Portable pneumatic clamp and control method thereof

Abstract

The invention discloses a portable pneumatic clamp and a control method thereof.The portable pneumatic clamp comprises a shell, a quick-change connector is arranged at one end of the shell, an internal connecting air nozzle is arranged at one end of the quick-change connector, a flexible clamping jaw is detachably installed at the other end of the quick-change connector, and an air pump and a control valve assembly are fixedly installed in the shell; the air pump, the control valve assembly and the internal connecting air tap are communicated through pipelines to form a driving air path system, a control circuit board is further arranged in the shell, a positive pressure control button and a negative pressure control button are installed on the shell, and a power source assembly is further fixed in the shell or the exterior of the shell is connected with a power supply plug. According to the pneumatic clamp and the control method, positive and negative pressure switching of the flexible clamping jaw is achieved through the air pump and the control valve assembly, and the control method is easier and more convenient to operate.

Description

Technical Field

[0001] This invention relates to a pneumatic clamp, and more particularly to a portable pneumatic clamp and its control method. Background Technology

[0002] In the field of industrial automation, the grasping action of robotic arms is mainly accomplished by rigid robotic grippers or vacuum suction cups. However, rigid robotic grippers are difficult to control in terms of force, making it hard to grasp soft and fragile objects without damage. Vacuum suction cups are difficult to handle rough surfaces or irregularly shaped objects with openings during transport. This limits the application scenarios of both. Flexible robotic fingers, using elastic materials, can grasp soft and fragile objects without damaging them.

[0003] Conventional flexible grippers are generally used in industrial applications. They need to be fixed to a support and then connected to a control system via an air tube. For example, two inventions, CN216464657U and CN223518823U, both describe fixing flexible grippers to a mounting plate or support. The support can be fixed to the end effector of a robotic arm to achieve gripping. Invention CN207027311U discloses a novel flexible gripper, its flexible clamp, and a flexible gripping pen. This flexible gripping pen is relatively portable and convenient for daily use. However, it controls the opening and closing of the flexible gripper through a piston-press mechanism, requiring manual operation and considerable effort. Especially during manual pressing, the pressing stroke cannot be very long, resulting in small positive and negative pressure values. This limits the use of larger flexible grippers and makes it difficult to control the gripping force of the flexible gripper. Summary of the Invention

[0004] The first technical problem to be solved by the present invention is to provide a portable pneumatic gripper that uses an air pump and control valve assembly to switch between positive and negative pressure on the flexible gripper, making operation simpler.

[0005] The second technical problem to be solved by the present invention is to provide a control method for a portable pneumatic clamp, which has multiple working modes to control the opening and closing of the flexible gripper on the pneumatic clamp, is simple and labor-saving to operate, and can control the clamping force more precisely.

[0006] To solve the first technical problem mentioned above, the technical solution of the present invention is: a portable pneumatic gripper, comprising a convenient handheld shell, a quick-connect connector at one end of the shell, an internal connecting air nozzle at one end of the quick-connect connector, and a flexible gripper detachably mounted at the other end of the quick-connect connector. An air pump and a control valve assembly are fixedly installed inside the shell. The air pump, control valve assembly, and internal connecting air nozzle are connected by a pipe to form a driving air circuit system for opening and closing the flexible gripper. A control circuit board electrically connected to the air pump and control valve assembly is also provided inside the shell. A positive pressure control button and a negative pressure control button are installed on the shell to operate the control circuit board. The positive pressure control button and the negative pressure control button control the driving air circuit system to change the driving air pressure inside the flexible gripper, thereby opening and closing the flexible gripper. A power supply assembly is also fixed inside the shell, or a power plug is connected to the outside of the shell.

[0007] As a preferred embodiment, the control valve assembly includes a first solenoid valve and a second solenoid valve. The housing is also fixed with an air connection head. The air outlet of the air pump is connected to one of the interfaces of the first solenoid valve, the other interface of the first solenoid valve is connected to the first interface of the air connection head, the second interface of the air connection head is connected to an internal connecting air nozzle, the air inlet of the air pump is connected to one of the interfaces of the second solenoid valve, and the other interface of the second solenoid valve is connected to the third interface of the air connection head.

[0008] As a preferred embodiment, a pressure sensor is also fixed inside the housing, and the pressure sensor is connected to the fourth interface of the air circuit connector.

[0009] As a preferred embodiment, the quick-connector is a magnetic quick-connector, which includes a connecting sleeve fixed to the outer shell, a permanent magnet fixed in the inner cavity of the connecting sleeve, an internal connecting air nozzle on the upper plate of the connecting sleeve, a flexible claw connector magnetically attached below the permanent magnet in the inner cavity of the connecting sleeve, a flexible claw mounted on the flexible claw connector, and an air passage connection port on the flexible claw connector. The internal connecting air nozzle and the air passage connection port are connected by an air guiding connection structure.

[0010] As a preferred embodiment, the air guiding connection structure includes an air guiding pipe section disposed on the inner side of the upper plate of the connecting sleeve. The air guiding pipe section is provided with an air guiding through hole communicating with the internal connecting air nozzle. The air guiding pipe section passes through the permanent magnet and is inserted into the air passage connection port and sealed.

[0011] As a preferred embodiment, an angle positioning structure is provided between the inner cavity of the connecting sleeve and the flexible claw connector. The angle positioning structure includes a polygonal inner cavity segment disposed in the lower section of the inner cavity of the connecting sleeve. Correspondingly, a polygonal positioning head that mates with the polygonal inner cavity segment is provided on the flexible claw connector.

[0012] As a preferred embodiment, the quick-connect coupling includes a connecting sleeve fixed to the housing, an internal connecting air nozzle provided on the upper plate of the connecting sleeve, a flexible gripper fixed to a flexible gripper connector, an air passage connection port provided on the flexible gripper connector, the internal connecting air nozzle and the air passage connection port being connected by an air guiding connection structure, and the flexible gripper connector being fixed to the connecting sleeve by a threaded connection structure or a snap-fit ​​connection structure.

[0013] After adopting the above technical solution, the effect of the present invention is as follows: A portable pneumatic clamp includes a convenient handheld shell. One end of the shell is provided with a quick-change connector, and one end of the quick-change connector is provided with an internal connecting air nozzle. The other end of the quick-change connector is detachably equipped with a flexible gripper. An air pump and a control valve assembly are fixedly installed inside the shell. The air pump, control valve assembly, and internal connecting air nozzle are connected by a pipe to form a driving air circuit system for driving the opening and closing of the flexible gripper. A control circuit board electrically connected to the air pump and control valve assembly is also provided inside the shell. A positive pressure control button and a negative pressure control button are installed on the shell to operate the control circuit board. The positive pressure control button and the negative pressure control button control the driving air circuit system to change the flexible gripper. The driving air pressure inside the claw enables the opening and closing of the flexible gripper. A power supply assembly is fixed inside the housing, or a power plug is connected to the outside of the housing. Therefore, this pneumatic clamp uses an air pump and control valve assembly to control the positive and negative pressure switching of the driving air circuit system, thereby changing the driving air pressure inside the flexible gripper and achieving its opening and closing. Because it uses a built-in air pump, switching between positive and negative pressure is simpler and less strenuous. Furthermore, the air pump's control of the positive and negative pressure values ​​of the flexible gripper is unaffected by the piston stroke, making it suitable for larger flexible grippers. The positive and negative pressure control accuracy is also higher, resulting in more precise control of the gripping force of the flexible gripper. In addition, the portable pneumatic clamp can be powered by either a built-in power supply or an external power supply, offering flexibility in use.

[0014] Furthermore, since the quick-connect coupling is a magnetic quick-connect coupling, it includes a connecting sleeve fixed to the outer shell. A permanent magnet is fixed inside the connecting sleeve, and an internal connecting air nozzle is provided on the upper plate of the connecting sleeve. A flexible claw connector is magnetically attached inside the connecting sleeve, below the permanent magnet. The flexible claw is mounted on the flexible claw connector, which has an air passage connection port. The internal connecting air nozzle and the air passage connection port are connected by an air guiding connection structure. In use, the flexible claw connector is placed into the inner cavity and is magnetically fixed by the permanent magnet, while the flexible claw is directly fixed to the flexible claw connector. Because the flexible claw connector is magnetically attached to the permanent magnet, adjusting the angle of the flexible claw only requires changing the placement angle of the flexible claw connector, making adjustment more convenient.

[0015] Furthermore, the air-guiding connection structure includes an air-guiding pipe section disposed on the inner side of the upper plate of the connecting sleeve. This air-guiding pipe section has an air-guiding through hole communicating with the internal connecting air nozzle. The air-guiding pipe section passes through the permanent magnet and is inserted into the air passage connection port for a sealed fit. By directly inserting the air-guiding pipe section into the air passage connection port through this air-guiding connection structure, the permanent magnet and the connector can directly contact each other during magnetic attraction, resulting in a stronger magnetic attraction force and thus better achieving a sealed connection between the internal connecting air nozzle and the air passage connection port.

[0016] Furthermore, an angle positioning structure is provided between the inner cavity of the connecting sleeve and the flexible claw connector. This angle positioning structure includes a polygonal inner cavity segment located in the lower section of the inner cavity of the connecting sleeve. Correspondingly, the flexible claw connector is provided with a polygonal positioning head that mates with the polygonal inner cavity segment. The polygonal cavity segment and the polygonal positioning head can better limit and determine the installation angle of the flexible claw.

[0017] To solve the first technical problem mentioned above, the technical solution of the present invention is: a control method for a portable pneumatic clamp, the control method being used to control the aforementioned portable pneumatic clamp, including the following control modes:

[0018] S1, First Working Mode: This mode operates continuously according to the set positive pressure mode, driving the air circuit system to continuously output positive pressure to the flexible gripper, causing the flexible gripper to open or close until the maximum positive pressure value is reached and maintained; continuously pressing the negative pressure control button switches the driving air circuit system to negative pressure mode, driving the air circuit system to continuously output negative pressure to the flexible gripper, causing the flexible gripper to close or open until the maximum negative pressure value is reached and maintained; after releasing the negative pressure control button, the driving air circuit system continues to operate according to the set positive pressure mode.

[0019] S2, Second Working Mode: This mode operates continuously according to the set negative pressure mode, driving the air circuit system to continuously output negative pressure to the flexible gripper, causing the flexible gripper to open or close until the maximum negative pressure value is reached and maintained; continuously pressing the positive pressure control button switches the driving air circuit system to positive pressure mode, driving the air circuit system to continuously output positive pressure to the flexible gripper, causing the flexible gripper to close or open until the maximum positive pressure value is reached and maintained; after releasing the positive pressure control button, the driving air circuit system continues to operate according to the set negative pressure mode.

[0020] S3, Manual Mode: In this mode, the air pump operates according to the operator's instructions. When the operator continuously presses the positive pressure control button, the air system continuously outputs positive pressure to the flexible gripper until the operator releases the positive pressure control button. After release, the flexible gripper is in a pressure-holding state. When the operator continuously presses the negative pressure control button, the air system continuously outputs negative pressure to the flexible gripper until the operator releases the negative pressure control button. After release, the flexible gripper is in a pressure-holding state.

[0021] Preferably, the drive air circuit system further includes a first solenoid valve and a second solenoid valve. The first solenoid valve is connected between the air pump outlet and the flexible gripper, and the second solenoid valve is connected between the air pump inlet and the flexible gripper. When positive pressure is output, the second solenoid valve disconnects the air passage between the air pump inlet and the flexible gripper, and the first solenoid valve opens. At this time, the air pump starts and supplies gas to the flexible gripper through the first solenoid valve to keep it in a positive pressure state. When negative pressure is output, the first solenoid valve disconnects the air passage between the air pump outlet and the flexible gripper, and the second solenoid valve opens. At this time, the air pump starts and extracts the gas in the flexible gripper through the second solenoid valve to keep it in a negative pressure state. When in a pressure-holding state, the first and second solenoid valves disconnect the air passage between the flexible gripper and the air pump outlet and inlet, and the flexible gripper is in a pressure-holding state. When the machine stops, the air pump stops, and the first and second solenoid valves connect the air passage between the flexible gripper and the air pump outlet and inlet, and the flexible gripper returns to its initial state after the air pressure is restored.

[0022] Preferably, in this control method, the maximum positive pressure value and the maximum negative pressure value are adjustable, and the pneumatic clamp simultaneously displays the maximum positive pressure value, the maximum negative pressure value, and the current air pressure value.

[0023] After adopting the above technical solution, the advantages of this invention are as follows: In the first working mode of this control method, when no button is pressed, the drive air circuit system always operates in a positive pressure mode. In this mode, the flexible gripper will open or close. For example, if a flexible gripper that closes under negative pressure is selected, then the flexible gripper will open under positive pressure. If a flexible gripper that expands under negative pressure is selected, then the flexible gripper will be closed under positive pressure. Similarly, the same applies in the second working mode. Therefore, this control method only requires pressing one button in both the first and second working modes to switch the air pressure of the flexible gripper, which means that the clamping and release of objects can be achieved with just one button press, making the operation simpler. In manual mode, the positive and negative pressure values ​​can be controlled according to the duration of the operator's button press, thereby controlling the clamping force, making the overall operation more flexible. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a three-dimensional structural view of the pneumatic clamp according to an embodiment of the present invention;

[0026] Figure 2 This is an exploded view of the pneumatic clamp according to an embodiment of the present invention;

[0027] Figure 3 This is a connection diagram of the air pump, control valve assembly, and quick-connect coupling in an embodiment of the present invention;

[0028] Figure 4 This is a cross-sectional view of the magnetic quick-change connector;

[0029] Figure 5 This is an exploded diagram of a magnetic quick-connect coupling;

[0030] Figure 6 It is a 3D diagram of a card-mounted quick-change connector;

[0031] Figure 7 This is a bottom view of the card-mounted quick-change connector;

[0032] Figure 8 yes Figure 7 Sectional view at AA;

[0033] Figure 9 This is a cross-sectional view of a threaded quick-connect coupling;

[0034] Figure 10 This is a schematic diagram of the drive air circuit system;

[0035] In the attached diagram: 1. Outer shell; 101. First outer shell half; 102. Second outer shell half; 2. Display screen; 3. Charging port; 4. Positive pressure control button; 5. Negative pressure control button; 6. Function button; 7. Quick-change connector; 701. Internal connecting nozzle; 702. Flexible claw connector; 703. Connecting sleeve; 704. Air guide tube section; 705. Permanent magnet; 706. Sealing ring; 707. Polygonal positioning head; 708. Polygonal inner cavity section; 709. Claw; 8. Lithium battery; 9. Control circuit board; 901. Second circuit board; 902. First circuit board; 903. Function button; 10. Air pump; 11. Air path connector; 12. Air pressure sensor; 13. First solenoid valve; 14. Second solenoid valve. Detailed Implementation

[0036] The present invention will be further described in detail below through specific embodiments.

[0037] like Figures 1 to 10 As shown, a portable pneumatic gripper includes a housing 1 for easy handholding, wherein, as Figure 2 As shown, in this embodiment, the outer shell 1 is integrally cylindrical to form a pen shape for easy gripping. The outer shell 1 is a split structure comprising a first outer shell half 101 and a second outer shell half 102, which are fixed together by bolts.

[0038] One end of the housing 1 is provided with a quick-change connector 7, one end of the quick-change connector 7 is provided with an internal connecting air nozzle 701, and the other end of the quick-change connector 7 is detachably equipped with a flexible gripper.

[0039] like Figure 4 and Figure 5 As shown, the quick-connector 7 in this embodiment is a magnetic quick-connector 7. The magnetic quick-connector 7 includes a connecting sleeve 703 fixed on the outer shell 1. A permanent magnet 705 is fixed in the inner cavity of the connecting sleeve 703. The permanent magnet 705 is made of neodymium iron boron material with strong magnetism. The permanent magnet 705 is fixed inside the magnet outer shell 1, and the magnet outer shell is fixed inside the connecting sleeve 703 by glue.

[0040] The upper plate of the connecting sleeve 703 is provided with the internal connecting nozzle 701, which is directly threadedly connected and fixed to the connecting sleeve 703.

[0041] The flexible claw connector 702 is magnetically attached to the inner cavity of the connecting sleeve 703 below the permanent magnet 705. The flexible claw is also fixedly installed on the flexible claw connector 702 by means of threaded connection. The flexible claw connector 702 is provided with an air passage connection port. The internal connecting air nozzle 701 and the air passage connection port are connected by an air guide connection structure.

[0042] The air guiding connection structure includes an air guiding pipe section 704 disposed on the inner side of the upper plate of the connecting sleeve 703. The air guiding pipe section 704 has an air guiding through hole communicating with the internal connecting air nozzle 701. The air guiding pipe section 704 passes through the permanent magnet 705 and is inserted into the air passage connection port for a sealed fit. A sealing ring 706 is embedded in the air passage connection port, and the air guiding pipe section 704 is sealed to the air passage connection port by the sealing ring 706 after insertion. An angle positioning structure is provided between the inner cavity of the connecting sleeve 703 and the flexible claw connector 702. The angle positioning structure includes a polygonal inner cavity section 708 disposed in the lower section of the inner cavity of the connecting sleeve 703. Correspondingly, the flexible claw connector 702 is provided with a polygonal positioning head 707 that mates with the polygonal inner cavity section 708. In this embodiment, the polygonal inner cavity segment 708 is a regular dodecagonal inner cavity segment, and the polygonal positioning head 707 of the flexible connector is also a regular dodecagonal positioning head. During installation, the installation angle of the flexible connector can be changed, thereby adjusting the angle of the flexible gripper, which facilitates the adjustment of the clamping direction.

[0043] An air pump 10 and a control valve assembly are fixedly installed inside the housing 1. The air pump 10, the control valve assembly, and the internal connecting air nozzle 701 are connected by a pipe to form a driving air circuit system for opening and closing the flexible gripper. A control circuit board 9 electrically connected to the air pump 10 and the control valve assembly is also provided inside the housing 1. A positive pressure control button 4 and a negative pressure control button 5 are installed on the housing 1 to operate the control circuit board 9. Figure 2 As shown, the control circuit board 9 in this embodiment includes a first circuit board 902 and a second circuit board 901. The first circuit board 902 is provided with function buttons 903 and a display screen 2, which protrudes from the housing 1. The corresponding housing 1 is provided with function buttons 6 that correspond to the function buttons 903. The second circuit board 901 is a switch circuit board, which is connected to the first circuit board 902 via signal lines. The switch circuit board corresponds to the positive pressure control button 4 and the negative pressure control button 5.

[0044] The positive pressure control button 4 and the negative pressure control button 5 control the driving air circuit system to change the driving air pressure in the flexible gripper to realize the opening and closing of the flexible gripper. The housing 1 also has a power supply component fixed inside or a power supply plug connected to the outside of the housing 1.

[0045] In this embodiment, the housing 1 houses a lithium battery 8, and a charging port 3 is provided on the housing 1 for convenient charging of the lithium battery 8. Of course, it is also possible to use an external power source instead of a built-in battery.

[0046] In this embodiment, the control valve assembly includes a first solenoid valve 13 and a second solenoid valve 14. The housing 1 also has a pneumatic connector 11 fixed to it. The outlet of the air pump 10 is connected to one interface of the first solenoid valve 13, the other interface of the first solenoid valve 13 is connected to the first interface of the pneumatic connector 11, the second interface of the pneumatic connector 11 is connected to an internal connecting air nozzle 701, the inlet of the air pump 10 is connected to one interface of the second solenoid valve 14, and the other interface of the second solenoid valve 14 is connected to the third interface of the pneumatic connector 11. A pressure sensor 12 is also fixed inside the housing 1, and the pressure sensor 12 is connected to the fourth interface of the pneumatic connector 11. The specific connection method is as follows: Figure 3 As shown.

[0047] The positive and negative pressure switching of the drive air circuit system can be achieved by the cooperation of the first solenoid valve 13 and the second solenoid valve 14.

[0048] Of course, the quick-connect coupling 7 can also adopt other structures, such as Figure 6 , Figure 7 and Figure 8 As shown, the quick-connect coupling 7 is a snap-fit ​​quick-connect coupling 7. The snap-fit ​​quick-connect coupling 7 includes a connecting sleeve 703 fixed to the outer shell 1. The upper plate of the connecting sleeve 703 is threaded with the internal connecting air nozzle 701. The flexible claw is fixed to the flexible claw connector 702. The flexible claw connector 702 is provided with an air passage connection port. The internal connecting air nozzle 701 and the air passage connection port are connected by an air guide connection structure. The flexible claw connector 702 is fixed to the connecting sleeve 703 by a snap-fit ​​connection structure. Figure 8 As shown, the snap-fit ​​structure includes several snap-fit ​​claws 709 on the connecting sleeve 703. Correspondingly, the flexible claw connector 702 is provided with snap-fit ​​steps to facilitate snap-fit ​​with the snap-fit ​​claws 709. During assembly, the flexible claw connector 702 can be directly snapped into the snap-fit ​​claws 709. When it needs to be removed, the flexible claw connector 702 can be removed by prying open the snap-fit ​​with a tool.

[0049] like Figure 9 As shown, the quick-change connector 7 can also be a threaded quick-change connector 7, and the flexible claw connector 702 is fixed to the connecting sleeve 703 through a threaded connection structure. The air guide connection structure in the quick-change connector 7 is the same as that in the magnetic quick-change connector 7.

[0050] This embodiment also discloses a control method for a portable pneumatic clamp, the control method being used to control the aforementioned portable pneumatic clamp, including the following control modes:

[0051] S1, First Working Mode: This mode operates continuously according to the set positive pressure mode, driving the air circuit system to continuously output positive pressure to the flexible gripper, causing the flexible gripper to open or close until the maximum positive pressure value is reached and maintained; continuously pressing the negative pressure control button 5 switches the driving air circuit system to operate in negative pressure mode, driving the air circuit system to continuously output negative pressure to the flexible gripper, causing the flexible gripper to close or open until the maximum negative pressure value is reached and maintained; after releasing the negative pressure control button 5, the driving air circuit system continues to operate according to the set positive pressure mode;

[0052] S2, Second Working Mode: This mode operates continuously according to the set negative pressure mode, driving the air circuit system to continuously output negative pressure to the flexible gripper, causing the flexible gripper to open or close until the maximum negative pressure value is reached and maintained; continuously pressing the positive pressure control button 4 switches the driving air circuit system to operate in positive pressure mode, driving the air circuit system to continuously output positive pressure to the flexible gripper, causing the flexible gripper to close or open until the maximum positive pressure value is reached and maintained; after releasing the positive pressure control button 4, the driving air circuit system continues to operate according to the set negative pressure mode.

[0053] S3, Manual Mode: In this mode, the air pump 10 operates according to the operator's instructions. When the operator continuously presses the positive pressure control button 4, the air system continuously outputs positive pressure to the flexible gripper until the operator releases the positive pressure control button 4. After release, the flexible gripper is in a pressure-holding state. When the operator continuously presses the negative pressure control button 5, the air system continuously outputs negative pressure to the flexible gripper until the operator releases the negative pressure control button 5. After release, the flexible gripper is in a pressure-holding state.

[0054] Among them, such as Figure 10 As shown, Figure 10The diagram illustrates the working principle of the drive air circuit system, which includes a first solenoid valve 13 and a second solenoid valve 14. The first solenoid valve 13 is connected between the air outlet of the air pump 10 and the flexible gripper, and the second solenoid valve 14 is connected between the air inlet of the air pump 10 and the flexible gripper. When positive pressure is output, the second solenoid valve 14 disconnects the air passage between the air inlet of the air pump 10 and the flexible gripper, and the first solenoid valve 13 opens. At this time, the air pump 10 starts and supplies gas to the flexible gripper through the first solenoid valve to maintain a positive pressure state. When negative pressure is output, the first solenoid valve 13... Disconnect the air path between the air pump outlet and the flexible gripper, and open the second solenoid valve 14. At this time, the air pump 10 starts and extracts the gas in the flexible gripper through the second solenoid valve, putting it into a negative pressure state. When in the pressure-holding state, the first solenoid valve 13 and the second solenoid valve 14 disconnect the air path between the flexible gripper and the air pump outlet and inlet, and the flexible gripper is in the pressure-holding state. When the machine stops, the air pump 10 stops, and the first solenoid valve 13 and the second solenoid valve 14 connect the air path between the flexible gripper and the air pump outlet and inlet, and the flexible gripper returns to its initial state after the air pressure is restored.

[0055] According to the working principle diagram of the driving air circuit system, the positive and negative pressure switching of the flexible gripper can be realized by starting and stopping the air pump 10 and coordinating the actions of the first solenoid valve 13 and the second solenoid valve 14. At the same time, the gripping and releasing of items can be realized by selecting the three working modes mentioned above, making the overall operation simpler.

[0056] In this embodiment, the maximum positive pressure and maximum negative pressure values ​​are adjustable, and the pneumatic clamp simultaneously displays the maximum positive pressure, maximum negative pressure, and current air pressure. When setting the maximum positive and maximum negative pressure values, one can first press function button 6 to select the corresponding setting mode, and then press the positive pressure control button 4 and negative pressure control button 5 to adjust the maximum positive and maximum negative pressure values. In this embodiment, the flexible gripper can be the flexible gripper described in patent number CN202323567924.3, which closes when the drive chamber is under negative pressure and opens when the drive chamber is under positive pressure; alternatively, the flexible gripper can be the negative pressure internal support flexible gripper described in patent number CN202323560836.0, which opens when the drive chamber is under negative pressure and closes when it is under positive pressure.

[0057] The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications and alterations made to the technical solutions of the present invention without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A portable pneumatic clamp, characterized in that: The device includes a handheld housing with a quick-connect fitting at one end and an internal air nozzle at the other end. A flexible gripper is detachably mounted at the other end of the quick-connect fitting. An air pump and control valve assembly are fixedly installed inside the housing. The air pump, control valve assembly, and internal air nozzle are connected by a pipe to form a drive air circuit system that drives the flexible gripper to open and close. A control circuit board electrically connected to the air pump and control valve assembly is also installed inside the housing. Positive and negative pressure control buttons are mounted on the housing to operate the control circuit board. These buttons control the drive air circuit system to change the drive air pressure within the flexible gripper, thus opening and closing the gripper. A power supply assembly is also fixed inside the housing, or a power plug is connected to the outside of the housing.

2. The portable pneumatic clamp as described in claim 1, characterized in that: The control valve assembly includes a first solenoid valve and a second solenoid valve. The housing is also fixed with an air circuit connector. The air outlet of the air pump is connected to one of the interfaces of the first solenoid valve, the other interface of the first solenoid valve is connected to the first interface of the air circuit connector, the second interface of the air circuit connector is connected to an internal connecting air nozzle, the air inlet of the air pump is connected to one of the interfaces of the second solenoid valve, and the other interface of the second solenoid valve is connected to the third interface of the air circuit connector.

3. The portable pneumatic clamp as described in claim 2, characterized in that: A pressure sensor is also fixed inside the housing, and the pressure sensor is connected to the fourth interface of the air circuit connector.

4. The portable pneumatic clamp as described in claim 1, characterized in that: The quick-connector is a magnetic quick-connector, which includes a connecting sleeve fixed on the outer shell. A permanent magnet is fixed inside the connecting sleeve. An internal connecting air nozzle is provided on the upper plate of the connecting sleeve. A flexible claw connector is magnetically attached inside the connecting sleeve below the permanent magnet. The flexible claw is installed on the flexible claw connector. An air passage connection port is provided on the flexible claw connector. The internal connecting air nozzle and the air passage connection port are connected by an air guiding connection structure.

5. The portable pneumatic clamp as described in claim 4, characterized in that: The air guiding connection structure includes an air guiding pipe section disposed on the inner side of the upper plate of the connecting sleeve. The air guiding pipe section is provided with an air guiding through hole communicating with the internal connecting air nozzle. The air guiding pipe section passes through the permanent magnet and is inserted into the air passage connection port and sealed.

6. The portable pneumatic clamp as described in claim 5, characterized in that: An angle positioning structure is provided between the inner cavity of the connecting sleeve and the flexible claw connector. The angle positioning structure includes a polygonal inner cavity segment located in the lower section of the inner cavity of the connecting sleeve. Correspondingly, a polygonal positioning head that mates with the polygonal inner cavity segment is provided on the flexible claw connector.

7. The portable pneumatic clamp as described in claim 1, characterized in that: The quick-connector includes a connecting sleeve fixed on the housing, an internal connecting air nozzle on the upper plate of the connecting sleeve, a flexible gripper fixed on a flexible gripper connector, an air passage connection port on the flexible gripper connector, and the internal connecting air nozzle and the air passage connection port being connected by an air guide connection structure. The flexible gripper connector is fixed to the connecting sleeve by a threaded connection structure or a snap-fit ​​connection structure.

8. A control method for a portable pneumatic gripper, characterized in that: The control method is used to control the portable pneumatic clamp as described in claim 1, and includes the following control modes: S1, First Working Mode: This mode operates continuously according to the set positive pressure mode, driving the air circuit system to continuously output positive pressure to the flexible gripper, causing the flexible gripper to open or close until the maximum positive pressure value is reached and maintained; continuously pressing the negative pressure control button switches the driving air circuit system to negative pressure mode, driving the air circuit system to continuously output negative pressure to the flexible gripper, causing the flexible gripper to close or open until the maximum negative pressure value is reached and maintained; after releasing the negative pressure control button, the driving air circuit system continues to operate according to the set positive pressure mode. S2, Second Working Mode: This mode operates continuously according to the set negative pressure mode, driving the air circuit system to continuously output negative pressure to the flexible gripper, causing the flexible gripper to open or close until the maximum negative pressure value is reached and maintained; continuously pressing the positive pressure control button switches the driving air circuit system to positive pressure mode, driving the air circuit system to continuously output positive pressure to the flexible gripper, causing the flexible gripper to close or open until the maximum positive pressure value is reached and maintained; after releasing the positive pressure control button, the driving air circuit system continues to operate according to the set negative pressure mode. S3, Manual Mode: In this mode, the air pump operates according to the operator's instructions. When the operator continuously presses the positive pressure control button, the air system continuously outputs positive pressure to the flexible gripper until the operator releases the positive pressure control button. After release, the flexible gripper is in a pressure-holding state. When the operator continuously presses the negative pressure control button, the air system continuously outputs negative pressure to the flexible gripper until the operator releases the negative pressure control button. After release, the flexible gripper is in a pressure-holding state.

9. The control method for a portable pneumatic clamp as described in claim 8, characterized in that: The drive air circuit system also includes a first solenoid valve and a second solenoid valve. The first solenoid valve is connected between the air pump outlet and the flexible gripper, and the second solenoid valve is connected between the air pump inlet and the flexible gripper. When positive pressure is output, the second solenoid valve disconnects the air passage between the air pump inlet and the flexible gripper, and the first solenoid valve opens. At this time, the air pump starts and supplies gas to the flexible gripper through the first solenoid valve to keep it in a positive pressure state. When negative pressure is output, the first solenoid valve disconnects the air passage between the air pump outlet and the flexible gripper, and the second solenoid valve opens. At this time, the air pump starts and extracts the gas in the flexible gripper to keep it in a negative pressure state. When in a pressure-holding state, the first and second solenoid valves disconnect the air passage between the flexible gripper and both the air pump outlet and inlet, and the flexible gripper is in a pressure-holding state. When the machine stops, the air pump stops, and the first and second solenoid valves connect the air passage between the flexible gripper and both the air pump outlet and inlet. After the flexible gripper recovers its air pressure, it returns to its initial state.

10. The control method for a portable pneumatic gripper as described in claim 9, characterized in that: In this control method, the maximum positive pressure value and the maximum negative pressure value are adjustable, and the pneumatic clamp simultaneously displays the maximum positive pressure value, the maximum negative pressure value, and the current air pressure value.

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