Driving mechanism, air cylinder driving method and grabbing device

Abstract

The invention belongs to the technical field of pneumatic actuator control, and discloses a driving mechanism, an air cylinder driving method and a grabbing device. The driving mechanism comprises a first gas path, a second gas path, a gas source, a detection piece and a control assembly. The air pressure of the first cavity and the air pressure of the second cavity can be balanced through the control assembly, so that the piston can stop at any position in the air cavity, and the multi-point positioning device can be applied to complex working conditions with requirements for multi-point positioning. The driving mechanism is improved based on an air cylinder structure, and the characteristic that the cost of the air cylinder is relatively low is reserved. And meanwhile, the function of accurately positioning any position is also realized. In other words, under the condition that certain precision requirements are met, the multi-point positioning effect similar to that of a lead screw electric cylinder can be achieved, high cost input is avoided, and in the scene with low requirements for speed and precision, compared with the lead screw electric cylinder, the cost performance is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of pneumatic actuator control, and in particular to a driving mechanism, a cylinder driving method and a gripping device. Background Art

[0002] Currently, reciprocating motion actuators mainly include pneumatic cylinders, screw cylinders and other types.

[0003] Among them, traditional cylinders are driven by compressed air to achieve linear reciprocating motion, but they are limited by the air supply principle of a single solenoid valve and can only achieve two-point positioning at the hard limit position. It is difficult to achieve a third position limit, and it is even more impossible to achieve the function of precise positioning of the screw electric cylinder at any position, which leads to the application scenarios of the cylinder being limited to simple two-point driving.

[0004] Screw electric cylinders generally use servo motors to drive the screw nut mechanism to move. Although they can achieve multi-position driving at any point, and have fast response speed and high positioning accuracy, their cost is significantly higher than that of pneumatic cylinders. Especially in scenarios where speed and accuracy requirements are not high, the cost-effectiveness is not high.

[0005] In addition, the relay drive method of multiple cylinders used to reduce costs can add one or two positions, but as the number of positions increases, the volume of the drive structure will increase significantly, and the strength and stability requirements for the first-stage cylinder will increase sharply, requiring larger cylinders and guide rails, resulting in a bloated structure, large space occupation, and increased costs. In addition, the relay drive of multiple cylinders can easily cause stability problems.

[0006] Therefore, the above problems need to be solved urgently. Summary of the Invention

[0007] The purpose of the present invention is to provide a driving mechanism, a cylinder driving method and a gripping device, so that the cylinder is no longer limited to simple two-point driving, but can be applied to complex working conditions that require multi-point positioning.

[0008] To achieve this object, the present invention adopts the following technical solutions:

[0009] A drive mechanism for multi-point positioning of a cylinder, wherein the cylinder comprises an air cavity and a piston, wherein the piston is slidably disposed in the air cavity and the piston divides the air cavity into a first cavity and a second cavity; the drive mechanism comprises:

[0010] a first gas path, communicating with the first cavity;

[0011] a second gas path, communicating with the second cavity;

[0012] an air source, wherein both the first air path and the second air path are in communication with the air source;

[0013] a detection member configured to detect a position of the piston in the air cavity;

[0014] A control component is electrically connected to the detection component and is configured to respond to control instructions to regulate the gas on-off and / or flow rate of the first gas path and the second gas path to generate an air pressure difference between the first chamber and the second chamber, thereby driving the piston to move toward the target position; and when the detection component detects that the piston reaches the target position, the control component can regulate the air pressure of the first chamber and the second chamber to a balanced state so that the piston stops and remains at the target position, wherein the target position is any position within the travel range of the air cavity.

[0015] Preferably, the control assembly includes a balancing gas circuit and a control valve group, wherein:

[0016] The first gas path and the second gas path are connected through the balancing gas path, and the first cavity and the second cavity are both connected to the balancing gas path through their own gas inlet ends;

[0017] The control valve group is configured to control the opening and closing of the first gas path, the second gas path and the balancing gas path when the piston reaches the target position so that the gas pressures in the first chamber and the second chamber reach the balanced state.

[0018] Preferably, two ends of the first gas path are connected to the first cavity and the gas source respectively, and two ends of the second gas path are connected to the second cavity and the gas source respectively;

[0019] The control valve group includes a first control valve and a second control valve. The first control valve is arranged on the first gas path and is used to control the on-off of the first gas path. The second control valve is arranged on the second gas path and is used to control the on-off of the second gas path.

[0020] Preferably, the first gas path includes a first main path and a plurality of first branches, the plurality of first branches are all connected to the first main path, the flow rates of the plurality of first branches are different, and the control valve group can selectively control any one of the first branches to be connected to the first main path, so that the first chamber can form a passage with the gas source;

[0021] The second gas circuit includes a second main circuit and several second branches, and the several second branches are all connected to the second main circuit. The flow rates of the several second branches are different. The control valve group can selectively control any one of the second branches to be connected to the second main circuit, so that the second chamber can form a passage with the gas source.

[0022] Preferably, the first branch comprises a main passage connected in series between the first main passage and the gas source, and a plurality of one-way throttle valves are arranged at intervals on the main passage;

[0023] The first branch further includes a plurality of slave passages connected to the first main passage and the main passage, wherein the plurality of slave passages are connected to the main passage at intervals, and each of the slave passages is connected to an outlet of the one-way throttle valve;

[0024] A plurality of the slave passages can be connected to the main passage to form a plurality of the first branches.

[0025] Preferably, the control valve group includes a two-position four-way reversing valve, which is configured to control the gas flow direction of the first gas path and the second gas path, so that the first gas path and the second gas path are switched between the air intake state and the air outlet state, and one of the first gas path and the second gas path is the air intake path and the other is the air outlet path.

[0026] A cylinder driving method for driving a cylinder using the above-mentioned driving mechanism, the cylinder driving method comprising:

[0027] detecting a real-time position of the piston in the air cavity;

[0028] In response to a control instruction, the control component regulates the on / off and / or flow of gas in the first gas path and the second gas path to generate a pressure difference between the first chamber and the second chamber, thereby driving the piston to move toward a target position;

[0029] When it is detected that the piston reaches the target position, the air pressure in the first chamber and the second chamber is regulated to a balanced state by the control component, so that the piston stops and remains at the target position.

[0030] Preferably, the cylinder driving method further comprises:

[0031] When it is monitored that the piston is approaching the target position, the air pressure difference between the first chamber and the second chamber is gradually reduced, so that the movement speed of the piston is gradually reduced as the target position is approached until the equilibrium state is reached.

[0032] A gripping device, comprising a cylinder and a driving mechanism as described in any one of the above-mentioned driving mechanisms, wherein the cylinder comprises an air cavity and a piston, the piston is slidingly arranged in the air cavity, and the driving mechanism is configured to drive the piston to slide and stop at any position in the air cavity.

[0033] Preferably, the gripping device further includes a guide rail assembly and a gripping member, wherein the gripping member is connected to the piston, the guide rail assembly is arranged between the gripping member and the piston, the guide rail assembly is configured to guide the gripping member to slide, and the gripping member is configured to grip the product.

[0034] Beneficial effects of the present invention:

[0035] 1. This invention balances the air pressure in the first and second chambers through a control assembly, allowing the piston to stop at any position within the chamber. Compared to the hard limit of traditional cylinders, this is no longer limited to simple two-point actuation and can be applied to complex working conditions requiring multi-point positioning.

[0036] 2. The drive mechanism provided by this invention is an improvement on the pneumatic cylinder structure, retaining the relatively low cost of pneumatic cylinders while also enabling precise positioning at any position. This means that, while meeting certain precision requirements, it can achieve multi-point positioning similar to that of a lead screw electric cylinder while avoiding the high cost. In applications where speed and precision are not critical, it is more cost-effective than a lead screw electric cylinder.

[0037] 3. The present invention achieves multi-point positioning by regulating the air pressure in the first and second chambers through the first and second air circuits and a control assembly. This eliminates the need for additional cylinders, large cylinders, and guide rails required in relay-driven systems with multiple cylinders. This effectively avoids the complex structure and increased size, saving installation space. Furthermore, by eliminating the coordination requirements of multiple cylinder groups, the stability risks associated with their coordinated operation are reduced, making the entire drive system more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the structure of the driving mechanism provided by the present invention. Figure 1 ;

[0039] Figure 2 This is a schematic diagram of the structure of the driving mechanism provided by the present invention. Figure 2 ;

[0040] Figure 3 It is a structural schematic diagram of the grasping device provided by the present invention.

[0041] In the picture:

[0042] 100, cylinder; 200, piston;

[0043] 1. First chamber; 2. Second chamber; 3. First air path; 30. First control valve; 31. First main path; 311. Main path; 312. One-way throttle valve; 313. Slave path; 32. First branch path; 4. Second air path; 40. Second control valve; 41. Second main path; 42. Second branch path; 5. Balancing air path; 6. Two-position four-way reversing valve; 7. Guide rail assembly; 8. Grabbing part. DETAILED DESCRIPTION

[0044] Before any embodiments of the present application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the foregoing drawings.

[0045] In this application, the terms "comprises," "includes," "has," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0046] In this application, the term "and / or" is a description of the association relationship between related objects, indicating that three relationships can exist. For example, a centrifugal vortex magnetic pump and / or a centrifugal vortex magnetic pump can represent three situations: the existence of a centrifugal vortex magnetic pump alone, the existence of a centrifugal vortex magnetic pump and a centrifugal vortex magnetic pump at the same time, and the existence of a centrifugal vortex magnetic pump alone. In addition, the character " / " in this application generally indicates that the related objects are in an "and / or" relationship.

[0047] In this application, the terms "connect," "combine," "couple," and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without an intermediary, and an indirect connection refers to two parts or components being connected to at least one intermediary, with the two parts or components being connected via the intermediary. Furthermore, "connect" and "couple" are not limited to physical or mechanical connections or couplings and may include electrical connections or couplings.

[0048] In this application, it will be understood by those skilled in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerance caused by manufacturing, assembly, use, etc. associated with a specific value. Such terms should also be considered to disclose a range defined by the absolute values of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values that do not use relative terms should also be disclosed as specific values with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0049] In this application, it will be understood by those skilled in the art that the function performed by an assembly can be performed by one assembly, multiple assemblies, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one assembly, or a combination of multiple parts.

[0050] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to the other element "upper" or "lower", but also be indirectly connected to the other element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, below can include directly below, lower left, lower right, lower front and lower back, etc.

[0051] See also Figures 1 to 3 This embodiment provides a driving mechanism for multi-point positioning of a cylinder 100. The cylinder 100 includes an air cavity and a piston 200. The piston 200 is slidably disposed in the air cavity. The piston 200 divides the air cavity into a first cavity 1 and a second cavity 2.

[0052] The driving mechanism includes a first air circuit 3, a second air circuit 4, an air source, a detection component and a control component. The first air circuit 3 is connected to the first chamber 1. The second air circuit 4 is connected to the second chamber 2. The first air circuit 3 and the second air circuit 4 are both connected to the air source. The detection component is configured to detect the position of the piston 200 in the air chamber. The control component is electrically connected to the detection component and is configured to respond to control instructions to regulate the gas on-off and / or flow of the first air circuit 3 and the second air circuit 4 to generate an air pressure difference between the first chamber 1 and the second chamber 2, thereby driving the piston 200 to move to the target position; and, when the detection component detects that the piston 200 reaches the target position, the control component can regulate the air pressure of the first chamber 1 and the second chamber 2 to a balanced state, so that the piston 200 stops and remains at the target position, wherein the target position is any position within the stroke range in the air chamber.

[0053] When the piston 200 needs to be driven to slide, the control component adjusts the air pressure difference between the first chamber 1 and the second chamber 2 by regulating the first air path 3 and the second air path 4. For example, if the air pressure in the first chamber 1 is greater than that in the second chamber 2, the piston 200 will slide toward the second chamber 2 due to the air pressure difference; conversely, if the air pressure in the second chamber 2 is greater than that in the first chamber 1, the piston 200 will move toward the first chamber 1. When the piston 200 needs to stop at any position in the air cavity, the control component adjusts and regulates the first air path 3 and the second air path 4 to achieve a balanced air pressure in the first chamber 1 and the second chamber 2. At this time, the forces on both sides of the piston 200 are balanced, and the piston 200 stops moving.

[0054] As can be understood, the control assembly balances the air pressure in the first and second chambers 1 and 2, allowing the piston 200 to stop at any position within the chambers. Compared to traditional hard stops, this is no longer limited to simple two-point actuation and can be applied to complex working conditions requiring multi-point positioning.

[0055] It is also understandable that the drive mechanism provided in this embodiment is an improvement on the structure of cylinder 100, retaining the relatively low cost of cylinder 100. At the same time, it also enables precise positioning at any position. In other words, while meeting certain precision requirements, it can achieve multi-point positioning similar to that of a lead screw electric cylinder while avoiding high costs. In scenarios where speed and precision are not critical, it is more cost-effective than a lead screw electric cylinder.

[0056] Furthermore, the air pressure in the first and second chambers 1 and 2 is regulated by the first and second air paths 3 and 4, respectively, as well as by the control assembly, achieving multi-point positioning. This eliminates the need for additional cylinders, large cylinders, and guide rails required for relay drive systems with multiple cylinders. This effectively avoids the complex structure and increased size, saving installation space. Furthermore, by eliminating the coordination requirements of multiple cylinder groups, the stability risks associated with their coordinated operation are also reduced, making the entire drive system more reliable.

[0057] It should be noted that the detection element can adopt any structure in the prior art that can detect displacement, such as a magnetoresistive displacement sensor, a potentiometer displacement sensor, a grating ruler, etc. This embodiment does not make specific requirements and restrictions on this.

[0058] Correspondingly, this embodiment further provides a cylinder driving method for driving the cylinder 100 using the above-mentioned driving mechanism. The cylinder driving method includes:

[0059] Detecting the real-time position of the piston 200 in the air cavity;

[0060] In response to the control command, the control component regulates the gas on / off and / or flow rate of the first gas path 3 and the second gas path 4 to generate a pressure difference between the first chamber 1 and the second chamber 2, thereby driving the piston 200 to move toward the target position;

[0061] When it is detected that the piston 200 reaches the target position, the air pressure in the first chamber 1 and the second chamber 2 is adjusted to a balanced state by the control component, so that the piston 200 stops and remains at the target position.

[0062] Specifically, the control assembly includes a balancing air circuit 5 and a control valve assembly. The first air circuit 3 and the second air circuit 4 are connected through the balancing air circuit 5, and the first chamber 1 and the second chamber 2 are both connected to the balancing air circuit 5 through their respective air inlet ends. The control valve assembly is configured to achieve a balanced air pressure in the first chamber 1 and the second chamber 2 by controlling the opening and closing of the first air circuit 3, the second air circuit 4, and the balancing air circuit 5 when the piston 200 reaches the target position.

[0063] With this arrangement, when piston 200 is required to stop at any position within the air chamber, the control valve assembly can open balancing air path 5 based on the piston 200 position signal fed back by the detection element. Because balancing air path 5 connects first air path 3 and second air path 4, the air pressure in first chamber 1 and second chamber 2 can be more accurately balanced, making the adjustment of air pressure balance more precise and controllable, thereby ensuring that piston 200 can accurately and stably stop at the target position.

[0064] More importantly, the provision of balancing gas path 5 provides a redundant adjustment mechanism. Specifically, if localized pressure fluctuations or minor faults occur in either first gas path 3 or second gas path 4, balancing gas path 5 can compensate for this imbalance to a certain extent. By connecting first gas path 3 and second gas path 4, balancing gas path 5 redistributes gas between the first gas path 3 and the second gas path 4, maintaining the gas pressure in the two chambers of cylinder 100 as stable as possible, reducing abnormal slippage of piston 200 caused by gas path faults, thereby enhancing the fault tolerance and reliability of the entire drive system and reducing equipment maintenance costs and downtime.

[0065] In this example, see Figure 1, the two ends of the first gas path 3 are connected to the first chamber 1 and the gas source respectively, and the two ends of the second gas path 4 are connected to the second chamber 2 and the gas source respectively. The control valve group includes a first control valve 30 and a second control valve 40. The first control valve 30 is arranged on the first gas path 3, and the first control valve 30 is used to control the on-off of the first gas path 3. The second control valve 40 is arranged on the second gas path 4, and the second control valve 40 is used to control the on-off of the second gas path 4. In this way, the on-off of the first gas path 3 and the second gas path 4 are controlled by the first control valve 30 and the second control valve 40 respectively, blocking the airflow crosstalk between the first gas path 3 and the second gas path 4, and ensuring the stability of the air pressure in each cavity. It should be noted that the first control valve 30 and the second control valve 40 are preferably two-position two-way valves. The two-position two-way valve has a simple structure and high reliability. It is particularly suitable for scenarios with high pressure or high frequency action, and can reduce the risk of air leakage.

[0066] In other embodiments, see Figure 2 The first gas path 3 includes a first main path 31 and a plurality of first branches 32. The plurality of first branches 32 are all connected to the first main path 31. The flow rates of the plurality of first branches 32 are different. The control valve group can selectively control any one of the first branches 32 to be connected to the first main path 31, so that the first cavity 1 can form a passage with the gas source. Correspondingly, the second gas path 4 includes a second main path 41 and a plurality of second branches 42. The plurality of second branches 42 are all connected to the second main path 41. The flow rates of the plurality of second branches 42 are different. The control valve group can selectively control any one of the second branches 42 to be connected to the second main path 41, so that the second cavity 2 can form a passage with the gas source. Such a setting can realize bidirectional segmented speed regulation, thereby ensuring the dynamic balance of intake and exhaust, avoiding movement abnormalities caused by pressure imbalance, and ensuring the consistency of bidirectional positioning accuracy to meet the requirements of high-precision applications.

[0067] It is understandable that the flow rates of the first branches 32 are different, and the appropriate first branch 32 can be selected to meet the speed requirements of the piston 200 at different stages, so as to achieve efficient driving while improving the stopping position accuracy.

[0068] Correspondingly, the cylinder driving method further includes:

[0069] When it is monitored that the piston 200 is approaching the target position, the air pressure difference between the first chamber 1 and the second chamber 2 is gradually reduced, so that the movement speed of the piston 200 is gradually reduced as it approaches the target position until it reaches a balanced state.

[0070] For example, when the piston 200 of the cylinder 100 moves from the starting position to the target position at a distance of 0-80%, it needs to be driven quickly to improve work efficiency. The first gas path 3 is provided with several first branches 32 with different flow rates. The control valve group can select the first branch 32 with the largest flow rate to be synchronously connected to the first main path 31 to realize a first-level non-throttling mode. At this time, a large amount of gas can quickly enter the first chamber 1, so that a large air pressure difference is formed between the first chamber 1 and the second chamber 2, thereby pushing the piston 200 to move quickly, reducing the overall driving time and improving work efficiency. When the piston 200 slides to a distance of 80%-95%, stable deceleration and precise positioning are required. The control valve group can select the first branch 32 with a moderate flow rate to realize a second-level medium throttling mode, appropriately reduce the intake flow rate, reduce the air pressure difference, gradually slow down the sliding speed of the piston 200, buffer the movement inertia of the mechanism, and make the mechanism run more stably. When approaching the target position, the first branch 32 with the smallest flow is selected to implement a three-level micro-throttling mode, further reducing the intake flow rate so that the piston 200 approaches the target position at an extremely slow speed, thereby achieving precise positioning.

[0071] It should be noted that the cylinder 100 in this embodiment is a double-acting structure, and the first chamber 1 and the second chamber 2 both need to perform intake / exhaust respectively to achieve the reciprocating motion of the piston 200.

[0072] The following describes the specific structure of the first gas path 3 as an example. The first branch path 32 includes a main path 311 connected in series between the first main path 31 and the gas source. A plurality of one-way throttle valves 312 are intermittently disposed on the main path 311. The first branch path 32 also includes a plurality of secondary paths 313 connecting the first main path 31 and the main path 311. These secondary paths 313 are connected to the main path 311 at intervals, and each secondary path 313 is connected to the outlet of a corresponding one-way throttle valve 312. The secondary paths 313 can connect to the main path 311 to form a plurality of first branches 32.

[0073] It is understood that a plurality of one-way throttle valves 312 are spaced apart on the main passage 311, each of which has a certain limiting effect on the gas flow rate. A plurality of slave passages 313 are spaced apart and connected to the main passage 311, and each slave passage 313 is connected to the outlet of a corresponding one-way throttle valve 312. Thus, by controlling the opening and closing of different slave passages 313 through the control valve group, a variety of different gas flow combinations can be achieved, that is, a plurality of first branches 32 with different flow rates can be formed. For example, when only the slave passages 313 near the gas source end are opened, the gas only needs to pass through fewer one-way throttle valves 312 or no one-way throttle valves 312. At this time, the flow rate is relatively large, and the first-level unthrottled mode mentioned above can be achieved, which is suitable for the rapid driving stage of the cylinder 100 (0-80% of the distance). As the passage 313 is opened further away from the gas source end, the gas needs to pass through more one-way throttle valves 312, and the flow rate gradually decreases, which can realize medium throttling and micro throttling modes to meet the needs of stable deceleration and precise positioning stage (80%-100% distance) of the cylinder 100.

[0074] It is also understood that, because each one-way throttle valve 312 and slave passage 313 has relatively independent locations and functions, it is easier to quickly locate the fault when a flow anomaly or other problem occurs in the system. For example, if a problem occurs in a specific flow pattern, the corresponding slave passage 313 and one-way throttle valve 312 can be checked to determine whether the fault lies with that component, thereby improving maintenance and repair efficiency.

[0075] In this embodiment, the control valve group includes a two-position four-way reversing valve 6. The two-position four-way reversing valve 6 is configured to control the gas flow direction of the first gas path 3 and the second gas path 4, so that the first gas path 3 and the second gas path 4 can be switched between an intake state and an exhaust state, and one of the first gas path 3 and the second gas path 4 can be an intake path and the other can be an exhaust path. It can be understood that the two-position four-way reversing valve 6 has two working positions and can be easily switched between the two positions, thereby changing the gas flow direction of the first gas path 3 and the second gas path 4. In one working position, the first gas path 3 can be made into an intake path, and gas enters the first chamber 1 to push the piston 200 toward the second chamber 2; switching to the other working position can make the second gas path 4 become an intake path, and gas enters the second chamber 2 to push the piston 200 in the opposite direction, that is, toward the first chamber 1. From the above, this simple and direct control method can quickly and efficiently realize the reciprocating motion of the piston 200, meeting various work scenarios that require the cylinder 100 to perform reciprocating motions, such as reciprocating feeding in mechanical processing, material handling in automated production lines, etc.

[0076] It should be noted that the control valve assembly also includes valves for controlling the on / off of gas paths, including the first gas path 3, the second gas path 4, the balancing gas path 5, the main path 311, and the slave path 313. In this embodiment, these are preferably two-position, two-way valves. Furthermore, the location and specific model selection of the valves are well known to those skilled in the art and are not described in detail here.

[0077] This embodiment also provides a gripping device, comprising a cylinder 100 and a drive mechanism of any of the aforementioned drive mechanisms. The cylinder 100 comprises an air chamber and a piston 200, wherein the piston 200 is slidably disposed within the air chamber. The drive mechanism is configured to drive the piston 200 to slide and stop at any position within the air chamber. It will be appreciated that the gripping device including the aforementioned drive mechanism is low-cost and reliable.

[0078] Specifically, the gripping device further includes a guide rail assembly 7 and a gripping member 8. The gripping member 8 is connected to the piston 200, and the guide rail assembly 7 is disposed between the gripping member 8 and the piston 200. The guide rail assembly 7 is configured to guide the sliding movement of the gripping member 8, which is configured to grip the product. It is understood that the guide rail assembly 7 provides rigid support and linear motion guidance for the gripping member 8, preventing the piston rod from bending or jamming due to lateral forces when the piston 200 slides, and ensuring that the gripping member 8 moves precisely along a predetermined trajectory. For example, when gripping precision electronic components, the guide rail's straightness error can be controlled to the micron level, avoiding positional deviations caused by offset.

[0079] It should be noted that the types of grippers 8, guide rail assemblies 7, and cylinders 100 are selected based on the actual usage scenario. For example, the gripper 8 can be selected as a mechanical gripper (suitable for solid workpieces such as metal parts and plastic parts) or an adsorption mechanism (suitable for workpieces with flat surfaces such as glass and cardboard boxes) according to the product characteristics; the guide rail assembly 7 can be selected as a single guide rail and single slider or a dual guide rail and dual slider structure according to the load size; for different working distances, cylinders 100 of different cylinder diameters and different strokes can be replaced. In addition, slide cylinders can be used for light load and high precision scenarios, and guide rod cylinders can be used for heavy load and high rigidity scenarios. These will not be described in detail.

[0080] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A drive mechanism for multi-point positioning of a cylinder (100), wherein the cylinder (100) comprises an air cavity and a piston (200), wherein the piston (200) is slidably disposed in the air cavity, characterized in that: The piston (200) divides the air cavity into a first cavity (1) and a second cavity (2); the driving mechanism comprises: a first gas path (3) communicating with the first cavity (1); a second gas path (4), communicating with the second cavity (2); An air source, wherein the first air path (3) and the second air path (4) are both connected to the air source; a detection member configured to detect the position of the piston (200) in the air cavity; A control component is electrically connected to the detection component and is configured to respond to control instructions to regulate the gas on / off and / or flow rate of the first gas path (3) and the second gas path (4) to generate a pressure difference between the first chamber (1) and the second chamber (2), thereby driving the piston (200) to move toward a target position; and when the detection component detects that the piston (200) reaches the target position, the control component can regulate the gas pressure of the first chamber (1) and the second chamber (2) to a balanced state, so that the piston (200) stops and remains at the target position, wherein the target position is any position within the travel range of the gas cavity.

2. A driving mechanism according to claim 1, characterized in that: The control assembly includes a balancing gas circuit (5) and a control valve group, wherein: The first gas path (3) and the second gas path (4) are connected through the balancing gas path (5), and the first cavity (1) and the second cavity (2) are both connected to the balancing gas path (5) through their own gas inlet ends; The control valve group is configured to control the opening and closing of the first gas path (3), the second gas path (4) and the balancing gas path (5) when the piston (200) reaches the target position, so that the gas pressures of the first chamber (1) and the second chamber (2) reach the balanced state.

3. A driving mechanism according to claim 2, characterized in that: The two ends of the first gas path (3) are connected to the first cavity (1) and the gas source respectively, and the two ends of the second gas path (4) are connected to the second cavity (2) and the gas source respectively; The control valve group comprises a first control valve (30) and a second control valve (40), wherein the first control valve (30) is arranged on the first gas circuit (3), and the first control valve (30) is used to control the on-off of the first gas circuit (3); the second control valve (40) is arranged on the second gas circuit (4), and the second control valve (40) is used to control the on-off of the second gas circuit (4).

4. A driving mechanism according to claim 2, characterized in that: The first gas path (3) includes a first main path (31) and a plurality of first branches (32), the plurality of first branches (32) are all in communication with the first main path (31), the flow rates of the plurality of first branches (32) are different, and the control valve group can selectively control any one of the first branches (32) to be in communication with the first main path (31), so that the first chamber (1) can form a passage with the gas source; The second gas path (4) comprises a second main path (41) and a plurality of second branches (42), the plurality of second branches (42) are all connected to the second main path (41), the flow rates of the plurality of second branches (42) are different, and the control valve group can selectively control any one of the second branches (42) to be connected to the second main path (41), so that the second chamber (2) can form a passage with the gas source.

5. A driving mechanism according to claim 4, characterized in that: The first branch (32) includes a main passage (311) connected in series to the first main passage (31) and the gas source, and a plurality of one-way throttle valves (312) are arranged at intervals on the main passage (311); The first branch (32) further includes a plurality of slave passages (313) connected to the first main passage (31) and the main passage (311), wherein the plurality of slave passages (313) are connected to the main passage (311) at intervals, and each of the slave passages (313) is connected to an outlet of the one-way throttle valve (312); A plurality of the secondary passages (313) can be connected to the primary passage (311) to form a plurality of the first branch passages (32).

6. A driving mechanism according to claim 2, characterized in that: The control valve group comprises a two-position four-way reversing valve (6), and the two-position four-way reversing valve (6) is configured to control the gas flow direction of the first gas path (3) and the second gas path (4), so that the first gas path (3) and the second gas path (4) are switched between an intake state and an exhaust state, and one of the first gas path (3) and the second gas path (4) is an intake path, and the other is an exhaust path.

7. A cylinder driving method using the driving mechanism according to any one of claims 1 to 6 to drive the cylinder (100), characterized in that: The cylinder driving method comprises: detecting the real-time position of the piston (200) in the air cavity; In response to a control instruction, the control component regulates the on / off and / or flow of gas in the first gas path (3) and the second gas path (4) to generate a pressure difference between the first chamber (1) and the second chamber (2), thereby driving the piston (200) to move toward a target position; When it is detected that the piston (200) reaches the target position, the air pressure of the first chamber (1) and the second chamber (2) is regulated to a balanced state by the control component, so that the piston (200) stops and remains at the target position.

8. The cylinder driving method according to claim 7, characterized in that: The cylinder driving method further comprises: When it is monitored that the piston (200) is approaching the target position, the air pressure difference between the first chamber (1) and the second chamber (2) is gradually reduced, so that the movement speed of the piston (200) is gradually reduced as the target position approaches, until the equilibrium state is reached.

9. A gripping device, characterized in that: The gripping device comprises a cylinder (100) and a driving mechanism according to any one of claims 1 to 6, wherein the cylinder (100) comprises an air cavity and a piston (200), the piston (200) being slidably arranged in the air cavity, and the driving mechanism is configured to drive the piston (200) to slide and stop at any position in the air cavity.

10. The gripping device according to claim 9, characterized in that: The gripping device further comprises a guide rail assembly (7) and a gripping member (8), wherein the gripping member (8) is connected to the piston (200), the guide rail assembly (7) is arranged between the gripping member (8) and the piston (200), the guide rail assembly (7) is configured to guide the gripping member (8) to slide, and the gripping member (8) is configured to grip the product.

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