clamp cylinders are connected in parallel, the main control valve corresponding to each clamp cylinder is connected with the gas path valve row, and the gas path valve row connects the gas source through the main gas path.

[0011] Preferably, the control method of the clamp cylinder control system with emergency stop and reverse thrust function comprises the following steps:

[0012] Normal clamping: when needing to clamp the workpiece, the pneumatic clamping switch is controlled, and the compressed air of the air source enters the rodless cavity of the clamp cylinder through the main gas path, the working port B of the main control valve, the rodless cavity gas path, and the normally open auxiliary control electromagnetic valve, so that the piston rod of the cylinder is stretched to clamp the workpiece;

[0013] Normal release: when needing to take out the workpiece, the pneumatic opening switch is controlled, and the compressed air of the air source enters the rod cavity of the clamp cylinder through the main gas path, the working port A of the main control valve, the rod cavity gas path, and the normally open on-off electromagnetic valve, so that the piston rod of the cylinder is retracted to release the workpiece;

[0014] Emergency stop reverse thrust: when an emergency situation occurs, the emergency stop reverse thrust control button is pressed, the PLC controller controls the normally open auxiliary control electromagnetic valve to communicate with the right phase, the normally closed on-off electromagnetic valve is opened, and the normally open on-off electromagnetic valve is closed, so that the compressed air of the air source enters the rod cavity of the clamp cylinder through the main gas path, the reverse thrust control gas path, and the normally closed on-off electromagnetic valve, and the piston rod of the cylinder is quickly retracted.

[0015] Preferably, the normally open auxiliary control electromagnetic valve is a two-position two-way electromagnetic valve, and the two-position two-way electromagnetic valve is provided with a vent R; in the emergency stop reverse thrust step, when the piston rod of the cylinder is retracted, the compressed air in the rodless cavity of the clamp cylinder is vented through the rodless cavity gas path and the vent R of the normally open auxiliary control electromagnetic valve.

[0016] Preferably, the PLC controller is electrically connected with a time relay, and the time relay is a delay time relay; in the emergency stop reverse thrust step, the PLC controller first controls the normally open auxiliary control electromagnetic valve to make the rodless cavity of the clamp cylinder communicate with the vent R of the normally open auxiliary control electromagnetic valve, and then controls the normally closed on-off electromagnetic valve to be opened and the normally open on-off electromagnetic valve to be closed.

[0017] After the above technical scheme is adopted, the application has the following beneficial technical effects:

[0018] 1. Due to the addition of clamp cylinder emergency stop reverse thrust control system in the clamp cylinder normal working control system, the system comprises a PLC controller, an emergency stop reverse thrust control button electrically connected with the input end of the PLC controller, a normally open auxiliary control electromagnetic valve, a normally closed on-off electromagnetic valve and a normally open on-off electromagnetic valve electrically connected with the output end of the PLC controller; the normally open auxiliary control electromagnetic valve is connected in series in the rodless cavity gas path, the normally open on-off electromagnetic valve is connected in series in the rod cavity gas path, the rod cavity G port of the clamp cylinder is provided with a reverse thrust control gas path between the rod cavity G port and the gas source, and the normally closed on-off electromagnetic valve is connected in series in the reverse thrust control gas path. When the clamp cylinder encounters an unexpected abnormal situation during clamping, the original air inlet valve is closed in time through the emergency stop reverse thrust control button, the rodless cavity of the clamp cylinder is quickly connected with the pressure relief port R, rapid pressure relief is realized, the rod cavity gas path of the clamp cylinder realizes rapid air inlet, the piston rod of the clamp cylinder reversely retracts, and loss expansion can be avoided.

[0019] 2. Due to the provision of the normally open auxiliary control electromagnetic valve, the normally open auxiliary control electromagnetic valve can quickly realize switching and connect the rodless cavity H port of the clamp cylinder with the exhaust port R after receiving the electrical signal of the PLC controller, rapid pressure relief is realized, the reverse thrust control gas path is synchronously matched, the thrust of the rod cavity of the clamp cylinder can effectively realize the timely stop and retraction of the cylinder piston rod, the problem that the original cylinder used in the pneumatic tool and the pneumatic clamp cannot be quickly and effectively stopped in time is solved, and in particular, the industry drawbacks of workpiece extrusion deformation caused by unexpected abnormalities and the safety of operators can be avoided, and the operation safety of operators is ensured.

[0020] 3. Due to the provision of the gas path valve row, a plurality of clamp cylinders can be connected in parallel, and the same set of clamp cylinder emergency stop reverse thrust control system is used for control. In actual use, according to the actual working condition, a plurality of emergency stop reverse thrust control buttons are connected in parallel, the response to unexpected situations will be more rapid, and the safety factor is improved.

[0021] 4. On the basis of the clamp cylinder normal working control system, a plurality of gas paths are provided, and the normally open auxiliary control electromagnetic valve, the normally closed on-off electromagnetic valve and the normally open on-off electromagnetic valve are connected in series in the gas path to be controlled. The installation mode is simple, is suitable for the transformation of the existing normal clamp cylinder, has extremely low cost and high practicability. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is the control principle diagram of the clamp cylinder in the pneumatic clamp in the gas path emergency stop reverse thrust system of the present application in a clamping state;

[0023] Figure 2 is the control principle diagram of the clamp cylinder in the emergency stop reverse thrust state of the present application;

[0024] In the drawings,

[0025] 1, clamp cylinder; 2, air source; 3, air path valve row; 4, pneumatic clamping switch; 5, pneumatic opening switch; 6, PLC controller; 7, time relay; 8, power module; 9, emergency stop reverse thrust control button; 10, main control valve; 11, normally open auxiliary control electromagnetic valve; 12, normally open on-off electromagnetic valve; 13, normally closed on-off electromagnetic valve; 14, air path tee joint;

[0026] L1, main air path; L2, rodless cavity air path; L3, rod cavity air path; L4, reverse thrust control air path. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples, and it should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0028] Referring to Figure 1 , Figure 2 , the dashed part in the figure is the electric control line.

[0029] The present application provides a clamp cylinder control system with emergency stop reverse thrust function, which comprises: an air source 2 and a clamp cylinder 1; a clamp cylinder normal working control system is arranged between the air source 2 and the clamp cylinder 1, and the clamp cylinder normal working control system is used to control the extension or retraction of the cylinder piston rod; the clamp cylinder normal working control system comprises a main control valve 10, a pneumatic clamping switch 4 and a pneumatic opening switch 5; the main control valve 10 is connected with the air source 2 through a main air path L1, the working port A of the main control valve 10 is connected with the rod cavity G port of the clamp cylinder 1 through a rod cavity air path L3, and the working port B of the main control valve 10 is connected with the rodless cavity H port of the clamp cylinder 1 through a rodless cavity air path L2; the pneumatic clamping switch 4 and the pneumatic opening switch 5 are connected in parallel and communicate with the main air path L1. The above is the normal working state of the clamp cylinder 1, including the clamping, opening and other conventional actions of the workpiece, and the control mode of the above clamp cylinder 1 is a mature prior art, which can be manually controlled or connected with a control system to realize automatic operation, and is a mature prior art, which will not be described in more detail.

[0030] On the basis of the normal working control system of the clamp cylinder, the clamp cylinder emergency stop reverse thrust control system is added. The clamp cylinder emergency stop reverse thrust control system comprises a PLC controller 6, an emergency stop reverse thrust control button 9 electrically connected with the input end of the PLC controller 6, an always-on auxiliary control electromagnetic valve 11, an always-closed on-off electromagnetic valve 13 and an always-on on-off electromagnetic valve 12 electrically connected with the output end of the PLC controller 6 respectively; the always-on auxiliary control electromagnetic valve 11 is connected in series in the rodless cavity gas path L2, the always-on on-off electromagnetic valve 12 is connected in series in the rod cavity gas path L3, the rod cavity G of the clamp cylinder 1 is provided with a reverse thrust control gas path between the gas source 2, and the always-closed on-off electromagnetic valve 13 is connected in series in the reverse thrust control gas path. The clamp cylinder emergency stop reverse thrust control system mainly comprises two actions, emergency stop and reverse thrust. Only when the clamp cylinder 1 is in the normal clamping state, the emergency stop reverse thrust is needed, and the clamp cylinder 1 is not needed to be stopped in the normal opening and closing state. When an emergency occurs, any one of the emergency stop reverse thrust control buttons 9 is pressed manually, the PLC controller 6 receives the signal, the always-on auxiliary control electromagnetic valve 11 receives the signal, and quickly switches to the right side phase. At this time, the K port and the R port are connected, the K port is cut off with the P port, the high pressure air in the rodless cavity of the clamp cylinder 1 is connected with the R port at this time, the rapid pressure relief is realized, and the above steps are to quickly discharge the residual high pressure gas in the clamp cylinder 1 and each high pressure pipeline. After the always-on on-off electromagnetic valve 12 is electrified and closed, the always-closed on-off electromagnetic valve 13 is electrified and opened. At this time, the reverse thrust control gas path L4 is connected with the rod cavity of the clamp cylinder 1 to realize the reverse thrust function. In the above process, the direct switching of the electromagnetic valve is generally directly switched, and the response is extremely rapid. At the same time, there is always high pressure air in the rod cavity gas path L3 and the reverse thrust control gas path L4. After the state conversion, the thrust can be directly provided.

[0031] The PLC controller 6 and the time relay 7 are located in the electric control box and are electrically connected with the power module 8 respectively. The power module 8 provides power for each electronic device in the electric control box, and generally adopts DC 24V power supply.

[0032] The main control valve 10 of the application adopts a two-position five-way valve, the always-on auxiliary control electromagnetic valve 11 adopts a two-position two-way electromagnetic valve, and the two-position two-way electromagnetic valve is provided with a gas discharge port R. Since the power of the clamp cylinder 1 is derived from the high pressure air provided by the gas source 2, the gas discharge port R is needed to quickly discharge the pressure after the gas inlet end is cut off, and then the reverse thrust operation can be realized. Therefore, the time relay 7 is electrically connected with the PLC controller 6, and the time relay 7 is generally a delay time relay, which can ensure that the pressure is discharged first and then the reverse thrust function is realized, so as to prevent the damage of the gas path caused by excessive pressure. The reverse thrust control gas path L4 and the rod cavity gas path L3 are connected through the gas path three-way joint 14.

[0033] The PLC controller 6 of the present application is electrically connected with a plurality of emergency stop reverse push control buttons 9, and the plurality of emergency stop reverse push control buttons 9 are connected in parallel. The emergency stop reverse push control buttons 9 are all connected in parallel, and a plurality of emergency stop reverse push control buttons 9 can be set according to actual position needs, so as to ensure the safety of operation to the maximum extent. In order to ensure the effectiveness of the reverse push control gas path 14, the gas path tee joint 14 must be located at the D port of the normally open on-off electromagnetic valve 12 and the front end of the normally closed on-off electromagnetic valve 13.

[0034] The clamp cylinder control system of the present application further comprises a gas path valve bank 3, a plurality of clamp cylinders 1 are connected in parallel, and the main control valve 10 corresponding to each clamp cylinder 1 is connected with the gas path valve bank 3. The gas path valve bank 3 is connected with the gas source 2 through the main gas path L1. The gas path valve bank 3 is used for dividing the high-pressure gas provided by the gas source 2 into a plurality of branches. In actual work, a plurality of clamp cylinders 1 are generally controlled to work together.

[0035] The control method of the clamp cylinder control system with the emergency stop reverse push function comprises the following steps:

[0036] Referring to Figure 1 , normal clamping: when clamping a workpiece is needed, the pneumatic clamping switch 4 is controlled, and the compressed air of the gas source 2 enters the rodless cavity of the clamp cylinder 1 through the main gas path L1, the working port B of the main control valve 10, the rodless cavity gas path L2 and the normally open auxiliary control electromagnetic valve 11, so that the piston rod of the clamp cylinder 1 is stretched to clamp the workpiece. Normal unclamping: when the workpiece needs to be taken out, the pneumatic opening switch 5 is controlled, and the compressed air of the gas source 2 enters the rod cavity of the clamp cylinder 1 through the main gas path L1, the working port A of the main control valve 10, the rod cavity gas path L3 and the normally open on-off electromagnetic valve 12, so that the piston rod of the clamp cylinder 1 is retracted to unclamp the workpiece. The above normal clamping and normal unclamping are the normal working state of the clamp cylinder 1, mainly relying on the main control valve 10 to realize the switching of the gas path, and other electromagnetic valves do not need to be actuated.

[0037] Referring to Figure 2 , emergency stop reverse push: when an emergency situation occurs, the emergency stop reverse push control button 9 is pressed, the PLC controller 6 controls the normally open auxiliary control electromagnetic valve 11 to communicate with the right phase, the normally closed on-off electromagnetic valve 13 is opened, the normally open on-off electromagnetic valve 12 is closed, and the compressed air of the gas source 2 enters the rod cavity of the clamp cylinder 1 through the main gas path L1, the reverse push control gas path L4 and the normally closed on-off electromagnetic valve 13, so that the piston rod of the clamp cylinder 1 is quickly retracted. The normally open auxiliary control electromagnetic valve 11 of the present application is a two-position two-way electromagnetic valve, and the two-position two-way electromagnetic valve is provided with a vent port R. In the emergency stop reverse push step, when the piston rod of the clamp cylinder 1 is retracted, the compressed air in the rodless cavity of the clamp cylinder 1 is vented through the rodless cavity gas path L2 and the vent port R of the normally open auxiliary control electromagnetic valve 11. The two-position two-way electromagnetic valve can be directly purchased according to the type.

[0038] The PLC controller 6 is electrically connected with a time relay 7, and the time relay 7 is a time-delay time relay; in the emergency stop and reverse pushing step, the PLC controller 6 first controls the normally open auxiliary control electromagnetic valve 11 to make the rodless cavity of the clamp cylinder 1 connected with the exhaust port R of the normally open auxiliary control electromagnetic valve 11, then controls the normally closed on-off electromagnetic valve 13 to be opened, and the normally open on-off electromagnetic valve 12 is closed. According to the response time of each electromagnetic valve, the delay time of the time relay 7 is generally 0.1-2S, and the shorter the time is, the better, which ensures that the pressure is released first, and then the reverse pushing is performed, mainly to ensure that the corresponding electromagnetic valve is completely opened, and can also be used to ensure the safety of the gas circuit. In actual use, a virtual time relay can also be directly set in the PLC controller 6 for delay function, which is a software control, and has the same effect as the time relay 7 in the application, and one of the two can be selected.

[0039] In actual use, if the clamp cylinder 1 of the application is applied to the movement of the slide base, the positions of the air inlet end and the air outlet end of the clamp cylinder 1 can be switched, and the function of emergency stop and reverse pushing can also be realized during the opening process of the clamp cylinder 1. The above-mentioned embodiments have relatively low frequency of use.

[0040] Of course, the application can also have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the application without departing from the spirit and essence of the application, but these corresponding changes and modifications should all belong to the protection scope of the claims attached to the application.

Claims

1. A clamp cylinder control system with emergency stop and reverse thrust function, the clamp cylinder control system comprising: a gas source and a clamp cylinder; a clamp cylinder normal working control system is arranged between the gas source and the clamp cylinder, and is used for controlling the extension or retraction of a cylinder piston rod; the clamp cylinder normal working control system comprises a master control valve, a pneumatic clamping switch and a pneumatic opening switch; the master control valve is connected with the gas source through a main gas path, a working port A of the master control valve is connected with a rod cavity G port of the clamp cylinder through a rod cavity gas path, and a working port B of the master control valve is connected with a rodless cavity H port of the clamp cylinder through a rodless cavity gas path; the pneumatic clamping switch and the pneumatic opening switch are connected in parallel and communicate with the main gas path; characterized in that further comprising: a clamp cylinder emergency stop and reverse thrust control system, the clamp cylinder emergency stop and reverse thrust control system comprising: a PLC controller, an emergency stop and reverse thrust control button electrically connected with an input end of the PLC controller, an always-on auxiliary control electromagnetic valve, an always-closed on-off electromagnetic valve and an always-on on-off electromagnetic valve electrically connected with an output end of the PLC controller respectively; the always-on auxiliary control electromagnetic valve is connected in series in the rodless cavity gas path, the always-on on-off electromagnetic valve is connected in series in the rod cavity gas path, a reverse thrust control gas path is arranged between the rod cavity G port of the clamp cylinder and the gas source, and the always-closed on-off electromagnetic valve is connected in series in the reverse thrust control gas path; the master control valve is a two-position five-way valve, the always-on auxiliary control electromagnetic valve is a two-position two-way electromagnetic valve, and the two-position two-way electromagnetic valve is provided with a vent port R; a control method of the clamp cylinder control system with the emergency stop and reverse thrust function comprises the following steps: normal clamping: when a workpiece needs to be clamped, the pneumatic clamping switch is controlled, compressed air of the gas source enters the rodless cavity of the clamp cylinder through the main gas path, the working port B of the master control valve, the rodless cavity gas path and the always-on auxiliary control electromagnetic valve, and the cylinder piston rod is extended to clamp the workpiece; normal unclamping: when the workpiece needs to be taken out, the pneumatic opening switch is controlled, compressed air of the gas source enters the rod cavity of the clamp cylinder through the main gas path, the working port A of the master control valve, the rod cavity gas path and the always-on on-off electromagnetic valve, and the cylinder piston rod is retracted to unclamp the workpiece; emergency stop and reverse thrust: when an emergency occurs, the emergency stop and reverse thrust control button is pressed, the PLC controller controls the always-on auxiliary control electromagnetic valve to communicate with the right side phase, the always-closed on-off electromagnetic valve is opened, the always-on on-off electromagnetic valve is closed, compressed air of the gas source enters the rod cavity of the clamp cylinder through the main gas path, the reverse thrust control gas path and the always-closed on-off electromagnetic valve, and the cylinder piston rod is quickly retracted and reset; the always-on auxiliary control electromagnetic valve is a two-position two-way electromagnetic valve, and the two-position two-way electromagnetic valve is provided with a vent port R; in the emergency stop and reverse thrust step, when the cylinder piston rod is retracted, compressed air in the rodless cavity of the clamp cylinder is discharged through the rodless cavity gas path and the vent port R of the always-on auxiliary control electromagnetic valve.

2. The clamp cylinder control system with emergency stop and reverse thrust function according to claim 1, characterized in that: The PLC controller is electrically connected with a time relay, and the PLC controller and the time relay are located in an electric control box and are electrically connected with a power module respectively.

3. The clamp cylinder control system with emergency stop back-up function according to claim 2, characterized in that, The time relay is a time-delay time relay, and the reverse thrust control gas circuit and the rod cavity gas circuit are connected through a gas circuit tee joint.

4. The clamp cylinder control system with emergency stop back-up function according to claim 1, characterized in that, The PLC controller is electrically connected with a plurality of emergency stop reverse thrust control buttons in parallel.

5. The clamp cylinder control system with emergency stop back-up function according to claim 1, wherein The clamp cylinder control system further comprises a gas circuit valve bank, a plurality of clamp cylinders are provided in parallel, the main control valve corresponding to each clamp cylinder is connected with the gas circuit valve bank, and the gas circuit valve bank is connected with the gas source through the main gas circuit.

6. The clamp cylinder control system with emergency stop back-up function according to claim 1, wherein The PLC controller is electrically connected with a time relay, and the time relay is a time-delay time relay; In the emergency stop reverse thrust step, the PLC controller first controls the normally open auxiliary control electromagnetic valve, so that the rodless cavity of the clamp cylinder is communicated with the air vent R of the normally open auxiliary control electromagnetic valve, and then controls the normally closed on-off electromagnetic valve to be opened, and the normally open on-off electromagnetic valve is closed.

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