Control method, device and equipment of vacuum generating device and storage medium

Abstract

The application provides a control method, device and equipment of a vacuum generating device and a storage medium, and the method comprises the following steps: in response to a task instruction, a vacuum adsorption mode is started; an electromagnetic valve is opened according to a control parameter corresponding to the vacuum adsorption mode, and a vacuum pump is controlled to rotate forward; it is judged whether a real-time pressure value is reduced to a contact determination threshold value, and a first judgment result is obtained; if the first judgment result is yes, a pressure maintaining and pressure supplementing coordination mode is switched to, the electromagnetic valve is controlled to be closed, the vacuum pump is controlled to stop running, or the vacuum pump is controlled to rotate forward and the electromagnetic valve is controlled to be opened; in response to a release instruction, a broken vacuum release mode is switched to, after the electromagnetic valve is opened, the vacuum pump is controlled to rotate reversely, air is blown to the suction cup cavity, and the suction cup cavity is restored to normal pressure. Multiple working modes work cooperatively, cover the whole process of vacuum operation, and improve the functional integration and adsorption reliability of the vacuum generating device. In the pressure maintaining and pressure supplementing coordination mode, the pressure is intermittently supplemented in the forward rotation mode, and the invalid electric energy loss is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of industrial automation technology, and in particular to a control method, device, equipment and storage medium for a vacuum generating device. Background Technology

[0002] As an important industrial material handling product, the core technology of electric vacuum generators is to generate negative pressure in a vacuum chamber, so that objects are adsorbed by suction cups under atmospheric pressure, thereby enabling the gripping and movement of various materials.

[0003] Compared to traditional pneumatic vacuum generators, electric vacuum generators have advantages such as compact structure, fast response speed, and no need for an external compressed air source. However, the control methods of existing vacuum generators are relatively simple and cannot meet the operational needs of complex working conditions. The main drawbacks are as follows: First, the existing control method only has basic vacuuming function. Vacuum release often requires additional inflation valve or pressure relief valve, which increases hardware cost and complexity. Second, the lack or incomplete pressure holding and pressure replenishment functions lead to large fluctuations in vacuum during long-term adsorption, resulting in poor adsorption reliability. Third, in order to offset the impact of minor leaks on the vacuum level, vacuum pumps often adopt a continuous operation constant compensation mode, which results in low energy efficiency. Especially in application scenarios where pressure is maintained for a long time, this not only causes unnecessary power consumption, but also easily leads to overheating problems due to the long-term continuous operation of the pump body, thus shortening the overall service life of the equipment.

[0004] Therefore, existing control methods for vacuum generators suffer from low functional integration and high operating energy consumption. Summary of the Invention

[0005] This invention provides a control method, apparatus, device, and storage medium for a vacuum generator, aiming to solve the problems of low functional integration and high energy consumption in existing control methods for vacuum generators.

[0006] In a first aspect, embodiments of the present invention provide a control method for a vacuum generating device, the method comprising: In response to the task instruction, the vacuum adsorption mode is activated, and the control parameters for each working mode are obtained according to the task instruction; wherein, the working modes include vacuum adsorption mode, pressure holding and pressure replenishment coordination mode, and vacuum breaking and release mode; After the solenoid valve is opened according to the control parameters corresponding to the vacuum adsorption mode, the vacuum pump is controlled to rotate forward. The pressure sensor detects the real-time pressure value of the suction cup cavity and determines whether the real-time pressure value has dropped to the contact determination threshold to obtain the first determination result. If the first judgment result is yes, switch the current working mode to the pressure holding and pressure replenishment coordination mode. After controlling the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode, control the vacuum pump to stop running, or control the vacuum pump to rotate forward and control the solenoid valve to open, so that the real-time pressure value of the suction cup cavity is kept within the target pressure holding range. In response to the release command, the current working mode is switched to the vacuum release mode. After the solenoid valve is opened according to the control parameters corresponding to the vacuum release mode, the vacuum pump is reversed to blow air into the suction cup cavity, so that the suction cup cavity returns to normal pressure.

[0007] Secondly, embodiments of the present invention also provide a control device for a vacuum generating apparatus, the device comprising: The activation unit is used to activate the vacuum adsorption mode in response to a task instruction, and to acquire control parameters for each working mode according to the task instruction; wherein, the working modes include vacuum adsorption mode, pressure holding and pressure replenishment coordination mode, and vacuum release mode. The control unit is used to control the vacuum pump to rotate forward after the solenoid valve is opened according to the control parameters corresponding to the vacuum adsorption mode. The judgment unit is used to detect the real-time pressure value of the suction cup cavity through a pressure sensor, and to determine whether the real-time pressure value has dropped to the contact judgment threshold, so as to obtain a first judgment result; The first switching unit is used to switch the current working mode to the pressure holding and pressure replenishment coordination mode if the first judgment result is yes. After controlling the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode, the unit controls the vacuum pump to stop running, or controls the vacuum pump to rotate forward and controls the solenoid valve to open, so that the real-time pressure value of the suction cup cavity is kept within the target pressure holding range. The second switching unit is used to switch the current working mode to the vacuum breaking release mode in response to the release command. After the solenoid valve is opened according to the control parameters corresponding to the vacuum breaking release mode, the vacuum pump is controlled to reverse and blow air into the suction cup cavity to restore the suction cup cavity to normal pressure.

[0008] Thirdly, embodiments of the present invention also provide an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect above.

[0009] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, can implement the method described in the first aspect.

[0010] This invention provides a control method, apparatus, device, and storage medium for a vacuum generator. The method includes: responding to a task command, activating a vacuum adsorption mode, and acquiring control parameters for each operating mode according to the task command; wherein the operating modes include a vacuum adsorption mode, a pressure holding and pressure replenishment coordination mode, and a vacuum release mode; controlling a solenoid valve to open according to the control parameters corresponding to the vacuum adsorption mode, and then controlling a vacuum pump to rotate forward; detecting the real-time pressure value of the suction cup cavity through a pressure sensor, and determining whether the real-time pressure value has dropped to a contact determination threshold, obtaining a first determination result; if the first determination result is yes, switching the current operating mode to the pressure holding and pressure replenishment coordination mode, controlling the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode, and then controlling the vacuum pump to stop operating, or controlling the vacuum pump to rotate forward and controlling the solenoid valve to open, so that the real-time pressure value of the suction cup cavity is maintained within a target pressure holding range; responding to a release command, switching the current operating mode to the vacuum release mode, controlling the solenoid valve to open according to the control parameters corresponding to the vacuum release mode, and then controlling the vacuum pump to reverse direction to blow air into the suction cup cavity, so that the suction cup cavity returns to normal pressure. The present invention has the following beneficial effects: 1. The present invention utilizes the forward and reverse rotation characteristics of the vacuum pump to achieve the dual functions of vacuuming and vacuum breaking, eliminating the need for an additional vacuum breaking and gas filling mechanism and reducing hardware costs; 2. Multiple working modes work together to cover the entire vacuum operation process, improving the functional integration and adsorption reliability of the vacuum generating device; 3. In the pressure holding and pressure compensation coordination mode, the solenoid valve is closed and the vacuum pump operation is stopped, or intermittent pressure compensation is performed in the forward rotation mode, avoiding continuous constant compensation operation of the vacuum pump, effectively reducing ineffective power consumption, and at the same time reducing the temperature rise accumulation of the pump body due to long-term continuous operation, thus extending the overall service life of the equipment. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A schematic flowchart illustrating the control method for a vacuum generating device provided in an embodiment of the present invention; Figure 2 A schematic block diagram of the control device for a vacuum generating apparatus provided in an embodiment of the present invention; Figure 3 A schematic block diagram of an electronic device provided in an embodiment of the present invention; Figure 4 This is a structural diagram of a vacuum generating device provided in an embodiment of the present invention. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0015] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0016] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0017] Please see Figure 4 , Figure 4 This is a structural diagram of a vacuum generating device provided in an embodiment of the present invention. The present invention provides a control method, apparatus, device, and storage medium for a vacuum generating device. The method is applied to the electronic control module of a vacuum generating device 1. The vacuum generating device also includes a vacuum pump, a solenoid valve, and a suction cup. The electronic control module, the vacuum pump, and the solenoid valve are all assembled within a housing 2. The vacuum pump and the solenoid valve are electrically connected to the electronic control module. The vacuum pump is a reversible vacuum pump. The working air port of the vacuum pump is connected to the first port of the solenoid valve, and the second port of the solenoid valve is connected to the suction cup cavity of the suction cup 3. The solenoid valve is used to control the opening and closing of the air passage between the vacuum pump and the suction cup cavity. The present invention will be described in detail below through specific embodiments.

[0018] Figure 1 This is a schematic flowchart illustrating the control method for a vacuum generating device provided in an embodiment of the present invention. Figure 1 As shown, the method includes the following steps S110-S150.

[0019] S110. In response to the task instruction, activate the vacuum adsorption mode and obtain the control parameters for each working mode according to the task instruction; wherein, the working modes include vacuum adsorption mode, pressure holding and pressure replenishment coordination mode and vacuum release mode.

[0020] In this embodiment, in response to the received task instruction, the vacuum adsorption mode is activated. The task instruction is generated based on the type of workpiece to be adsorbed. Different workpiece types have different control parameters for the working mode, thereby ensuring the adsorption reliability of the entire vacuum operation process. The control parameters include the vacuum pump status, the solenoid valve opening and closing status, and the pressure target value. The vacuum pump status includes forward rotation, stop operation, and reverse rotation. The solenoid valve opening and closing status includes open and closed states. When the working mode is vacuum adsorption mode, the pressure target value is the contact judgment threshold. When the working mode is pressure holding and pressure replenishment coordination mode, the pressure target value is the target pressure holding range. When the working mode is vacuum release mode, the pressure target value is the atmospheric pressure release judgment threshold.

[0021] S120. After the solenoid valve is opened according to the control parameters corresponding to the vacuum adsorption mode, the vacuum pump is controlled to rotate forward.

[0022] In this embodiment, the solenoid valve is opened according to the control parameters corresponding to the vacuum adsorption mode. After the solenoid valve is successfully opened, the vacuum pump is controlled to rotate forward, thereby reducing the gas path pressure, provided that the safety pressure constraint is met. The entire vacuum operation process must always adhere to the safety pressure constraint, including that the real-time pressure value of the suction cup cavity must not be lower than the lower limit of the workpiece's allowable pressure and that the pressure change rate of the suction cup cavity must not exceed the safety threshold.

[0023] S130. The pressure sensor detects the real-time pressure value of the suction cup cavity and determines whether the real-time pressure value has dropped to the contact determination threshold, thereby obtaining the first determination result.

[0024] In this embodiment, after receiving the task instruction, the suction cup is controlled to contact the workpiece, the solenoid valve is opened, and the vacuum pump is made to rotate forward to quickly reduce the air pressure; the real-time pressure value of the suction cup cavity is detected by the pressure sensor, and it is determined whether the real-time pressure value has dropped to the contact determination threshold to obtain a first determination result; if the first determination result is negative, the real-time pressure value is detected again; if the first determination result is positive, it is determined that the suction cup has been effectively attached to the workpiece.

[0025] In one embodiment, after step S130, the method further includes: if the first determination result is yes, switching the current working mode to the pressure holding and pressure replenishment coordination mode, controlling the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode; reading the valve position signal of the solenoid valve to confirm whether the solenoid valve has been successfully closed; if it is confirmed that the solenoid valve has been successfully closed, controlling the vacuum pump to stop operating.

[0026] In this embodiment, under the pressure holding and pressure replenishment coordination mode, after the solenoid valve is closed, the valve position signal of the solenoid valve is read to confirm whether the solenoid valve has been successfully closed; when the solenoid valve is successfully closed, the vacuum pump is then controlled to stop operating, thereby reducing operating energy consumption and noise.

[0027] In one embodiment, after the solenoid valve is successfully closed and the vacuum pump is stopped, the method further includes: detecting the real-time pressure value of the suction cup cavity using a pressure sensor; if the real-time pressure value reaches the pressure compensation start threshold, controlling the vacuum pump to rotate forward and controlling the solenoid valve to open; and when the real-time pressure value drops to the pressure compensation stop threshold, controlling the solenoid valve to close and then controlling the vacuum pump to stop.

[0028] In this embodiment, under the pressure holding and pressure compensation coordinated mode, a pressure sensor monitors the real-time pressure value of the suction cup cavity. If the detected real-time pressure value reaches the pressure compensation start threshold, the vacuum pump is controlled to rotate forward, and the solenoid valve is controlled to open. When the detected real-time pressure value drops to the pressure compensation stop threshold, the solenoid valve is controlled to close, and the vacuum pump stops operating. This invention provides intermittent pressure compensation in a forward rotation manner, avoiding continuous constant compensation operation of the vacuum pump, effectively reducing ineffective energy loss, and also reducing the temperature rise accumulation of the pump body caused by long-term continuous operation, thus extending the overall service life of the equipment.

[0029] The entire vacuum operation process must always adhere to minimum start-up and stop time constraints, including that the interval between two adjacent solenoid valve actions is not less than the minimum valve action interval, the continuous operation time of the vacuum pump is not less than the minimum operation time, and the vacuum pump stop operation time is not less than the minimum stop operation time.

[0030] More specifically, when a higher priority instruction is triggered, the minimum start / stop time constraint is skipped directly; Example 1: In the pressure holding and pressure replenishment coordination mode, if the pressure change rate of the suction cup cavity is detected to rise rapidly and there is a risk of falling, the minimum start-stop time constraint is skipped, the vacuum pump is started immediately, and the solenoid valve is opened to perform emergency pressure replenishment. Example 2: If an emergency stop command is detected, the minimum start-stop time constraint and safety pressure constraint are skipped, and all drive outputs of the vacuum pump and solenoid valve are immediately cut off, and the entire machine stops.

[0031] In one embodiment, the step of controlling the vacuum pump to rotate forward and controlling the solenoid valve to open if the real-time pressure value is detected to reach the pressure compensation start threshold includes: controlling the vacuum pump to rotate forward and detecting the pressure value at the vacuum pump inlet in real time if the real-time pressure value is detected to reach the pressure compensation start threshold; and controlling the solenoid valve to open when the pressure value at the vacuum pump inlet is detected to reach the allowable vacuum level for valve opening.

[0032] In this embodiment, if the real-time pressure value is detected to reach the pressure compensation start threshold, the vacuum pump is controlled to rotate forward to form a stable negative pressure at the vacuum pump inlet; the pressure value at the vacuum pump inlet is detected in real time, and when the pressure value at the vacuum pump inlet is detected to reach the allowable vacuum level for valve opening, the solenoid valve is controlled to open, thereby achieving shock-free and stable pressure compensation.

[0033] S140. If the first judgment result is yes, switch the current working mode to the pressure holding and pressure replenishment coordination mode. After controlling the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode, control the vacuum pump to stop running, or control the vacuum pump to rotate forward and control the solenoid valve to open, so that the real-time pressure value of the suction cup cavity is kept within the target pressure holding range.

[0034] In this embodiment, the pressure holding and pressure replenishment coordination mode includes a pressure holding mode and a pressure replenishment mode. In the pressure holding and pressure replenishment coordination mode, the pressure holding mode and the pressure replenishment mode are switched intermittently according to the real-time pressure value, so that the real-time pressure value of the suction cup cavity is kept within the target pressure holding range.

[0035] In pressure holding mode, the solenoid valve is closed and the vacuum pump stops operating; in pressure compensation mode, the vacuum pump rotates forward and the solenoid valve is opened.

[0036] More specifically, after the suction cup effectively adheres to the workpiece, the system switches to a pressure-holding mode. Based on the control parameters corresponding to the pressure-holding and pressure-replenishing coordination mode, the solenoid valve is closed, and the vacuum pump stops operating. Subsequently, a pressure sensor monitors the real-time pressure value of the suction cup cavity. If the real-time pressure value reaches the pressure-replenishing start threshold, the system switches to a pressure-replenishing mode, controls the vacuum pump to rotate forward, and controls the solenoid valve to open. When the real-time pressure value drops to the pressure-replenishing stop threshold, the system switches to a pressure-holding mode, controls the solenoid valve to close, and controls the vacuum pump to stop operating.

[0037] S150. In response to the release command, the current working mode is switched to the vacuum breaking release mode. After the solenoid valve is opened according to the control parameters corresponding to the vacuum breaking release mode, the vacuum pump is reversed to blow air into the suction cup cavity, so that the suction cup cavity returns to normal pressure.

[0038] In this embodiment, in response to the release command, the current working mode is switched to the vacuum breaking release mode. The solenoid valve is opened according to the control parameters corresponding to the vacuum breaking release mode, so that the suction cup cavity is connected to the environment. Then, the vacuum pump is reversed to blow air into the suction cup cavity, so that the suction cup cavity is quickly restored to normal pressure, and the suction force is completely released to release the workpiece.

[0039] In one embodiment, after step S150, the method further includes: acquiring the vacuum pump status; if the vacuum pump status is a stopped operating state, controlling the solenoid valve to open according to the control parameters corresponding to the vacuum release mode, and then controlling the vacuum pump to reverse; if the vacuum pump status is a forward rotating state, controlling the vacuum pump to run at a reduced speed; when the speed of the vacuum pump drops to the reversing allowable threshold, controlling the vacuum pump to reverse according to the control parameters corresponding to the vacuum release mode.

[0040] In this embodiment, when the release command is received, the current working mode may be in the pressure replenishment mode. In the pressure replenishment mode, the vacuum pump rotates forward and the solenoid valve is open. Therefore, before the vacuum pump direction is switched to the reverse state, the forward rotation speed must be reduced to the reversal allowable threshold before the vacuum pump is controlled to reverse and air is injected into the suction cup cavity to complete the vacuum release. This reversal logic can avoid the instantaneous reverse impact current generated by the direct switching of the vacuum pump forward and reverse, and prevent the equipment from being damaged by overcurrent.

[0041] In one embodiment, the step of controlling the vacuum pump to reverse its direction after opening the solenoid valve according to the control parameters corresponding to the vacuum release mode if the vacuum pump is in a stopped state includes: if the vacuum pump is in a stopped state, controlling the solenoid valve to open according to the control parameters corresponding to the vacuum release mode and starting a timer; if the timer duration reaches the valve position confirmation compensation time, controlling the vacuum pump to reverse its direction.

[0042] In this embodiment, if the solenoid valve has a valve position feedback function, after the solenoid valve is opened, the valve position signal of the solenoid valve is read to confirm whether the solenoid valve has been successfully opened; when the solenoid valve is successfully opened, the vacuum pump is controlled to reverse; if the solenoid valve does not have a valve position feedback function, the solenoid valve is opened and a timer is started; if the timer duration reaches the valve position confirmation compensation time, the vacuum pump is controlled to reverse.

[0043] In one embodiment, if the vacuum pump is in forward rotation, after controlling the vacuum pump to reduce its speed, the method further includes: when the speed of the vacuum pump drops to the commutation allowable threshold, after waiting for the commutation dead time, controlling the vacuum pump to reverse according to the control parameters corresponding to the vacuum release mode.

[0044] In this embodiment, when the speed of the vacuum pump drops to the commutation allowable threshold, after waiting for the commutation dead zone time, the vacuum pump is controlled to reverse according to the control parameters corresponding to the vacuum release mode to avoid drive overcurrent and impeller impact.

[0045] In summary, the present invention has the following beneficial effects: 1. The present invention utilizes the forward and reverse rotation characteristics of the vacuum pump to achieve dual functions of vacuuming and vacuum breaking, eliminating the need for an additional vacuum breaking and gas filling mechanism and reducing hardware costs; 2. Multiple working modes work together to cover the entire vacuum operation process, improving the functional integration and adsorption reliability of the vacuum generating device; 3. In the pressure holding and pressure compensation coordination mode, the solenoid valve is closed and the vacuum pump operation is stopped, or intermittent pressure compensation is performed in the forward rotation mode, avoiding continuous constant compensation operation of the vacuum pump, effectively reducing ineffective power consumption, and reducing the temperature rise accumulation of the pump body due to long-term continuous operation, thus extending the overall service life of the equipment.

[0046] Figure 2 This is a schematic block diagram of the control device for a vacuum generating apparatus provided in an embodiment of the present invention. Figure 2 As shown, corresponding to the control method of the vacuum generating device described above, the present invention also provides a control device for a vacuum generating device. This device is configured in the electronic control module of the vacuum generating device. The vacuum generating device further includes a vacuum pump, a solenoid valve, and a suction cup. The electronic control module, the vacuum pump, and the solenoid valve are all assembled within a housing. The vacuum pump and the solenoid valve are both electrically connected to the electronic control module. The vacuum pump is a reversible vacuum pump. The working air port of the vacuum pump is connected to the first port of the solenoid valve, and the second port of the solenoid valve is connected to the suction cup cavity of the suction cup. The solenoid valve is used to control the opening and closing of the air passage between the vacuum pump and the suction cup cavity. For details, please refer to... Figure 2 The control device 700 of the vacuum generator includes: The activation unit 701 is used to activate the vacuum adsorption mode in response to a task instruction, and to acquire control parameters for each working mode according to the task instruction; wherein, the working modes include vacuum adsorption mode, pressure holding and pressure replenishment coordination mode, and vacuum release mode. The control unit 702 is used to control the vacuum pump to rotate forward after the solenoid valve is opened according to the control parameters corresponding to the vacuum adsorption mode. The judgment unit 703 is used to detect the real-time pressure value of the suction cup cavity through the pressure sensor, and to determine whether the real-time pressure value has dropped to the contact judgment threshold, so as to obtain a first judgment result; The first switching unit 704 is used to switch the current working mode to the pressure holding and pressure replenishment coordination mode if the first judgment result is yes. After controlling the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode, the vacuum pump is controlled to stop running, or the vacuum pump is controlled to rotate forward and the solenoid valve is controlled to open, so that the real-time pressure value of the suction cup cavity is kept within the target pressure holding range. The second switching unit 705 is used to switch the current working mode to the vacuum breaking release mode in response to the release command. After the solenoid valve is opened according to the control parameters corresponding to the vacuum breaking release mode, the vacuum pump is controlled to reverse and blow air into the suction cup cavity to restore the suction cup cavity to normal pressure.

[0047] In some embodiments, after performing the steps of detecting the real-time pressure value of the suction cup cavity through a pressure sensor, determining whether the real-time pressure value has dropped to the contact determination threshold, and obtaining a first determination result, the determination unit 703 is further configured to: If the first judgment result is yes, switch the current working mode to the pressure holding and pressure replenishment coordination mode, and control the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode; read the valve position signal of the solenoid valve to confirm whether the solenoid valve has been successfully closed; if it is confirmed that the solenoid valve has been successfully closed, control the vacuum pump to stop operating.

[0048] In some embodiments, after executing the step of controlling the vacuum pump to stop operating if the solenoid valve is successfully closed, the determination unit 703 is further configured to: The pressure sensor detects the real-time pressure value of the suction cup cavity; if the detected real-time pressure value reaches the pressure compensation start threshold, the vacuum pump is controlled to rotate forward and the solenoid valve is controlled to open; when the detected real-time pressure value drops to the pressure compensation stop threshold, the solenoid valve is controlled to close and the vacuum pump is controlled to stop operating.

[0049] In some embodiments, when the determination unit 703 executes the steps of controlling the vacuum pump to rotate forward and controlling the solenoid valve to open if the real-time pressure value is detected to reach the pressure replenishment start threshold, it is specifically used for: If the real-time pressure value is detected to reach the pressure compensation start threshold, the vacuum pump is controlled to rotate forward, and the pressure value at the vacuum pump inlet is monitored in real time; when the pressure value at the vacuum pump inlet is detected to reach the allowable vacuum level for valve opening, the solenoid valve is controlled to open.

[0050] In some embodiments, after performing the step of switching the current operating mode to the vacuum release mode in response to the release command, the second switching unit 705 is further configured to: Obtain the vacuum pump status; if the vacuum pump status is stopped, control the solenoid valve to open according to the control parameters corresponding to the vacuum release mode, and then control the vacuum pump to reverse; if the vacuum pump status is forward rotation, control the vacuum pump to reduce its speed; when the speed of the vacuum pump drops to the reversing allowable threshold, control the vacuum pump to reverse according to the control parameters corresponding to the vacuum release mode.

[0051] In some embodiments, when the second switching unit 705 executes the step of controlling the vacuum pump to reverse after controlling the solenoid valve to open according to the control parameters corresponding to the vacuum release mode if the vacuum pump is in a stopped operating state, it is specifically used for: If the vacuum pump is in a stopped state, the solenoid valve is opened according to the control parameters corresponding to the vacuum release mode, and a timer is started; if the timer duration reaches the valve position confirmation compensation time, the vacuum pump is controlled to reverse.

[0052] In some embodiments, after executing the step of controlling the vacuum pump to reduce its speed if the vacuum pump is in a forward rotation state, the second switching unit 705 is further configured to: When the speed of the vacuum pump drops to the commutation allowable threshold, after waiting for the commutation dead time, the vacuum pump is controlled to reverse according to the control parameters corresponding to the vacuum release mode.

[0053] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the control device and each unit of the above-mentioned vacuum generating device can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0054] The control device for the aforementioned vacuum generating apparatus can be implemented as a computer program, which can, for example... Figure 3 It runs on the electronic device shown.

[0055] Please see Figure 3 , Figure 3 This is a schematic block diagram of an electronic device provided in an embodiment of the present invention. The electronic device 800 can be a terminal or a server. The terminal can be an electronic device with communication functions. The server can be a standalone server or a server cluster composed of multiple servers.

[0056] See Figure 3 The electronic device 800 includes a processor 802, a memory, and a network interface 805 connected via a system bus 801. The memory may include a non-volatile storage medium 803 and internal memory 804.

[0057] The non-volatile storage medium 803 may store an operating system 8031 ​​and a computer program 8032. The computer program 8032 includes program instructions that, when executed, cause the processor 802 to perform a control method for a vacuum generator.

[0058] The processor 802 provides computing and control capabilities to support the operation of the entire electronic device 800.

[0059] The internal memory 804 provides an environment for the operation of the computer program 8032 in the non-volatile storage medium 803. When the computer program 8032 is executed by the processor 802, the processor 802 can execute a control method for a vacuum generating device.

[0060] This network interface 805 is used for network communication with other devices. Those skilled in the art will understand that... Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the electronic device 800 to which the present invention is applied. The specific electronic device 800 may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0061] The processor 802 is used to run a computer program 8032 stored in the memory to perform the following steps: In response to a task command, the vacuum adsorption mode is activated, and control parameters for each working mode are acquired according to the task command. These working modes include a vacuum adsorption mode, a pressure holding and replenishing coordination mode, and a vacuum release mode. Based on the control parameters corresponding to the vacuum adsorption mode, the solenoid valve is opened, and the vacuum pump rotates forward. A pressure sensor detects the real-time pressure value in the suction cup cavity, and it is determined whether the real-time pressure value has dropped to the contact threshold, resulting in a first judgment result. If the first judgment result is yes, the current working mode is switched to the pressure holding and replenishing coordination mode. Based on the control parameters corresponding to the pressure holding and replenishing coordination mode, the solenoid valve is closed, and the vacuum pump stops operating; alternatively, the vacuum pump rotates forward, and the solenoid valve opens, maintaining the real-time pressure value in the suction cup cavity within the target pressure holding range. In response to a release command, the current working mode is switched to the vacuum release mode. Based on the control parameters corresponding to the vacuum release mode, the solenoid valve is opened, and the vacuum pump reverses, blowing air into the suction cup cavity to restore the suction cup cavity to normal pressure.

[0062] In some embodiments, after the processor 802 implements the steps of detecting the real-time pressure value of the suction cup cavity through a pressure sensor, determining whether the real-time pressure value has dropped to the contact determination threshold, and obtaining a first determination result, it further implements the following steps: If the first judgment result is yes, switch the current working mode to the pressure holding and pressure replenishment coordination mode, and control the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode; read the valve position signal of the solenoid valve to confirm whether the solenoid valve has been successfully closed; if it is confirmed that the solenoid valve has been successfully closed, control the vacuum pump to stop operating.

[0063] In some embodiments, after implementing the step of controlling the vacuum pump to stop operating if the solenoid valve is successfully closed, the processor 802 further implements the following steps: The pressure sensor detects the real-time pressure value of the suction cup cavity; if the detected real-time pressure value reaches the pressure compensation start threshold, the vacuum pump is controlled to rotate forward and the solenoid valve is controlled to open; when the detected real-time pressure value drops to the pressure compensation stop threshold, the solenoid valve is controlled to close and the vacuum pump is controlled to stop operating.

[0064] In some embodiments, when the processor 802 implements the steps of controlling the vacuum pump to rotate forward and controlling the solenoid valve to open if the real-time pressure value is detected to reach the pressure replenishment start threshold, the specific implementation steps are as follows: If the real-time pressure value is detected to reach the pressure compensation start threshold, the vacuum pump is controlled to rotate forward, and the pressure value at the vacuum pump inlet is monitored in real time; when the pressure value at the vacuum pump inlet is detected to reach the allowable vacuum level for valve opening, the solenoid valve is controlled to open.

[0065] In some embodiments, after implementing the step of switching the current operating mode to the vacuum release mode in response to a release instruction, the processor 802 further implements the following steps: Obtain the vacuum pump status; if the vacuum pump status is stopped, control the solenoid valve to open according to the control parameters corresponding to the vacuum release mode, and then control the vacuum pump to reverse; if the vacuum pump status is forward rotation, control the vacuum pump to reduce its speed; when the speed of the vacuum pump drops to the reversing allowable threshold, control the vacuum pump to reverse according to the control parameters corresponding to the vacuum release mode.

[0066] In some embodiments, when the processor 802 controls the vacuum pump to reverse its direction after controlling the solenoid valve to open according to the control parameters corresponding to the vacuum release mode if the vacuum pump is in a stopped operating state, the specific steps are as follows: If the vacuum pump is in a stopped state, the solenoid valve is opened according to the control parameters corresponding to the vacuum release mode, and a timer is started; if the timer duration reaches the valve position confirmation compensation time, the vacuum pump is controlled to reverse.

[0067] In some embodiments, after implementing the step of controlling the vacuum pump to reduce its speed if the vacuum pump is in a forward rotation state, the processor 802 further implements the following steps: When the speed of the vacuum pump drops to the commutation allowable threshold, after waiting for the commutation dead time, the vacuum pump is controlled to reverse according to the control parameters corresponding to the vacuum release mode.

[0068] It should be understood that, in this embodiment of the invention, the processor 802 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0069] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program includes program instructions and can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0070] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When executed by a processor, the program instructions cause the processor to perform the following steps: In response to a task command, the vacuum adsorption mode is activated, and control parameters for each working mode are acquired according to the task command. These working modes include a vacuum adsorption mode, a pressure holding and replenishing coordination mode, and a vacuum release mode. Based on the control parameters corresponding to the vacuum adsorption mode, the solenoid valve is opened, and the vacuum pump rotates forward. A pressure sensor detects the real-time pressure value in the suction cup cavity, and it is determined whether the real-time pressure value has dropped to the contact threshold, resulting in a first judgment result. If the first judgment result is yes, the current working mode is switched to the pressure holding and replenishing coordination mode. Based on the control parameters corresponding to the pressure holding and replenishing coordination mode, the solenoid valve is closed, and the vacuum pump stops operating; alternatively, the vacuum pump rotates forward, and the solenoid valve opens, maintaining the real-time pressure value in the suction cup cavity within the target pressure holding range. In response to a release command, the current working mode is switched to the vacuum release mode. Based on the control parameters corresponding to the vacuum release mode, the solenoid valve is opened, and the vacuum pump reverses, blowing air into the suction cup cavity to restore the suction cup cavity to normal pressure.

[0071] In one embodiment, after executing the program instructions to detect the real-time pressure value of the suction cup cavity via a pressure sensor, determine whether the real-time pressure value has dropped to a contact determination threshold, and obtain a first determination result, the processor further implements the following steps: If the first judgment result is yes, switch the current working mode to the pressure holding and pressure replenishment coordination mode, and control the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode; read the valve position signal of the solenoid valve to confirm whether the solenoid valve has been successfully closed; if it is confirmed that the solenoid valve has been successfully closed, control the vacuum pump to stop operating.

[0072] In one embodiment, after executing the program instructions to implement the step of controlling the vacuum pump to stop operating if the solenoid valve is successfully closed, the processor further implements the following steps: The pressure sensor detects the real-time pressure value of the suction cup cavity; if the detected real-time pressure value reaches the pressure compensation start threshold, the vacuum pump is controlled to rotate forward and the solenoid valve is controlled to open; when the detected real-time pressure value drops to the pressure compensation stop threshold, the solenoid valve is controlled to close and the vacuum pump is controlled to stop operating.

[0073] In one embodiment, when the processor executes the program instructions to implement the step of controlling the vacuum pump to rotate forward and controlling the solenoid valve to open if the real-time pressure value is detected to reach the pressure replenishment start threshold, the specific implementation is as follows: If the real-time pressure value is detected to reach the pressure compensation start threshold, the vacuum pump is controlled to rotate forward, and the pressure value at the vacuum pump inlet is monitored in real time; when the pressure value at the vacuum pump inlet is detected to reach the allowable vacuum level for valve opening, the solenoid valve is controlled to open.

[0074] In one embodiment, after the processor executes the program instructions to switch the current operating mode to the vacuum release mode in response to the release instruction, it further implements the following steps: Obtain the vacuum pump status; if the vacuum pump status is stopped, control the solenoid valve to open according to the control parameters corresponding to the vacuum release mode, and then control the vacuum pump to reverse; if the vacuum pump status is forward rotation, control the vacuum pump to reduce its speed; when the speed of the vacuum pump drops to the reversing allowable threshold, control the vacuum pump to reverse according to the control parameters corresponding to the vacuum release mode.

[0075] In one embodiment, when the processor executes the program instructions to control the vacuum pump to reverse its direction after controlling the solenoid valve to open according to the control parameters corresponding to the vacuum release mode if the vacuum pump is in a stopped state, the specific steps are as follows: If the vacuum pump is in a stopped state, the solenoid valve is opened according to the control parameters corresponding to the vacuum release mode, and a timer is started; if the timer duration reaches the valve position confirmation compensation time, the vacuum pump is controlled to reverse.

[0076] In one embodiment, after the processor executes the program instructions to implement the step of controlling the vacuum pump to reduce its speed if the vacuum pump is in a forward rotation state, it further implements the following steps: When the speed of the vacuum pump drops to the commutation allowable threshold, after waiting for the commutation dead time, the vacuum pump is controlled to reverse according to the control parameters corresponding to the vacuum release mode.

[0077] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0078] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0079] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0080] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0081] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0082] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for a vacuum generating device, characterized in that, The method is applied to the electronic control module of a vacuum generating device. The vacuum generating device further includes a vacuum pump, a solenoid valve, and a suction cup. The electronic control module, the vacuum pump, and the solenoid valve are all assembled inside a housing. The vacuum pump and the solenoid valve are both electrically connected to the electronic control module. The vacuum pump is a reversible vacuum pump. The working air port of the vacuum pump is connected to the first port of the solenoid valve, and the second port of the solenoid valve is connected to the suction cup cavity of the suction cup. The solenoid valve is used to control the opening and closing of the air passage between the vacuum pump and the suction cup cavity. The method includes: In response to the task instruction, the vacuum adsorption mode is activated, and the control parameters for each working mode are obtained according to the task instruction; wherein, the working modes include vacuum adsorption mode, pressure holding and pressure replenishment coordination mode, and vacuum breaking and release mode; After the solenoid valve is opened according to the control parameters corresponding to the vacuum adsorption mode, the vacuum pump is controlled to rotate forward. The pressure sensor detects the real-time pressure value of the suction cup cavity and determines whether the real-time pressure value has dropped to the contact determination threshold to obtain the first determination result. If the first judgment result is yes, switch the current working mode to the pressure holding and pressure replenishment coordination mode. After controlling the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode, control the vacuum pump to stop running, or control the vacuum pump to rotate forward and control the solenoid valve to open, so that the real-time pressure value of the suction cup cavity is kept within the target pressure holding range. In response to the release command, the current working mode is switched to the vacuum release mode. After the solenoid valve is opened according to the control parameters corresponding to the vacuum release mode, the vacuum pump is reversed to blow air into the suction cup cavity, so that the suction cup cavity returns to normal pressure.

2. The control method for the vacuum generating device according to claim 1, characterized in that, After detecting the real-time pressure value of the suction cup cavity using a pressure sensor and determining whether the real-time pressure value has dropped to the contact determination threshold to obtain a first determination result, the method further includes: If the first judgment result is yes, switch the current working mode to the pressure holding and pressure replenishment coordination mode, and control the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode; Read the valve position signal of the solenoid valve to confirm whether the solenoid valve has been successfully closed; If the solenoid valve is confirmed to be successfully closed, the vacuum pump will be stopped.

3. The control method for the vacuum generating device according to claim 2, characterized in that, If the solenoid valve is successfully closed and the vacuum pump is stopped, the method further includes: The real-time pressure value of the suction cup cavity is detected by a pressure sensor; If the real-time pressure value is detected to reach the pressure compensation start threshold, the vacuum pump is controlled to rotate forward, and the solenoid valve is controlled to open. When the real-time pressure value is detected to drop to the pressure replenishment stop threshold, the solenoid valve is closed and the vacuum pump is stopped.

4. The control method for the vacuum generating device according to claim 3, characterized in that, If the real-time pressure value is detected to reach the pressure compensation start threshold, the vacuum pump is controlled to rotate forward, and the solenoid valve is controlled to open, including: If the real-time pressure value is detected to reach the pressure compensation start threshold, the vacuum pump is controlled to rotate forward, and the pressure value at the vacuum pump inlet is detected in real time. When the pressure at the vacuum pump inlet is detected to reach the allowable vacuum level for valve opening, the solenoid valve is controlled to open.

5. The control method for the vacuum generating device according to claim 1, characterized in that, After switching the current operating mode to the vacuum release mode in response to the release command, the method further includes: Get the vacuum pump status; If the vacuum pump is in a stopped state, the vacuum pump is reversed after the solenoid valve is opened according to the control parameters corresponding to the vacuum release mode. If the vacuum pump is in forward rotation, control the vacuum pump to run at a reduced speed. When the speed of the vacuum pump drops to the reversing allowable threshold, the vacuum pump is controlled to reverse according to the control parameters corresponding to the vacuum release mode.

6. The control method for the vacuum generating device according to claim 5, characterized in that, If the vacuum pump is in a stopped state, and the solenoid valve is opened according to the control parameters corresponding to the vacuum release mode, the vacuum pump is controlled to reverse, including: If the vacuum pump is in a stopped state, the solenoid valve is opened according to the control parameters corresponding to the vacuum release mode, and the timing is started. If the timing duration reaches the valve position confirmation compensation time, the vacuum pump will be reversed.

7. The control method for the vacuum generating device according to claim 5, characterized in that, If the vacuum pump is in forward rotation, after controlling the vacuum pump to reduce its speed, the method further includes: When the speed of the vacuum pump drops to the commutation allowable threshold, after waiting for the commutation dead time, the vacuum pump is controlled to reverse according to the control parameters corresponding to the vacuum release mode.

8. A control device for a vacuum generating apparatus, characterized in that, The device is configured in the electronic control module of the vacuum generating device. The vacuum generating device also includes a vacuum pump, a solenoid valve, and a suction cup. The electronic control module, the vacuum pump, and the solenoid valve are all assembled in a housing. The vacuum pump and the solenoid valve are electrically connected to the electronic control module. The vacuum pump is a reversible vacuum pump. The working air port of the vacuum pump is connected to the first port of the solenoid valve, and the second port of the solenoid valve is connected to the suction cup cavity of the suction cup. The solenoid valve is used to control the opening and closing of the air passage between the vacuum pump and the suction cup cavity. The device includes: The activation unit is used to activate the vacuum adsorption mode in response to a task instruction, and to acquire control parameters for each working mode according to the task instruction; wherein, the working modes include vacuum adsorption mode, pressure holding and pressure replenishment coordination mode, and vacuum release mode. The control unit is used to control the vacuum pump to rotate forward after the solenoid valve is opened according to the control parameters corresponding to the vacuum adsorption mode. The judgment unit is used to detect the real-time pressure value of the suction cup cavity through a pressure sensor, and to determine whether the real-time pressure value has dropped to the contact judgment threshold, so as to obtain a first judgment result. The first switching unit is used to switch the current working mode to the pressure holding and pressure replenishment coordination mode if the first judgment result is yes. After controlling the solenoid valve to close according to the control parameters corresponding to the pressure holding and pressure replenishment coordination mode, the unit controls the vacuum pump to stop running, or controls the vacuum pump to rotate forward and controls the solenoid valve to open, so that the real-time pressure value of the suction cup cavity is kept within the target pressure holding range. The second switching unit is used to switch the current working mode to the vacuum breaking release mode in response to the release command. After the solenoid valve is opened according to the control parameters corresponding to the vacuum breaking release mode, the vacuum pump is controlled to reverse and blow air into the suction cup cavity to restore the suction cup cavity to normal pressure.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method for the vacuum generating device as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which includes program instructions that, when executed by a processor, cause the processor to perform the control method of the vacuum generating device as described in any one of claims 1-7.

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