Flexible clamping jaw air source controller

Abstract

The utility model provides a flexible clamping jaw air source controller which structurally comprises a shell, a precise pressure regulating valve, various electromagnetic valves and a vacuum generator are integrated in the shell, and the controller precisely controls the on-off state of the elements to precisely regulate the pressure of flexible jaw driving air. Wherein the precise pressure regulating valve is responsible for initially regulating input air pressure, the various electromagnetic valves work cooperatively to realize positive pressure and can also be matched with the vacuum generator to provide negative pressure and various control modes such as pressure maintenance, and an electric control connecting module, a manual control module, a pressure control display module and a positive pressure regulating module are arranged outside the shell. A user can operate and monitor conveniently; therefore, the positive and negative pressure control device can provide stable, accurate and rapid positive and negative pressure control so as to be matched with the flexible claw to improve the related grabbing accuracy and flexibility, and meanwhile, the requirements of different working environments are met.

Description

Technical Field

[0001] This utility model relates to the field of automatic control technology, and more particularly to a flexible gripper air source controller. Background Technology

[0002] As a key component of a gripper system, the controller's function is to precisely control the gripper's movements to achieve operations such as grasping and handling objects. Existing controllers for flexible grippers have limitations in terms of control precision and flexibility. For example, traditional controllers often suffer from slow response speed and insufficient accuracy when switching between positive and negative pressure, which limits the application of grippers in precision operations.

[0003] However, with the development of automation technology, the design and function of mechanical gripper controllers have become increasingly complex. According to the flexible gripper in Taiwan's invention patent number TW113118961, its internal channels are designed in an elongated oval shape to further increase airflow and thus improve gripping force. Furthermore, the flexible fingers are reinforced with components at the finger joints in a vertical and horizontal manner, and by adjusting the number and position of these components, the overall deformation can be controlled more flexibly.

[0004] Therefore, in practical applications, in order to effectively utilize the structural characteristics of the aforementioned flexible gripper, a controller that can correspond to the flexible gripper and can quickly and conveniently switch between positive and negative pressure is needed. Utility Model Content

[0005] The main objective of this invention is to provide a flexible gripper gas source controller that solves existing problems and has the following advantages: 1. Precise positive and negative pressure control: Through the combination of a precision pressure regulating valve and multiple solenoid valves, precise control of the driving gas for the flexible gripper is achieved, providing stable positive and negative pressure output. 2. Fast response speed: The use of fast-response solenoid valves ensures the controller's rapid response to control commands, improving the system's dynamic performance. 3. Multifunctionality: In addition to providing positive and negative pressure output, it also provides pressure holding and pressure venting functions, meeting the needs of different working conditions.

[0006] The aforementioned flexible gripper gas source controller comprises: a housing with an externally mounted electrical control module, a manual control module, a pressure control display module, and a positive pressure adjustment module; a precision pressure regulating valve connected to an external gas pressure source inlet; a five-port three-position centrally closed solenoid valve installed within the housing and connected between the precision pressure regulating valve and the five-port three-position centrally closed gas control valve, the five-port three-position centrally closed gas control valve being connected to a three-port two-position normally closed solenoid valve and a gas pressure outlet; and a vacuum generator connected between the five-port three-position centrally closed solenoid valve and the five-port three-position centrally closed gas control valve; wherein, by controlling the on / off state of each solenoid valve, multiple control modes such as positive pressure, negative pressure, and pressure maintenance of the driving gas for the flexible gripper can be achieved.

[0007] When a gas is input from the inlet of the pressure source, its pressure is reduced by the precision pressure regulating valve, and then simultaneously opened by the five-port three-position central exhaust solenoid valve and the five-port three-position central closed pneumatic control valve to a positive pressure position B, the gas is finally output from the pressure outlet. Conversely, when a gas is input from the inlet of the pressure source, its pressure is reduced by the precision pressure regulating valve, and then simultaneously opened by the five-port three-position central exhaust solenoid valve and the five-port three-position central closed pneumatic control valve to a negative pressure position A, the gas is output from the pressure outlet in conjunction with the vacuum generator, and used to drive the flexible claw to operate under positive and negative pressure.

[0008] Optionally, the gas is depressurized by the precision pressure regulating valve, so that the five-port three-position central exhaust type solenoid valve and the five-port three-position central closed type pneumatic control valve are in a neutral position (0 position), so that the gas can form a pressure holding state at the gas pressure outlet end and the gas pressure source inlet end.

[0009] Optionally, when the three-port two-position normally closed solenoid valve is opened, it is simultaneously opened in a neutral position (0 position) along with the five-port three-position central exhaust solenoid valve and the five-port three-position central closed pneumatic control valve. The pressure sensor detects the pressure value and drives the three-port two-position normally closed solenoid valve to balance the gas output from the pneumatic outlet with the external atmospheric pressure, thereby emptying the residual pressure inside the housing and returning it to zero.

[0010] The beneficial effects of this utility model are:

[0011] This invention integrates a pressure regulating valve, a solenoid valve, and a pneumatic control valve, and connects them with various modules outside the housing to a PLC control system, enabling the controller to provide precise positive and negative pressure control to achieve the compliant gripping and releasing function of the soft claw.

[0012] Compared to existing solutions, this invention achieves precise positive and negative pressure control, enabling the soft gripper to smoothly grasp and release different objects. This effectively improves the control accuracy and flexibility of the soft gripper. Furthermore, the modular design makes the system easier to operate and provides different modes to meet various needs and application environments. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the appearance of this utility model.

[0014] Figure 2 This is a schematic diagram of the internal structure of this utility model.

[0015] Figure 3 This is a schematic diagram of the internal circuit of this utility model in its initial position.

[0016] Figure 4 This is a schematic diagram of the internal structure of this utility model in conjunction with the positive pressure air path.

[0017] Figure 5 This utility model is based on Figure 4 The internal circuit diagram is shown in the positive pressure air circuit diagram.

[0018] Figure 6 This is a schematic diagram of the internal structure of this utility model in conjunction with the negative pressure air circuit.

[0019] Figure 7 This utility model is based on Figure 6 The internal circuit diagram is shown in the negative pressure air circuit diagram.

[0020] Figure 8 This is a schematic diagram of the internal structure of this utility model and the pressure-maintaining air path.

[0021] Figure 9 This utility model is based on Figure 8 The internal circuit diagram is used to maintain the gas path.

[0022] Figure 10 This is a schematic diagram of the internal structure of this utility model in conjunction with the zeroing of air pressure.

[0023] Figure 11 This utility model is based on Figure 10 The internal circuit diagram is shown when the air pressure returns to zero.

[0024] The diagram is marked as follows:

[0025] 10. Shell

[0026] 101... Air pressure source inlet end

[0027] 102. ... Air pressure outlet end

[0028] 11. Electrical control connection module

[0029] 12. Manual control module

[0030] 13. Pressure control display module

[0031] 14. Positive pressure adjustment module

[0032] 20. Precision pressure regulating valve

[0033] 30. Five-port, three-position, center-exhaust solenoid valve

[0034] 40. Five-port, three-position, closed-loop pneumatic control valve

[0035] 50. Three-port two-position normally closed solenoid valve

[0036] 60. Vacuum generator

[0037] 61. Pressure sensor

[0038] 70. Gas

[0039] 71. Positive pressure at position B

[0040] 72. Negative pressure at point A

[0041] 73. ... Median O position

[0042] 80. Soft claw positive pressure clamping state

[0043] 90. ... Soft claw negative pressure relaxation state Detailed Implementation

[0044] Generally, the preferred and feasible embodiments of this utility model are described in conjunction with the accompanying drawings. Figures 1 to 11 The detailed description enhances the understanding of this utility model. This utility model is a flexible gripper air source controller, primarily used to work with a flexible gripper to achieve a positive pressure gripping state 80 for bending and approaching, and a negative pressure release state 90 for grasping. Its related structure includes: a housing 10, with an externally mounted electrical control module 11 for PLC connection and control, and corresponding functions for its associated ports; a manual control module 12 with buttons for driving positive pressure, air pressure reset, and driving negative pressure; a pressure display module 13 with a display screen and button controls for pressure display and fine-tuning; and a positive pressure adjustment module 14 with a physical knob for manual rotation adjustment.

[0045] A precision pressure regulating valve 20 is connected to an air pressure source inlet 101 outside the housing 10; a five-port three-position central exhaust solenoid valve 30 is installed inside the housing 10 and connected between the precision pressure regulating valve 20 and a five-port three-position central closed air control valve 40, which is connected to a three-port two-position normally closed solenoid valve 50 and an air pressure outlet 102; a vacuum generator 60 is connected between the five-port three-position central exhaust solenoid valve 30 and the five-port three-position central closed air control valve 40; and a pressure sensor 61 is disposed between the air pressure outlet 102 and the three-port two-position normally closed solenoid valve 50, which can transmit relevant data back to the pressure control display module 13 and the positive pressure adjustment module 14 for coordinated control.

[0046] When a gas 70 is input at 0.5 MPa from the gas pressure source inlet 101, and then reduced to 100 kPa by the precision pressure regulating valve 20, the five-port three-position central exhaust type solenoid valve 30 and the five-port three-position central closed type pneumatic control valve 40 are simultaneously opened to a positive pressure position B 71, and finally the gas 70 is output at 100 kPa from the gas pressure outlet 102.

[0047] The gas 70 is depressurized by the precision pressure regulating valve 20, causing the five-port three-position center-exhaust solenoid valve 30 and the five-port three-position center-closed pneumatic control valve 40 to be in a neutral position 0 73, so that the gas 70 can maintain pressure at the gas pressure outlet 102 and the gas pressure source inlet 101. Specifically, when the gas 70 is input from the gas pressure source inlet 101 at 0.5MPa, it is depressurized to 100kPa by the precision pressure regulating valve 20, and then the five-port three-position center-exhaust solenoid valve 30 and the five-port three-position center-closed pneumatic control valve 40 are opened simultaneously to a negative pressure position A 72. In conjunction with the vacuum generator 60, the gas 70 is converted from 100kPa to -90kPa, and then the gas 70 is output at -90kPa at the gas pressure outlet 102, which is used to drive the flexible claw to perform related bending approach and gripping actions under positive and negative pressure.

[0048] When the gas 70 is input at 0.5MPa from the gas pressure source inlet 101, it is reduced to 100kPa by the precision pressure regulating valve 20. Then, the five-port three-position mid-exhaust type solenoid valve 30 and the five-port three-position mid-close type pneumatic control valve 40 are simultaneously opened to a mid-position 0 position 73. The pressure sensor 61 detects whether the pressure value has reached the preset target value, so that the gas pressure outlet 102 keeps the gas 70 output at 100kPa or -90kPa to form a pressure holding state.

[0049] When the three-port two-position normally closed solenoid valve 50 is opened, it works in conjunction with the five-port three-position center-exhaust solenoid valve 30 and the five-port three-position center-closed pneumatic control valve 40, both opening to a neutral position 0 73. The pressure sensor 61 detects the pressure value and drives the three-port two-position normally closed solenoid valve 50, causing the gas 70 output from the gas outlet 102 to balance with the external atmospheric pressure. This process empties the residual pressure inside the housing 10, bringing it to zero and softening the soft claw, thus protecting or replacing the soft claw.

[0050] In summary, the modular design of the control area of ​​the housing (10) of this utility model not only makes the operation easy to understand, but also allows for the effective and precise control of positive and negative pressure by various types of valve components and circuit design. In addition, it can maintain pressure and return the internal residual pressure to zero, making the usage mode more flexible and meeting the needs of various processing environments.

Claims

1. A flexible gripper air source controller, characterized in that, The device comprises: a housing (10) with an externally mounted electrical control connection module (11), a manual control module (12), a pressure control display module (13), and a positive pressure adjustment module (14); a precision pressure regulating valve (20) connected to an external air pressure source inlet (101); a five-port three-position centrally closed solenoid valve (30) installed inside the housing (10) and connected between the precision pressure regulating valve (20) and a five-port three-position centrally closed pneumatic control valve (40), the five-port three-position centrally closed pneumatic control valve (40) being connected to a three-port two-position normally closed solenoid valve (50) and an air pressure outlet (102); a vacuum generator (60) connected between the five-port three-position centrally closed solenoid valve (30) and the five-port three-position centrally closed pneumatic control valve (40); and a pressure sensor (61) disposed at the air pressure outlet (102) and the... Between the three-port two-position normally closed solenoid valve (50); when a gas (70) is input from the gas pressure source inlet (101), it is depressurized by the precision pressure regulating valve (20), and then the five-port three-position center-exhaust solenoid valve (30) and the five-port three-position center-closed pneumatic control valve (40) are opened simultaneously to a positive pressure position B (71), and finally the gas (70) is output from the gas pressure outlet (102); when the gas (70) is input from the gas pressure source inlet (101), it is depressurized by the precision pressure regulating valve (20), and then the five-port three-position center-exhaust solenoid valve (30) and the five-port three-position center-closed pneumatic control valve (40) are opened simultaneously to a negative pressure position A (72), and the vacuum generator (60) outputs the gas (70) to the gas pressure outlet (102) for positive and negative pressure drive of the flexible claw.

2. The flexible gripper air source controller according to claim 1, characterized in that, The gas (70) is depressurized by the precision pressure regulating valve (20), so that the five-port three-position central exhaust type solenoid valve (30) and the five-port three-position central closed type pneumatic control valve (40) are in a neutral position O position (73), so that the gas (70) can form a pressure holding state at the gas pressure outlet end (102) and the gas pressure source inlet end (101).

3. The flexible gripper air source controller according to claim 2, characterized in that, When the three-port two-position normally closed solenoid valve (50) is opened and the five-port three-position center-exhaust solenoid valve (30) and the five-port three-position center-closed pneumatic control valve (40) are in the middle position O position (73), the three-port two-position normally closed solenoid valve (50) can enable the gas (70) output from the gas pressure outlet end (102) to balance with the external atmospheric pressure, thereby emptying the residual pressure inside the housing (10) and returning it to zero.

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