A multi-mode pneumatic control module and pneumatic control device

Abstract

A multi-mode pneumatic control module and device relates to the field of pneumatic technology. Currently, most mainstream small air sources are single-path designs, supporting only positive or negative pressure output, which is insufficient to meet the different pneumatic control mode requirements of various application scenarios such as soft crawling robots and variable stiffness structures, resulting in limited functionality. This invention includes an air pump, an air delivery control valve, an air intake control valve, and an on / off control valve. The air pump has an air intake end and an air outlet end; the air delivery control valve is installed at the air outlet end of the air pump to control the air delivery path; the air intake control valve is installed at the air intake end of the air pump to control the air intake path; the on / off control valve connects the air delivery control valve, the air intake control valve, and the actuator, used to cut off or connect the air path between the actuator and the air pump; after the air pump starts, the air delivery control valve, the air intake control valve, and the on / off control valve are respectively energized and / or de-energized, so that the actuator is in different pneumatic control modes.

Description

Technical Field

[0001] This invention relates to the field of pneumatics technology, and more particularly to a multi-mode pneumatic control module and pneumatic control device. Background Technology

[0002] With the rapid development of emerging technologies such as flexible robots, wearable devices, rehabilitation medical devices, and soft drive systems, higher demands are being placed on miniaturized, lightweight, and highly integrated pneumatic drive systems. As a key power unit for driving flexible actuators and achieving complex motion control, small air sources have been widely used in various application scenarios due to their compact structure, light weight, and portability. Small air sources not only provide a safe and clean driving force but also achieve stable output control in space-constrained environments. Their excellent convenience and system integration capabilities make them an indispensable component of compact pneumatic devices, possessing significant engineering application value.

[0003] However, most mainstream small air sources are designed with a single air path, supporting only positive or negative pressure output. This makes it difficult to meet the different air control mode requirements of various application scenarios, such as soft crawling robots and variable stiffness structures, resulting in limited functionality. Summary of the Invention

[0004] In view of this, the present invention provides a multi-mode pneumatic control module and pneumatic control device, which enables the actuator to be in different pneumatic control modes to meet the needs of different application scenarios.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A multi-mode pneumatic control module, comprising:

[0007] An air pump, equipped with an air inlet and an air outlet;

[0008] The gas delivery control valve is installed at the gas outlet end of the gas pump and is used to control the gas delivery path of the gas pump.

[0009] The intake control valve is installed at the intake end of the air pump and is used to control the intake path of the air pump.

[0010] On / off control valve, connecting gas supply control valve, gas inlet control valve and actuator, used to cut off or connect the gas path between actuator and gas pump;

[0011] After the air pump is started, the air delivery control valve, air intake control valve, and on / off control valve are energized and / or de-energized respectively, so that the actuator is in different air control modes.

[0012] Furthermore, after the air pump starts, when the air supply control valve is energized, the air intake control valve is de-energized, and the on / off control valve is energized, the air pump connects to the air path between the atmosphere and the actuator, respectively, and the air pump charges the actuator; when the air supply control valve is de-energized and the air intake control valve and the on / off control valve are energized, the air pump connects to the air path between the atmosphere and the actuator, respectively, and the air pump evacuates the actuator; when the air supply control valve and the air intake control valve are energized and the on / off control valve is de-energized, the air pump, the air supply control valve, and the air intake control valve form a closed-loop air path, and the actuator is connected to the atmosphere; when the air supply control valve and the air intake control valve are de-energized and the on / off control valve is energized, the air pump, the air supply control valve, and the air intake control valve form a closed-loop air path with the atmosphere, and the pressure inside the actuator is maintained.

[0013] Furthermore, the gas delivery control valve, the gas intake control valve, and the on / off control valve are all two-position three-way solenoid valves.

[0014] Furthermore, the gas supply control valve is provided with a first air inlet, a first air outlet, and a first exhaust port. The first air inlet is connected to the air outlet of the air pump, and the first exhaust port is connected to the atmosphere. The air intake control valve is provided with a second air outlet, a second air inlet, and a second exhaust port. The second air inlet is connected to the air inlet of the air pump, and the second exhaust port is connected to the atmosphere. The on / off control valve is provided with a third air outlet, a third air inlet, and a third exhaust port. The third air outlet is connected to the first and second air outlets, the third exhaust port is connected to the atmosphere, and the third air inlet is connected to the air inlet of the actuator.

[0015] Furthermore, it also includes a manifold, which has an air supply port group connected to the air supply control valve and an air intake port group connected to the air intake control valve. The air supply port group has the same structure as the air intake port group, and each port group includes an air inlet, an air outlet, and an air outlet. The first air inlet, the first air outlet, and the first air outlet of the air supply control valve are sequentially inserted into the air inlet, air outlet, and air outlet of the air supply port group, and the second air inlet, the second air outlet, and the second air outlet of the air intake control valve are respectively inserted into the air intake port group. The manifold has an air inlet, an exhaust outlet, and an output outlet; the manifold also has an air inlet pipe, an exhaust pipe, a manifold, and an air hole. The air inlet pipe connects the air inlet in the air inlet assembly to the air inlet of the air pump, and the exhaust pipe connects the air inlet in the air delivery assembly to the air outlet of the air pump. The exhaust outlets of the air delivery assembly and the air inlet assembly are both connected to the air hole on the manifold, which is open to the atmosphere. The manifold on the manifold connects the output outlet of the air delivery assembly, the output outlet of the air inlet assembly, and the third output outlet of the on / off solenoid valve.

[0016] Furthermore, the pneumatic control module includes M on / off control valves, where M ≥ 1, and the M on / off control valves are connected in parallel, with each on / off control valve connected to an actuator.

[0017] Another technical solution adopted in this invention is:

[0018] A multi-mode pneumatic control device includes a control module and a pneumatic control module, wherein the control module is used to control the pneumatic control module to be in different pneumatic control modes.

[0019] Furthermore, the pneumatic control module is provided in N groups, and the N groups of pneumatic control modules are set in parallel.

[0020] Furthermore, the control module includes a main control unit and a solenoid valve control chip. The main control unit sends control commands to the solenoid valve control chip, which then controls the gas supply control valve, the gas intake control valve, and the on / off control valve to be powered on and / or powered off, respectively.

[0021] Furthermore, it also includes a power module, which includes a battery and a power management circuit board. The power management circuit board distributes the voltage of the battery and supplies it to the main control unit, the gas delivery control valve, the gas intake control valve, the on / off control valve, and the air pump.

[0022] The beneficial effects of this invention compared to the prior art are:

[0023] 1. The pneumatic control module of this invention can control the actuator to operate in four different pneumatic control modes: inflation, deflation, atmospheric pressure, or pressure maintenance, enabling the actuator to adapt to different operating environments or requirements. Furthermore, the same pneumatic control module can simultaneously control multiple actuators in the same pneumatic control mode, with their actions synchronized, reducing the complexity of structural control. Moreover, after startup, the air pump is always open; the four pneumatic control modes can be adjusted simply by changing the power on and off of the air supply control valve, air intake control valve, and on / off control valve, eliminating the need for constant pump start-up and shutdown, further reducing control complexity. Additionally, the air source in this embodiment is atmospheric, eliminating the need for an air tank, resulting in a smaller overall structure and lighter weight. The use of a miniature air pump further reduces the overall size of the pneumatic control module.

[0024] 2. In the pneumatic control module of the present invention, the gas delivery control valve, the gas inlet control valve, the air pump and the on / off control valve are connected by a manifold, which can avoid the layout of pipelines, reduce the space occupied by each pneumatic control module, and avoid the mess caused by air pipes.

[0025] 3. The pneumatic control device of the present invention can be equipped with multiple independently controlled pneumatic control modules, so that the same pneumatic control device can simultaneously achieve positive and negative pressure output, or keep the actuator in an atmospheric state or a pressure-maintaining state. The output modes are diversified.

[0026] 4. The pneumatic control device of the present invention integrates the battery module, control module and pneumatic control module into a housing. The housing adopts a detachable structure, which is easy to open to replace the internal components. The power module, control module and pneumatic control module are connected by plug-in connection, which improves the efficiency of module replacement and maintenance. Attached Figure Description

[0027] The accompanying drawings, which form part of this application, are provided to further illustrate the invention.

[0028] Figure 1 This is a schematic diagram of the pneumatic control module of the present invention controlling the actuator in the inflation mode.

[0029] Figure 2 This is a schematic diagram showing the state of the pneumatic control module controlling the actuator in the air extraction mode.

[0030] Figure 3 This is a schematic diagram of the pneumatic control module of the present invention controlling the actuator in atmospheric pressure mode.

[0031] Figure 4 This is a schematic diagram showing the state of the pneumatic control module controlling the actuator in pressure holding mode according to the present invention.

[0032] Figure 5 A schematic diagram of two air control modules connected in parallel.

[0033] Figure 6 This is a schematic diagram of the pneumatic control device of the present invention.

[0034] Figure 7 This is a schematic diagram of the pneumatic control device of the present invention after the outer casing has been removed.

[0035] Figure 8 This is an exploded view of the pneumatic control device of the present invention.

[0036] Figure 9 This is a schematic diagram of the busbar structure.

[0037] Figure 10 This is a top view of the busbar.

[0038] Figure 11 for Figure 10 Sectional view at point AA.

[0039] Figure 12 for Figure 10 Sectional view at point CC.

[0040] Figure 13 for Figure 10 Sectional view at point DD.

[0041] Figure 14 Layout diagram of two pneumatic control modules assembled inside the housing.

[0042] Figure 15 This is a structural diagram of the main control unit circuit board.

[0043] Explanation of reference numerals in the attached figures:

[0044] 1-Pneumatic control module, 11-Air pump, 12-Air delivery control valve, 121-First air inlet, 122-First output port, 123-First exhaust port, 13-Intake control valve, 131-Second air inlet, 132-Second output port, 133-Second exhaust port, 14-On / off control valve, 141-Third air inlet, 142-Third output port, 143-Third exhaust port, 15-Solenoid valve wiring block, 16-Manifold, 161-Inlet, 162-Exhaust port, 163-Output port, 164-Inlet pipe, 165-Exhaust pipe, 166-Manifold, 167-Air port;

[0045] 2-Outer shell, 21-Top cover, 211-Mounting slot, 212-Sliding cover, 22-Base, 23-Baffle;

[0046] 3-Power module, 31-Battery, 32-Power management circuit board, 321-Power output port, 322-Power switch;

[0047] 4-Control module, 41-Main control unit circuit board, 411-Microcontroller port, 412-Main control board power input port, 413-High-speed solenoid valve port, 414-Air pump port, 415-Bushead;

[0048] 5-Executive agency. Detailed Implementation

[0049] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] Figures 1 to 4 This diagram illustrates the structure of a multi-mode pneumatic control module according to this embodiment. This multi-mode pneumatic control module is primarily used to provide different pneumatic control modes for flexible actuators such as flexible robots, wearable devices, rehabilitation medical devices, and soft drive systems. Combined with... Figures 1 to 4The pneumatic control module in this embodiment includes an air pump 11, an air delivery control valve 12 for controlling the air delivery path of the air pump 11, an air intake control valve 13 for controlling the air intake path of the air pump 11, and an on / off control valve 14 for cutting off or connecting the air passage between the actuator 5 and the air pump 11. The air delivery control valve 12, the air intake control valve 13, and the on / off control valve 14 are all high-speed two-position three-way solenoid valves. The air pump 11 has an inlet and an outlet. The air supply control valve 12 has a first inlet 121, a first outlet 122, and a first outlet 123. The first inlet 121 of the air supply control valve 12 is connected to the outlet of the air pump 11, and the first outlet 123 of the air supply control valve 12 is connected to the atmosphere. The air intake control valve 13 has a second outlet 132, a second inlet 131, and a second outlet 133. The second inlet 131 of the air intake control valve 13 is connected to the inlet of the air pump 11, and the second outlet 133 of the air intake control valve 13 is connected to the atmosphere. Figure 5 There are M on / off control valves 14, which are arranged in parallel. Each on / off control valve 14 corresponds to an actuator 5. Each on / off control valve 14 has a third output port 142, a third air inlet 141, and a third exhaust port 143. The third output port 142 of the on / off control valve 14 is connected to the first output port 122 of the air supply control valve 12 and the second output port 132 of the air intake control valve 13. The third exhaust port 143 of the on / off control valve 14 is connected to the atmosphere. The third air inlet 141 of the on / off control valve 14 is connected to the air inlet of the actuator 5.

[0051] After the air pump 11 starts, the air supply control valve 12, the air intake control valve 13, and the on / off control valve 14 are energized and / or de-energized respectively, so that the actuator 5 is in different pneumatic control modes. Specifically:

[0052] Combination Figure 1 When the gas supply control valve 12 is energized, the gas inlet control valve 13 is de-energized, and the on / off control valve 14 is energized, the air pump 11 is connected to the air path between the atmosphere and the actuator 5. Air in the atmosphere is drawn into the air pump 11 through the second exhaust port 133 and the second air inlet port 131 of the gas inlet control valve 13. The gas is then introduced into the third output port 142 of the on / off control valve 14 through the first air inlet port 121 and the first output port 122 of the gas supply control valve 12. The gas is then input into the actuator 5 through the third air inlet port 141 of the on / off control valve 14, thereby realizing the inflation of the actuator 5.

[0053] Combination Figure 2When the gas supply control valve 12 is de-energized and the inlet control valve 13 and the on / off control valve 14 are energized, the gas pump 11 is connected to the air and the actuator 5. The gas in the actuator 5 is sequentially drawn into the gas pump 11 through the third inlet port 141 and the third outlet port 142 of the on / off control valve 14, the second outlet port 132 and the second inlet port 131 of the inlet control valve 13, and then discharged into the atmosphere through the first inlet port 121 and the first outlet port 123 of the gas supply control valve 12, thereby realizing the gas extraction of the actuator 5.

[0054] Combination Figure 3 When the gas supply control valve 12 and the intake control valve 13 are energized and the on / off control valve 14 is de-energized, the air path between the air pump 11 and the actuator 5 is cut off. The air pump 11 draws the gas in the air path between the air pump 11 and the intake control valve 13 to the first intake port 121 of the gas supply control valve 12. The gas is then discharged from the first output port 122 of the gas supply control valve 12 to the air path between the gas supply control valve 12 and the intake control valve 13. The gas is then drawn from the second output port 132 and the second intake port 131 of the intake control valve 13 to the air path between the air pump 11 and the intake control valve 13. This cycle repeats, forming a closed-loop air path between the air pump 11, the gas supply control valve 12, and the intake control valve 13. The actuator 5 is connected to the atmosphere through the third intake port 141 and the third exhaust port 143 of the on / off control valve 14, ensuring that the air pressure inside the actuator 5 is at atmospheric pressure.

[0055] Combination Figure 4 When the gas supply control valve 12 and the gas intake control valve 13 are de-energized, and the on / off control valve 14 is energized, the air path between the air pump 11 and the actuator 5 is cut off. Air from the atmosphere is drawn into the air pump 11 through the second exhaust port 133 and the second intake port 131 of the intake control valve 13, and gas is discharged into the atmosphere through the first intake port 121 and the first exhaust port 123 of the gas supply control valve 12. This cycle repeats, forming a closed-loop air path between the air pump 11, the gas supply control valve 12, the intake control valve 13, and the atmosphere. Since the intake control valve 13 and the gas supply control valve 12 are de-energized, the air paths between the gas supply control valve 12 and the on / off control valve 14, as well as between the intake control valve 13 and the on / off control valve 14, are cut off. Since the on / off control valve 14 is energized, the actuator 5 cannot communicate with the atmosphere, thus maintaining the pressure within the actuator 5.

[0056] Therefore, the pneumatic control module 1 of this embodiment can control the actuator 5 to operate in four different pneumatic control modes: inflation, deflation, atmospheric pressure, or pressure maintenance, so that the actuator 5 can adapt to different usage environments or needs. Furthermore, the same pneumatic control module 1 can simultaneously control multiple actuators 5 to operate in the same pneumatic control mode, with the actions of these multiple actuators 5 synchronized, reducing the complexity of structural control. In addition, after the pneumatic control module 1 is started, the air pump 11 is in a normally open state. The adjustment of the above four pneumatic control modes can be achieved simply by adjusting the power on and off of the air supply control valve 12, air intake control valve 13, and on / off control valve 14. The air pump 11 does not need to be constantly started and stopped, further reducing the complexity of control. Moreover, the air source in this embodiment is from the atmosphere, eliminating the need for an air tank, resulting in a small overall structure and light weight. Furthermore, the use of a miniature air pump 11 further reduces the overall size of the pneumatic control module 1.

[0057] Figure 6 This diagram illustrates the structure of a multi-mode pneumatic control device according to this embodiment. Figure 6 and Figure 7 This embodiment of a multi-mode pneumatic control device includes a housing 2, a pneumatic control module 1, a power supply module 3, and a control module 4. Combined with... Figure 8 The outer casing 2 has three storage layers from top to bottom, in which the power module 3, control module 4, and pneumatic control module 1 are sequentially installed. There are N pneumatic control modules 1, where N≥2, connected in parallel, meaning they can be set up independently. The control module 4 is connected to each pneumatic control module 1 to control each module in different pneumatic control modes. This allows the same pneumatic control device to simultaneously achieve positive and negative pressure outputs, or to keep the actuator 5 in an atmospheric or pressure-maintaining state. The power module 3 is connected to both the control module 4 and the pneumatic control modules 1 to supply power. This design enables automated control of the pneumatic control device, meeting the needs of flexible actuators 5 in applications such as flexible robots, wearable devices, rehabilitation medical devices, and soft drive systems.

[0058] like Figure 8As shown, the outer casing 2 of this embodiment includes an upper cover 21 and a base 22. The upper cover 21 and the base 22 are connected in a detachable manner, preferably by magnetic attraction. Specifically, an upper cover mounting boss is provided at each of the four corners of the upper cover 21, and a base mounting boss is provided at each of the four corners of the base 22. Both the upper cover mounting boss and the base mounting boss have blind holes, and a magnet is embedded in each blind hole. This allows the upper cover 21 and the base 22 to be tightly attracted together when they are fastened, thus fixing the upper cover 21 and the base 22. This design facilitates the opening of the upper cover 21 to replace internal components. A detachable partition 23 is also installed inside the upper cover 21. This partition 23 divides the mounting cavity formed by the upper cover 21 and the base 22 into upper and lower layers. The control module 4 is located in the mounting cavity above the partition 23, and the pneumatic control module 1 is located in the mounting cavity below the partition 23 and is fixed to the lower surface of the partition 23. The top of the upper cover 21 is also provided with a mounting groove 211 and a sliding cover 212. The sliding cover 212 slides in conjunction with the groove of the mounting groove 211. A magnet is embedded in the inner end face of the sliding cover 212, and a magnet is also embedded in the mounting groove 211 at the position corresponding to the inner end face of the sliding cover 212. When the sliding cover 212 is placed over the groove of the mounting groove 211, the sliding cover 212 is fixed by the two cooperating magnets. At this time, a battery mounting compartment is formed between the sliding cover 212 and the mounting groove 211, and the power module 3 is installed in the battery mounting compartment. This design facilitates the sliding cover 212 to be slid open for battery replacement.

[0059] Clearly, the outer casing 2 in this embodiment supports quick assembly and disassembly, improving the efficiency of module replacement and maintenance. Furthermore, the outer casing 2 in this embodiment is printed from lightweight 3D printing material, possessing excellent rigidity. Multiple mounting brackets and positioning structures are integrated internally, with each component secured by screws or clips to ensure stable and reliable system operation. A standardized interface area is provided on the exterior of the casing for leading out quick-connect pneumatic interfaces, a power switch 322, a charging port, and a debugging interface, arranged compactly and orderly for easy user access and future expansion. The overall structure of the casing balances strength, compactness, and ease of use, making it suitable for portable, multi-scenario pneumatic applications.

[0060] like Figure 7 and Figure 8As shown, the power module 3 in this embodiment includes a battery 31 and a power management circuit board 32. The battery 31 is installed in the battery compartment of the outer casing 2 by a battery box. The battery 31 consists of three rechargeable 18650 lithium batteries. The power management circuit board 32 is located below the battery box for easy connection to the control module 4 and the pneumatic control module 1. The power management circuit board 32 has a power input interface, a charging interface, and multiple standardized power output ports 321. The charging interface can charge the battery pack. The power input interface of the power management circuit board 32 is connected to the power output interface of the battery. The multiple standardized power output ports 321 of the power management circuit board 32 are connected to the overall control circuit through standard pin header interfaces, providing quick connection / disconnection, easy maintenance, and support for simultaneous output of multiple voltages. The power management circuit board 32 also has multiple built-in step-down chips, supporting output of multiple standard voltages such as 3.3V, 5V, and 12V, which can provide stable voltage for the gas supply control valve 12, the intake control valve 13, the on / off control valve 14, and the Arduino Nano microcontroller. The power management circuit board 32 is also equipped with a power switch 322 for turning the power on and off.

[0061] like Figure 8 As shown, the control module 4 in this embodiment mainly consists of a main control unit, a solenoid valve control chip, and a main control unit circuit board 41. The signal output terminal of the main control unit is connected to the signal input terminal of the solenoid valve control chip, and the signal output terminal of the solenoid valve control chip is connected to the air supply control valve 12, the air intake control valve 13, and the on / off control valve 14, respectively. The main control unit uses an Arduino Nano microcontroller, and the solenoid valve control chip is mounted on the main control unit circuit board 41. The product model of the solenoid valve control chip is PCA9685. The Arduino Nano microcontroller sends control commands to the PCA9685 chip, and the PCA9685 chip outputs multiple adjustable frequency PWM signals. Each PWM signal corresponds to a solenoid valve. The PWM signal is amplified by a MOSFET array and then drives the corresponding solenoid valve to power on or off, thereby switching the airflow path. The solenoid valve is driven by the PWM signal, which has good response speed and control accuracy. At the same time, the overall structure has the characteristics of high channel density, making it suitable for complex pneumatic control scenarios such as parallel driving of multiple actuators.

[0062] like Figure 15As shown, the main control unit circuit board 41 has a microcontroller port 411 on its right side for connecting an Arduino Nano microcontroller to supply the voltage allocated by the power management circuit board 32 to the Arduino Nano microcontroller. The upper left corner of the main control unit circuit board 41 has four main control board power input ports 412 with different input specifications. Each standardized power output port 321 of the power management circuit board 32 is connected to the main control board power input port 412 via a double-ended terminal wire. The middle of the main control unit circuit board 41 has multiple high-speed solenoid valve ports 413, each corresponding to a gas delivery control valve 12 or an air intake control valve 13, and connected to the corresponding gas delivery control valve 12 and air intake control valve 13 for control and power supply. The lower part of the main control unit circuit board 41 has an air pump port 414 for connecting a miniature air pump 11 for control and power supply. The middle position of the main control unit circuit board 41 also has a connector 415 for controlling the on / off state of the solenoid valves. like Figure 14 As shown, the pneumatic control module 1 also includes a solenoid valve terminal block 15, which is provided with a vertical female connector. The solenoid valve terminal block 15 is connected to the female connector 415 via pin headers.

[0063] It can be seen that the power module 3 is connected to the control module 4 and the pneumatic control module 1 by plugging in, which has the effect of quick connection and disassembly and easy maintenance.

[0064] like Figure 14 As shown, when two pneumatic control modules 1 are provided in this embodiment, two miniature air pumps 11 are symmetrically arranged on the side near the rear end of the mounting cavity and mounted on the partition 23 through air pump mounting boxes. The air supply control valve 12 and air intake control valve 13 in each pneumatic control module 1 are set as a valve group. The two valve groups in the two pneumatic control modules 1 are symmetrically arranged on the side near the front end of the mounting cavity and mounted on the partition 23. Two sets of on / off control valves 14 are arranged side by side, one above the other, between the two valve groups. A rectangular opening is opened at the front end of the housing 2. The third air inlet 141 of the on / off control valve 14 extends from the rectangular opening at the front end of the housing 2 to connect to the interface of the actuator 5 through an air pipe. This arrangement of the pneumatic control modules 1 can reduce the space occupied by the pneumatic control modules 1, reduce the volume of the entire pneumatic control device, and achieve miniaturization and integrated layout.

[0065] To avoid confusion in the air pipe arrangement of the two air control modules 1, in combination... Figures 9 to 13Each pneumatic control module 1 is also equipped with a manifold 16, on which each gas delivery control valve 12 and intake control valve 13 are mounted and connected to the air pump 11 and the on / off control valve 14 via the manifold 16. Specifically, the manifold 16 has two symmetrical sets of sockets, one set of sockets corresponding to the gas delivery control valve 12, which is called the gas delivery socket set; the other set of sockets corresponding to the intake control valve 13, which is called the intake socket set. The two sets of sockets are arranged in the same way. Each set of sockets includes an intake port 161, an exhaust port 162, and an output port 163 arranged sequentially from front to back. The first intake port 121 of the gas delivery control valve 12 is inserted into the intake port 161 of the gas delivery socket set, the first exhaust port 123 of the gas delivery control valve 12 is inserted into the exhaust port 162 of the gas delivery socket set, and the first output port 122 of the gas delivery control valve 12 is inserted into the output port 163 of the gas delivery socket set. Similarly, the second air inlet 131, the second exhaust port 133, and the second output port 132 of the intake control valve 13 are respectively inserted into the air inlet 161, exhaust port 162, and output port 163 of the intake connector assembly. The manifold 16 is also provided with an intake pipe 164, an exhaust pipe 165, a manifold 166, and a vent 167. The intake pipe 164 connects the air inlet 161 in the intake connector assembly to the air inlet of the air pump 11, and the exhaust pipe 165 connects the air inlet 161 of the air supply connector assembly to the exhaust port of the air pump 11. The exhaust ports 162 of both the air supply connector assembly and the intake connector assembly are connected to the vent 167 on the manifold 16, which is open to the atmosphere. The manifold 166 on the manifold 16 connects the output port 163 of the air supply connector assembly, the output port 163 of the intake connector assembly, and the third output port 142 of the on / off solenoid valve. Obviously, by designing the manifold 16, the pipeline arrangement between the gas supply control valve 12, the gas intake control valve 13, the air pump 11 and the on / off control valve 14 can be avoided, reducing the space occupied by each gas control module 1 and avoiding the mess caused by the gas pipes.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created by the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created by the present invention without departing from the essence and scope of the technical solutions created by the present invention.

Claims

1. A multi-mode pneumatic control module, characterized in that, include: An air pump, equipped with an air inlet and an air outlet; The gas delivery control valve is installed at the gas outlet end of the gas pump and is used to control the gas delivery path of the gas pump. The intake control valve is installed at the intake end of the air pump and is used to control the intake path of the air pump. On / off control valve, connecting gas supply control valve, gas inlet control valve and actuator, used to cut off or connect the gas path between actuator and gas pump; After the air pump is started, the air delivery control valve, air intake control valve and on / off control valve are energized and / or de-energized respectively, so that the actuator is in different pneumatic control modes. The gas delivery control valve, gas inlet control valve, and on / off control valve are all two-position three-way solenoid valves; The gas supply control valve has a first air inlet, a first air outlet, and a first exhaust port. The first air inlet is connected to the air outlet of the air pump, and the first exhaust port is connected to the atmosphere. The air intake control valve has a second air outlet, a second air inlet, and a second exhaust port. The second air inlet is connected to the air inlet of the air pump, and the second exhaust port is connected to the atmosphere. The on / off control valve has a third air outlet, a third air inlet, and a third exhaust port. The third air outlet is connected to the first and second air outlets, the third exhaust port is connected to the atmosphere, and the third air inlet is connected to the air inlet of the actuator.

2. The multi-mode pneumatic control module according to claim 1, characterized in that, After the air pump starts, when the air supply control valve is energized, the air intake control valve is de-energized, and the on / off control valve is energized, the air pump connects to the air path between the atmosphere and the actuator, respectively, and the air pump charges the actuator; when the air supply control valve is de-energized and the air intake control valve and the on / off control valve are energized, the air pump connects to the air path between the atmosphere and the actuator, respectively, and the air pump evacuates the actuator; when the air supply control valve and the air intake control valve are energized and the on / off control valve is de-energized, the air pump, the air supply control valve, and the air intake control valve form a closed-loop air path, and the actuator is connected to the atmosphere; when the air supply control valve and the air intake control valve are de-energized and the on / off control valve is energized, the air pump, the air supply control valve, and the air intake control valve form a closed-loop air path with the atmosphere, and the pressure inside the actuator is maintained.

3. The multi-mode pneumatic control module according to claim 1, characterized in that, It also includes a manifold, which has an air supply port group connected to the air supply control valve and an air intake port group connected to the air intake control valve. The air supply port group has the same structure as the air intake port group. Each port group includes an air inlet, an air outlet, and an air outlet. The first air inlet, first air outlet, and first air outlet of the air supply control valve are sequentially inserted into the air inlet, air outlet, and air outlet of the air supply port group. The second air inlet, second air outlet, and second air outlet of the air intake control valve are respectively inserted into the air intake port of the air intake port group. The manifold includes an inlet, an outlet, and an outlet; it also has an inlet pipe, an outlet pipe, a manifold, and an air hole. The inlet pipe connects the inlet of the inlet assembly to the inlet of the air pump, and the outlet pipe connects the inlet of the delivery assembly to the outlet of the air pump. The outlets of the delivery assembly and the inlet assembly are connected to the air hole on the manifold, which is open to the atmosphere. The manifold on the manifold connects the outlet of the delivery assembly, the outlet of the inlet assembly, and the third outlet of the on / off control valve.

4. The multi-mode pneumatic control module according to claim 1, characterized in that, The pneumatic control module includes M on / off control valves, where M ≥ 1. The M on / off control valves are connected in parallel, and each on / off control valve is connected to an actuator.

5. A multi-mode pneumatic control device, characterized in that, It includes a control module and a pneumatic control module as described in any one of claims 1 to 4, wherein the control module is used to control the pneumatic control module to be in different pneumatic control modes.

6. A multi-mode pneumatic control device according to claim 5, characterized in that, There are N groups of pneumatic control modules, which are connected in parallel.

7. A multi-mode pneumatic control device according to claim 5, characterized in that, The control module includes a main control unit and a solenoid valve control chip. The main control unit sends control commands to the solenoid valve control chip, which controls the power supply control valve, the air intake control valve, and the on / off control valve to power on and / or power off, respectively.

8. A multi-mode pneumatic control device according to claim 7, characterized in that, It also includes a power module, which consists of a battery and a power management circuit board. The power management circuit board distributes the voltage of the battery and supplies it to the main control unit, the gas delivery control valve, the gas intake control valve, the on / off control valve, and the air pump.

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