A pneumatic manipulator device for automated practical training.

Abstract

This utility model relates to the fields of automated teaching and pneumatic control technology, and particularly to a pneumatic manipulator device for automated training, comprising a basic frame, a horizontal drive component, a vertical drive component, an adsorption module, and a control system. The basic frame includes a horizontal demonstration board and a vertical equipment mounting component; the demonstration board is marked with boxes indicating workstations A and B. The horizontal drive component drives the vertical component to move horizontally via a transverse cylinder, with limit components at both ends. The vertical drive component uses vertical cylinders to lift and lower the adsorption module, and is equipped with a third limit component. The adsorption module includes a vacuum suction cup, a vacuum generator, and a pressure gauge to achieve workpiece adsorption and handling. The control system integrates components such as a PLC and circuit breakers, supporting manual / automatic mode switching and fault alarms. This device has a modular structure and clear control logic, helping students master pneumatic system design, PLC programming, and electromechanical integration skills, and is suitable for automated training scenarios.

Description

Technical Field

[0001] This utility model relates to the field of automated teaching and pneumatic control technology, and in particular to a pneumatic manipulator device for automated training. Background Technology

[0002] With the development of industrial automation technology, more and more enterprises are placing higher demands on personnel skilled in assembling and adjusting automated equipment. However, a significant problem exists in current vocational education: there is a considerable disconnect between teaching equipment and actual industrial applications. Specifically, existing pneumatic manipulators are mostly designed for production lines, with relatively complex structures and a lack of direct teaching guidance functions, such as clear workstation markings and visual feedback modules. This makes it difficult for students to intuitively understand the principles of pneumatic circuits and the concept of position control.

[0003] Secondly, there are significant safety hazards during practical operation. Existing pneumatic manipulators lack necessary safety features for teaching scenarios, such as emergency stop devices and operating status indicator lights. Furthermore, most electronic control components are enclosed, preventing trainees from observing the connections between the pneumatic and electrical circuits, severely impacting the effectiveness of fault diagnosis training. In addition, traditional pneumatic manipulators lack integrated sensor modules such as workpiece positioning detection and vacuum pressure monitoring, preventing trainees from completing the full "perception-decision-execution" control loop training using a single device, resulting in fragmented skills training.

[0004] Therefore, in order to make up for these shortcomings, it is necessary to design a dedicated teaching device that is structurally transparent, functionally integrated, and safe and controllable. Utility Model Content

[0005] This utility model provides a pneumatic manipulator device for automated training, aiming to solve the problem that existing pneumatic manipulators have complex structures and lack teaching guidance functions, making it difficult for trainees to understand the principles of pneumatic circuits and the concept of position control.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] This utility model provides a pneumatic manipulator device for automated training, comprising: a basic frame including a horizontally arranged demonstration board and a device mounting assembly vertically arranged to the demonstration board; the upper surface of the demonstration board is marked with rectangular boxes indicating workstations A and B, which are used to clearly identify the starting and ending points of workpiece handling, facilitating workstation positioning during training; a horizontal drive assembly mounted on the device mounting assembly; a vertical drive assembly connected to the drive end of the horizontal drive assembly; an adsorption module connected to the drive end of the vertical drive assembly; and a control system mounted on the device mounting assembly and electrically connected to the horizontal drive assembly, the vertical drive assembly, and the adsorption module.

[0008] Furthermore, the equipment mounting assembly includes a support column perpendicular to the demonstration board and an electrical control mounting box connected to the support column; the support column includes a pair of uprights perpendicular to the demonstration board and a T-shaped connector at the upper end of the uprights, and the horizontal drive assembly is connected to the short side of the T-shaped connector; the electrical control mounting box includes a vertically mounted mounting plate and a baffle frame surrounding the mounting plate, the mounting plate is connected to the long side of the T-shaped connector, and the control system is mounted on the mounting plate.

[0009] Furthermore, the baffle frame is provided with several ventilation holes for heat dissipation inside the electrical control installation box.

[0010] Furthermore, the upper surface of the demonstration board is provided with a handle to facilitate the handling of the device.

[0011] Further, the horizontal drive assembly includes a transverse guide rail mounting base, a transverse cylinder mounting base disposed at one end of the transverse guide rail mounting base, a transverse guide rail disposed on the transverse guide rail mounting base, a transverse guide groove matching and connected to the transverse guide rail, a first transverse equipment support and a second transverse equipment support respectively disposed at both ends of the transverse guide rail, a first limiting component disposed on the first transverse equipment support, a second limiting component disposed on the second transverse equipment support, and a transverse cylinder disposed on the transverse cylinder mounting base with its driving end connected to the vertical drive assembly; the transverse guide rail mounting base is connected to the short side of the T-shaped connector, and the transverse guide groove is connected to the vertical drive assembly; wherein, the first limiting component is used to detect the initial position of the vertical drive assembly above station A, the second limiting component is used to detect the end position of the vertical drive assembly above station B, and the transverse cylinder is used to drive the vertical drive assembly to move horizontally along the transverse guide rail direction.

[0012] Furthermore, the vertical drive assembly includes a vertical guide rail mounting base, upper and lower cylinder mounting bases disposed at the upper end of the vertical guide rail mounting base, a vertical equipment support member disposed at the other end of the vertical guide rail mounting base, a third limiting component disposed on the vertical equipment support member, a vertical guide rail disposed on the vertical guide rail mounting base, a vertical guide groove matching and connected to the vertical guide rail, and upper and lower cylinders disposed on the upper and lower cylinder mounting bases with their driving ends connected to the adsorption module; the vertical guide groove is connected to the adsorption module; wherein, the third limiting component is used to detect the positioning signal when the adsorption module descends to the workpiece gripping position, and the upper and lower cylinders are used to drive the adsorption module to move up and down along the vertical guide rail direction.

[0013] Furthermore, the adsorption module includes: an adsorption component mounting base connected to a vertical guide groove; a vacuum suction cup mounted below the adsorption component mounting base via a bracket for direct contact with the workpiece; a vacuum generator mounted on a mounting plate and connected to the vacuum suction cup via an air passage pipe for generating vacuum adsorption power; and a vacuum pressure gauge connected to the air passage pipe between the vacuum generator and the vacuum suction cup for monitoring vacuum pressure.

[0014] Furthermore, the control system includes, mounted on the mounting plate: a PLC controller: serving as the control core, implementing the sequential action logic of the pneumatic manipulator through programming; a circuit breaker: connected to an external power supply for circuit overload protection; a switching power supply: providing stable DC power to the device; a solenoid valve group: correspondingly controlling the movement direction of the horizontal and vertical cylinders, with each solenoid valve connected to the corresponding cylinder via an air pipeline; and a relay module: connected to the output terminal of the PLC controller via signal lines, used to drive the solenoid valves of the horizontal and vertical drive components.

[0015] Furthermore, a proximity switch is installed on the upper surface of the demonstration board corresponding to the B station position. This non-contact detection method is used to sense in real time whether a workpiece is present at the B station. The demonstration board also includes an indicator light module, electrically connected to the control system and the proximity switch via signal lines. This module includes: a workpiece arrival indicator light: when the proximity switch detects that a workpiece has arrived at the B station, the workpiece arrival indicator light illuminates, providing feedback on the station status; and a fault alarm light: when the control system detects abnormal conditions such as insufficient vacuum pressure or the cylinder not being in position, the fault alarm light flashes to indicate an alarm.

[0016] Furthermore, the indicator module integrates an emergency stop knob for cutting off the power to the device in an emergency.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. This utility model clearly defines the starting and ending points of workpiece handling by setting box markings for station A and station B on the demonstration board. Combined with the visualized pneumatic and electrical circuit layout, it makes it easier for trainees to intuitively understand the pneumatic circuit principle and position control concept, thus lowering the learning threshold.

[0019] 2. By integrating an emergency stop knob and an indicator light module, this utility model can quickly cut off the power supply in an emergency by using the emergency stop knob, and use the fault alarm light to provide real-time feedback on abnormal states such as insufficient vacuum pressure and cylinder not being in position, which significantly improves the safety during the training process.

[0020] 3. This utility model integrates mechanical structure (guide rail, cylinder), electrical control (PLC, relay), and sensor detection (proximity switch, vacuum pressure gauge) into a single device, which can form a complete control closed loop of "perception-decision-execution". It supports trainees to complete the entire process of skills training from mechanical installation and electrical wiring to program debugging, avoiding fragmented skills training.

[0021] 4. This utility model facilitates the handling of the device by setting a handle on the demonstration board and centrally installing the electronic control components on a detachable mounting plate. It also makes it easier for trainees to observe the gas pipeline connection relationship and troubleshoot faults, thus improving the ease of operation.

[0022] 5. This utility model supports both manual single-step debugging and automatic cyclic operation modes. In manual mode, trainees can learn the action logic of each component step by step, while in automatic mode, the industrial handling process is simulated. Combined with the fault simulation function, the training scenarios are enriched, and trainees' adaptability to actual industrial scenarios is improved. Attached Figure Description

[0023] Figure 1 This is a structural schematic diagram of the present invention from one perspective.

[0024] Figure 2 This is a structural schematic diagram from another perspective of the present invention.

[0025] Figure 3 This is a schematic diagram of the basic framework of this utility model.

[0026] Figure 4 This is a schematic diagram of the structure of the horizontal drive component of this utility model.

[0027] Figure 5 This is a schematic diagram of the vertical drive component and adsorption module of this utility model.

[0028] In the above figures, the component names corresponding to the reference numerals are as follows:

[0029] 1. Basic frame; 10. Demonstration board; 101. Handle; 11. Equipment installation components; 110. Support column; 1100. Upright column; 1101. T-connector; 111. Electrical control installation box; 1110. Mounting plate; 1111. Baffle frame; 1112. Vent hole;

[0030] 2. Horizontal drive assembly; 20. Transverse guide rail mounting base; 21. Transverse cylinder mounting base; 22. Transverse guide rail; 23. Transverse guide groove; 24. First transverse equipment support; 25. Second transverse equipment support; 26. First limiting assembly; 27. Second limiting assembly; 28. Transverse cylinder;

[0031] 3. Vertical drive assembly; 30. Vertical guide rail mounting base; 31. Upper and lower cylinder mounting base; 32. Vertical equipment support component; 33. Third limit assembly; 34. Vertical guide rail; 35. Vertical guide groove; 36. Upper and lower cylinders;

[0032] 4. Adsorption module; 40. Adsorption component mounting base; 41. Vacuum suction cup; 42. Bracket; 43. Vacuum generator;

[0033] 5. Control system; 50. PLC controller; 51. Circuit breaker; 52. Switching power supply; 53. Solenoid valve assembly; 54. Relay module;

[0034] 6. Proximity switch; 7. Indicator light module; 70. Workpiece arrival indicator light; 71. Fault alarm light; 72. Emergency stop knob. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of those features. In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] like Figure 1 and Figure 2As shown, the pneumatic manipulator device for automated training provided by this utility model includes a basic frame 1, a horizontal drive assembly 2, a vertical drive assembly 3, an adsorption module 4, and a control system 5. The basic frame 1 serves as the main support of the device. Its horizontally positioned demonstration board 10 has clearly printed A and B station boxes on its upper surface, serving as the starting and ending points for workpiece handling. The boxes are 100mm x 100mm in size and are printed in red silkscreen for easy positioning by trainees during training. Two handles 101 are symmetrically arranged at both ends of the demonstration board 10, and are fixed to the demonstration board 10 with M4 screws for easy transport of the entire device.

[0038] like Figure 3 As shown, the equipment mounting assembly 11, vertically connected to the demonstration board 10, includes a support column 110 and an electrical control mounting box 111. The support column 110 consists of two vertically fixed columns 1100 (made of 40×40mm aluminum alloy profiles) on the demonstration board 10 and a T-shaped connector 1101 at the top. The long side of the T-shaped connector 1101 is connected to the electrical control mounting box 111, and the short side is used to install the horizontal drive assembly 2. The mounting plate 1110 of the electrical control mounting box 111 is a 3mm thick cold-rolled steel plate with an anti-static coating. It has a semi-open structure formed by baffle frames 1111 around its perimeter. Several ventilation holes 1112 are evenly distributed on the baffle frames to meet the heat dissipation requirements of the internal electrical components. The mounting plate 1110 is fixed to the long side of the T-shaped connector 1101 with M6 screws, forming a modular mounting structure that facilitates observation of the internal air and electrical connections by trainees.

[0039] like Figure 4 As shown, the horizontal drive assembly 2 is mounted on the short side of the T-shaped connector 1101, including a transverse guide rail mounting base 20, a transverse cylinder 28, and a matching guide structure. The transverse guide rail mounting base 20 is made of aluminum alloy profile that matches the T-shaped connector and is fixed to the lower side of the T-shaped connector with bolts. The transverse guide rail 22 (model: HIWIN HG20, guide rail width 20mm) is mounted parallel to the guide rail mounting base, and both ends of the guide rail are fixed by the first transverse equipment support 24 and the second transverse equipment support 25 (both L-shaped brackets). The transverse guide groove 23 (with built-in linear bearing) that mates with the transverse guide rail 22 is connected to the vertical drive assembly 3 with bolts to achieve horizontal sliding guidance. The transverse cylinder 28 is a pen-shaped cylinder (Airtac MI20-150SU, cylinder diameter 20mm, stroke 150mm), which is installed on the transverse cylinder mounting base 21. Its piston rod is connected to the vertical drive assembly 3 through a coupling. The first limit assembly 26 and the second limit assembly 27 (both are magnetic induction proximity switches, model: Airtac PS-05) are installed on both sides of the cylinder to detect the initial and final positions of the vertical drive assembly above station A and station B. The proximity switches are fixed to the transverse equipment support through brackets, and the sensing distance is 5mm.

[0040] like Figure 5 As shown, the vertical drive assembly 3 is connected to the transverse guide groove 23 of the horizontal drive assembly 2, and includes a vertical guide rail mounting base 30, upper and lower cylinders 36, and a limiting mechanism. The vertical guide rail mounting base 30 has a U-shaped structure, and its top is fixed to the transverse guide groove 23 by bolts. The vertical guide rail 34 (model: HIWIN EG15, guide rail width 15mm) is vertically installed on both sides of the guide rail mounting base. The vertical guide groove 35 (with built-in linear bearing) is connected to the adsorption assembly mounting base 40 of the adsorption module 4 to achieve vertical sliding guidance. The upper and lower cylinders 36 are pen-shaped cylinders (Airtac MI20-75SU, cylinder diameter 20mm, stroke 75mm), installed on the upper and lower cylinder mounting base 31, and their piston rods are connected to the adsorption module 4 through threaded joints. The vertical equipment support 32 is fixed to the bottom of the guide rail mounting base, and the third limit component 33 (magnetic induction proximity switch, model: Airtac PS-05) is installed on it to detect the arrival signal when the adsorption module descends to the workpiece gripping position. The sensing distance is 5mm.

[0041] like Figure 5 As shown, the adsorption module 4 is connected to the vertical drive assembly 3 via a vertical guide groove 35. Its core components include vacuum suction cups 41, a vacuum generator 43, and a vacuum pressure gauge (not shown in the figure). Two vacuum suction cups 41 (e.g., PBFS15-4N, 15mm in diameter, with an oil-resistant rubber adsorption surface) are symmetrically mounted below the adsorption assembly mounting base 40 via aluminum alloy brackets 42. The bracket height is 30mm to ensure perpendicular contact between the suction cups and the workpiece surface. The vacuum generator 43 (model: EV-10, input air pressure 0.4-0.7MPa, vacuum degree up to -80kPa) is mounted on the side of the mounting plate 1110 of the electrical control mounting box 111. It is connected to the vacuum suction cups via a φ6mm air pipe (not shown in the figure), with the air pipe route arranged along the edge of the mounting plate and secured with pipe clamps. The vacuum pressure gauge (model: DP-101, range -100kPa-0kPa) is connected in series on the air passage between the vacuum generator and the suction cup, with the dial facing the demonstration board, so that students can monitor the vacuum pressure in real time. When the pressure is lower than -60kPa, the fault alarm of the control system 5 is triggered.

[0042] like Figure 2As shown, the control system 5 is integrated into the mounting plate 1110 of the electrical control mounting box 111. Its core components include a PLC controller 50, a circuit breaker 51, a switching power supply 52, a solenoid valve assembly 53, and a relay module 54. The PLC controller 50 is a Siemens S7-1200 series (for example, it has 14 digital inputs / 10 digital outputs), which implements sequential action logic through programming, with the program stored in the CPU's built-in flash memory. The circuit breaker 51 (model: Chint NM1-63, rated current 16A) is connected to an external 220V power supply for overload protection; the switching power supply 52 (model: Mean Well NES-50-24, input AC220V, output DC24V / 2A) provides stable DC power to the PLC, sensors, and relays. The solenoid valve assembly 53 includes two 2-position 5-way solenoid valves (model: Airtac 4V210-08), which control the movement direction of the transverse cylinder 28 and the up / down cylinder 36, respectively. Each solenoid valve is connected to the cylinder air passage (not shown in the figure) via a quick-connect connector. The relay module 54 (model: OMRON MY2NJ) is connected to the output terminal of the PLC controller 50 via a signal line to realize the drive control of the solenoid valves by a low-voltage signal. The relay contact capacity is 24V DC / 5A.

[0043] A proximity switch 6 (model: Turck NI10-U12-AP6X, non-contact inductive, 10mm detection distance) is embedded on the upper surface of demonstration board 10 corresponding to station B, used to sense in real time whether a workpiece is present at station B. Indicator module 7 is installed at the front of the demonstration board, including a workpiece arrival indicator 70 (green LED), a fault alarm light 71 (red LED), and an emergency stop knob 72 (mushroom head type, model: Schneider XB2-BE31C). When proximity switch 6 detects that a workpiece has arrived at station B, the PLC controls the workpiece arrival indicator 70 to light up; when the vacuum pressure gauge detects insufficient pressure or the cylinder limit switch fails to trigger, the fault alarm light 71 flashes, and the PLC outputs a stop signal. The emergency stop knob 72 is connected to the circuit breaker control circuit via a hard wire; rotating the knob in an emergency will cut off the equipment power supply, ensuring training safety.

[0044] The working principle of this device is as follows: When the trainee is debugging in manual mode, a single-step action is triggered by the button on the control cabinet. After receiving the button signal, the PLC sequentially controls the upper and lower cylinders 36 to extend (the third limit component 33 detects the position) → the vacuum generator 43 starts to adsorb the workpiece (the vacuum pressure gauge monitors the pressure) → the upper and lower cylinders retract → the horizontal cylinder 28 extends (the first limit component 26 detects the initial position of station A, and the second limit component 27 detects the end position of station B) → the upper and lower cylinders extend → the vacuum is released to put down the workpiece → the upper and lower cylinders retract → the horizontal cylinder retracts, completing a single cycle. In automatic mode, the PLC executes the above process in a loop according to the preset step logic to achieve continuous handling. During the training, trainees can observe the status of the relay indicator lights in the electrical control installation box, the airflow direction in the air pipeline, and the sensor feedback signals to master the complete process of "pneumatic system design → PLC programming → electromechanical integration". At the same time, through the fault simulation function (such as the failure of vacuum pressure due to manual disconnection of the air pipe), trainees can train their ability to troubleshoot practical problems such as sensor failure and air leakage.

[0045] In the above embodiments, the model numbers of each component are only illustrative examples. For instance, the transverse cylinder can be a pen-shaped cylinder of the same specifications (20mm diameter, 150mm stroke) from another brand, and the PLC controller can be replaced with another brand model with the same input / output interfaces, all of which can achieve the technical solution of this utility model. The device features a modular design, allowing each component to be independently disassembled and assembled, facilitating step-by-step training for students in mechanical structure assembly, electrical wiring, and program debugging, thus meeting the functional requirements of automated practical training.

[0046] It should be noted that all standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Furthermore, since this application is mainly used to protect mechanical devices, this application will not explain the control method and circuit connection in detail.

[0047] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A pneumatic manipulator device for automation practical teaching, characterized in that, include: The basic framework (1) includes a horizontally set demonstration board (10) and a device installation component (11) set vertically to the demonstration board. The upper surface of the demonstration board (10) is marked with square boxes for station A and station B. The square boxes are used to clearly indicate the starting and ending positions of workpiece handling, which facilitates station positioning in practical training. A horizontal drive assembly (2) is disposed on the device mounting assembly (11); The vertical drive component (3) is connected to the drive end of the horizontal drive component (2); The adsorption module (4) is connected to the driving end of the vertical drive assembly (3); The control system (5) is mounted on the equipment mounting assembly (11) and electrically connected to the horizontal drive assembly (2), the vertical drive assembly (3) and the adsorption module (4).

2. The pneumatic manipulator device according to claim 1, characterized in that The equipment mounting assembly (11) includes a support column (110) vertically arranged with the demonstration board (10) and an electrical control mounting box (111) connected to the support column (110); the support column (110) includes a pair of uprights (1100) vertically arranged on the demonstration board (10) and a T-shaped connector (1101) arranged on the upper end of the uprights (1100); the horizontal drive assembly (2) is connected to the short side of the T-shaped connector (1101); the electrical control mounting box (111) includes a vertically arranged mounting plate (1110) and a baffle frame (1111) arranged around the mounting plate (1110); the mounting plate (1110) is connected to the long side of the T-shaped connector (1101); and the control system (5) is arranged on the mounting plate (1110).

3. The pneumatic manipulator device according to claim 2, wherein The baffle frame (1111) is provided with several ventilation holes (1112) for heat dissipation inside the electrical control mounting box (111).

4. The pneumatic manipulator device according to claim 1, wherein The upper surface of the demonstration board (10) is provided with a handle (101) to facilitate the handling of the device.

5. The pneumatic manipulator device according to claim 2, wherein The horizontal drive assembly (2) includes a transverse guide rail mounting base (20), a transverse cylinder mounting base (21) disposed at one end of the transverse guide rail mounting base (20), a transverse guide rail (22) disposed on the transverse guide rail mounting base (20), a transverse guide groove (23) matching and connected to the transverse guide rail (22), a first transverse equipment support (24) and a second transverse equipment support (25) respectively disposed at both ends of the transverse guide rail (22), a first limiting component (26) disposed on the first transverse equipment support (24), and a second limiting component (27) disposed on the second transverse equipment support (25). The transverse cylinder (28) is mounted on the transverse cylinder mounting base (21) and its driving end is connected to the vertical drive assembly (3); the transverse guide rail mounting base (20) is connected to the short side of the T-shaped connector (1101), and the transverse guide groove (23) is connected to the vertical drive assembly (3); wherein, the first limiting component (26) is used to detect the initial position of the vertical drive assembly (3) above station A, the second limiting component (27) is used to detect the end position of the vertical drive assembly (3) above station B, and the transverse cylinder (28) is used to drive the vertical drive assembly (3) to move horizontally along the transverse guide rail (22).

6. The pneumatic manipulator device according to claim 5, wherein The vertical drive assembly (3) includes a vertical guide rail mounting base (30), an upper and lower cylinder mounting base (31) disposed at the upper end of the vertical guide rail mounting base (30), a vertical equipment support (32) disposed at the other end of the vertical guide rail mounting base (30), a third limiting assembly (33) disposed on the vertical equipment support (32), a vertical guide rail (34) disposed on the vertical guide rail mounting base (30), a vertical guide groove (35) matched and connected to the vertical guide rail (34), and an upper and lower cylinder (36) disposed on the upper and lower cylinder mounting base (31) and whose driving end is connected to the adsorption module (4); the vertical guide groove (35) is connected to the adsorption module (4); wherein, the third limiting assembly (33) is used to detect the positioning signal when the adsorption module (4) descends to the workpiece gripping position, and the upper and lower cylinder (36) is used to drive the adsorption module (4) to move up and down along the vertical guide rail (34).

7. The pneumatic manipulator device according to claim 6, characterized in that, The adsorption module (4) includes: The adsorption component mounting base (40) is connected to the vertical guide groove (35); A vacuum suction cup (41) is mounted below the adsorption assembly mounting base (40) via a bracket (42) for direct contact with the workpiece; A vacuum generator (43) is mounted on a mounting plate (1110) and connected to a vacuum suction cup (41) via an air passage pipe to generate vacuum suction power. A vacuum pressure gauge is connected to the gas pipeline between the vacuum generator (43) and the vacuum suction cup (41) to monitor the vacuum pressure.

8. The pneumatic manipulator device according to claim 7, characterized in that The control system (5) includes components disposed on the mounting plate (1110): PLC controller (50): As the control core, it realizes the sequential action logic of the pneumatic manipulator through programming; Circuit breaker (51): Connected to an external power source for circuit overload protection; Switching power supply (52): Provides a stable DC power supply for the device; Solenoid valve group (53): corresponding to control the movement direction of transverse cylinder (28) and up and down cylinder (36). Each solenoid valve is connected to the corresponding cylinder through an air passage. Relay module (54): Connected to the output terminal of PLC controller (50) via signal line, used to drive the solenoid valves of horizontal drive component (2) and vertical drive component (3).

9. The pneumatic manipulator device according to claim 8, characterized in that The upper surface of the demonstration board (10) is equipped with a proximity switch (6) corresponding to the position of station B. The non-contact detection method is used to sense in real time whether there is a workpiece at station B. The demonstration board (10) is also equipped with an indicator light module (7), which is electrically connected to the control system (5) and the proximity switch (6) via signal lines, including: Workpiece arrival indicator (70): When the proximity switch (6) detects that the workpiece has arrived at station B, the workpiece arrival indicator (70) lights up to provide feedback on the station status; Fault alarm light (71): When the control system (5) detects an abnormal state of the device, the fault alarm light (71) flashes to sound an alarm.

10. The pneumatic manipulator device according to claim 9, characterized in that The indicator module (7) integrates an emergency stop knob (72) for cutting off the power supply to the equipment in an emergency.

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