Integrated speed-regulating air path for pneumatic manipulator

Abstract

The utility model relates to an integrated type speed regulation gas path for pneumatic manipulator, include: pressure regulating valve, first electromagnetic valve, second electromagnetic valve, third electromagnetic valve, fourth electromagnetic valve, first execution element, second execution element, third execution element, fourth execution element, the gas inlet end of pressure regulating valve is connected with the gas outlet of gas source, the first gas outlet end of pressure regulating valve is connected with first execution element through first electromagnetic valve, the second gas outlet end of pressure regulating valve is connected with second execution element through second electromagnetic valve, the third gas outlet end of pressure regulating valve is connected with third execution element through third electromagnetic valve, the fourth gas outlet end of pressure regulating valve is connected with fourth execution element through fourth electromagnetic valve, beneficial effect is: makes each execution element have separate exhaust branch, and each execution element exhausts mutual non -interference, and exhaust flow is greatly increased simultaneously, and will not affect exhaust speed because of exhaust " blockage ".

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically an integrated speed-regulating air circuit for pneumatic robotic arms. Background Technology

[0002] Pneumatic transmission has been widely used in light-duty robotic arms or automated equipment due to its advantages such as no pollution, simple structure, low maintenance cost, and convenient gas source. In practical applications, to meet usage requirements, multiple cylinders often need to operate collaboratively. This necessitates multiple solenoid directional valves to control the direction of cylinder movement and multiple speed control valves to control the speed of cylinder movement. Currently, some pneumatic robotic arms mainly suffer from the following disadvantages: 1. Multiple solenoid valves are installed on a single solenoid valve seat, sharing a single air inlet and an exhaust outlet. This results in high exhaust pressure and limited cylinder movement speed. 2. When a cylinder exhaust malfunctions, it is difficult to quickly determine whether the problem lies with the cylinder itself, the exhaust system, or other cylinder interference issues, making troubleshooting difficult. Utility Model Content

[0003] This utility model addresses the technical problems existing in the prior art by providing an integrated speed-regulating air circuit for pneumatic manipulators.

[0004] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: An integrated speed-regulating air circuit for a pneumatic manipulator, comprising: a pressure regulating valve, a first solenoid valve, a second solenoid valve, a third solenoid valve, a fourth solenoid valve, a first actuator, a second actuator, a third actuator, and a fourth actuator; The inlet of the pressure regulating valve is connected to the outlet of the air source; The first outlet of the pressure regulating valve is connected to the first actuator through the first solenoid valve, the second outlet of the pressure regulating valve is connected to the second actuator through the second solenoid valve, the third outlet of the pressure regulating valve is connected to the third actuator through the third solenoid valve, and the fourth outlet of the pressure regulating valve is connected to the fourth actuator through the fourth solenoid valve. As a further technical solution, the second solenoid valve is connected to the rodless chamber of the second actuator via a first speed control valve, and the second solenoid valve is connected to the rod chamber of the second actuator via a second speed control valve.

[0005] As a further technical solution, the outlet end of the second solenoid valve is connected to the inlet end of the muffler.

[0006] As a further technical solution, the outlet end of the first solenoid valve is connected to the inlet end of the silencer.

[0007] As a further technical solution, one outlet of the third solenoid valve is connected to a third speed control valve, and the other outlet is connected to a fourth speed control valve.

[0008] As a further technical solution, one outlet of the fourth solenoid valve is connected to a fifth speed control valve, and the other outlet is connected to a sixth speed control valve.

[0009] As a further technical solution, a fifth solenoid valve is also included, wherein the air inlet of the fifth solenoid valve is connected to the rod chamber of the fourth actuator, and the air outlet of the fifth solenoid valve is connected to the seventh speed control valve.

[0010] As a further technical solution, both the first solenoid valve and the second solenoid valve are single-control solenoid valves.

[0011] The beneficial effects of this utility model are: each actuator has a separate exhaust branch, and the exhaust of each actuator does not interfere with each other. At the same time, the exhaust flow rate is greatly increased, and the exhaust speed will not be affected by exhaust "blockage", thus preventing the actuator speed from being limited. In addition, when a single actuator malfunctions, it will not affect other actuators, making troubleshooting much faster; Finally, each actuator uses a separate speed control valve for speed regulation, resulting in more stable and precise speed control. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of an integrated speed-regulating air circuit for a pneumatic manipulator according to the present invention, wherein the cylinder rod extends in the fourth actuator; Figure 2 This is a schematic diagram of an integrated speed-regulating air circuit for a pneumatic manipulator according to the present invention, wherein the cylinder rod in the fourth actuator retracts. Figure 3 This is a schematic diagram of an integrated speed-regulating air circuit for a pneumatic manipulator according to the present invention, wherein the cylinder rod in the fourth actuator extends rapidly; Figure 4 This is a three-dimensional structural diagram of the various solenoid valves of this utility model installed on a solenoid valve seat. Figure 5 This is a three-dimensional structural diagram of the various speed control valves of this utility model installed on a fixed plate.

[0013] The attached diagram lists the components represented by each number as follows: Pressure regulating valve 1, first solenoid valve 2, second solenoid valve 3, third solenoid valve 4, fourth solenoid valve 5, first actuator 6, second actuator 7, third actuator 8, fourth actuator 9, air source 10, solenoid valve seat 11, first speed regulating valve 12, second speed regulating valve 13, silencer 14, third speed regulating valve 15, fourth speed regulating valve 16, fifth speed regulating valve 17, sixth speed regulating valve 18, fifth solenoid valve 19, seventh speed regulating valve 20, fixing plate 21. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0015] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0016] In the description of this application, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to implement and use the present invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the present invention can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the present invention with unnecessary detail. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0017] Example 1 See Figures 1-3This embodiment provides an integrated speed-regulating air circuit for a pneumatic manipulator, including a pressure regulating valve 1, a first solenoid valve 2, a second solenoid valve 3, a third solenoid valve 4, a fourth solenoid valve 5, a first actuator 6, a second actuator 7, a third actuator 8, and a fourth actuator 9; the inlet end of the pressure regulating valve 1 is connected to the outlet end of the air source 10; the first outlet end of the pressure regulating valve 1 is connected to the first actuator 6 through the first solenoid valve 2, the second outlet end of the pressure regulating valve 1 is connected to the second actuator 7 through the second solenoid valve 3, the third outlet end of the pressure regulating valve 1 is connected to the third actuator 8 through the third solenoid valve 4, and the fourth outlet end of the pressure regulating valve 1 is connected to the fourth actuator 9 through the fourth solenoid valve 5.

[0018] It should be noted that the pressure regulating valve 1 is a filter pressure regulating valve, which connects the air source 10 to the air inlet of the solenoid valve seat 11 after passing through the pressure regulating valve 1. That is, the first solenoid valve 2, the second solenoid valve 3, the third solenoid valve 4, and the fourth solenoid valve 5 are all mounted on the solenoid valve seat 11 (e.g., Figure 4 For example, the first actuator 6 is a pneumatic gripper, and the second actuator 7, the third actuator 8, and the fourth actuator 9 are all double-acting cylinders.

[0019] See Figures 1-3 In the specific implementation process, the second solenoid valve 3 is connected to the rodless chamber of the second actuator 7 through the first speed control valve 12, and the second solenoid valve 3 is connected to the rod chamber of the second actuator 7 through the second speed control valve 13. Through the design of the first speed control valve 12 and the second speed control valve 13, the extension speed of the rod chamber and the rodless chamber of the second actuator 7 can be controlled separately.

[0020] Furthermore, the outlet of the second solenoid valve 3 is connected to the inlet of the muffler 14, so that when exhaust is required in the second actuator 7, it can be discharged through the muffler 14.

[0021] The outlet of the first solenoid valve 2 is connected to the inlet of the muffler 14, that is, when the first actuator 6 exhausts, it can be discharged through the muffler 14.

[0022] See Figures 1-3 In the specific implementation process, one outlet of the third solenoid valve 4 is connected to the third speed control valve 15, and the other outlet is connected to the fourth speed control valve 16. That is, when the rod in the third actuator 8 extends, the gas in the rod chamber of the third actuator 8 is discharged through the third solenoid valve 4 and the fourth speed control valve 16; when the rod in the third actuator 8 retracts, the gas in the rodless chamber of the third actuator 8 is discharged through the third solenoid valve 4 and the third speed control valve 15.

[0023] See Figures 1-3 In the specific implementation process, one outlet of the fourth solenoid valve 5 is connected to the fifth speed control valve 17, and the other outlet is connected to the sixth speed control valve 18. That is, when the rod in the fourth actuator 9 extends, the gas in the rod chamber of the fourth actuator 9 is discharged through the fourth solenoid valve 5 and the sixth speed control valve 18; when the rod in the fourth actuator 9 retracts, the gas in the rodless chamber of the fourth actuator 9 is discharged through the fourth solenoid valve 5 and the fifth speed control valve 17.

[0024] In the specific implementation process, a fifth solenoid valve 19 is also included. The air inlet of the fifth solenoid valve 19 is connected to the rod chamber of the fourth actuator 9, and the air outlet of the fifth solenoid valve 19 is connected to the seventh speed control valve 20.

[0025] For example, both the first solenoid valve 2 and the second solenoid valve 3 are single-control solenoid valves.

[0026] For example, the first solenoid valve 2, the second solenoid valve 3, the third solenoid valve 4, the fourth solenoid valve 5, and the fifth solenoid valve 19 are all installed on the same solenoid valve seat 11. At this time, the solenoid valve seat 11 has a total of one air inlet P1 (connected to the air outlet of the pressure regulating valve 1) and seven exhaust ports (two exhaust ports are connected to two silencers 14, and the other five exhaust ports R1, R2, R3, R4, and R5 are respectively connected to the third speed regulating valve 15, the fourth speed regulating valve 16, the fifth speed regulating valve 17, the sixth speed regulating valve 18, and the seventh speed regulating valve 20). This makes the different exhaust ports of each actuator independent of each other, resulting in faster exhaust speed and faster movement speed of the actuator.

[0027] When the first actuator 6 is a pneumatic gripper, and the second actuator 7, the third actuator 8, and the fourth actuator 9 are all double-acting cylinders, the second actuator 7 can correspond to a swinging motion, the third actuator 8 can correspond to a forward and backward motion, and the fourth actuator 9 can correspond to a up and down motion.

[0028] It should be noted that the solenoid valve seat 11 is provided with two mufflers 14. One muffler 14 is used for exhaust when the cylinder rod of the second actuator 7 extends, and the other muffler 14 is used for exhaust when the cylinder rod of the second actuator 7 retracts.

[0029] It should be noted that in this utility model, each speed control valve (such as the first speed control valve 12 to the seventh speed control valve 20) can be installed on the same fixed plate 21 (e.g. Figure 5 This makes operation more convenient.

[0030] This utility model is implemented as follows: Taking the fourth actuator 9 as an example, such as a double-acting cylinder; 1. When the fourth actuator 9 is in the extended state: The coil of the fourth solenoid valve 5 is energized, the valve core moves to the left, and compressed air enters from the P1 inlet of the solenoid valve seat 11, passes through the fourth solenoid valve 5, and enters the rodless chamber of the fourth actuator 9, causing the cylinder rod in the fourth actuator 9 to extend. The air in the rod chamber of the fourth actuator 9 is discharged into the atmosphere through the fourth solenoid valve 5, the R4 outlet of the solenoid valve seat 11, and the sixth speed control valve 18. The extension speed of the cylinder rod is controlled by the sixth speed control valve 18. (See also) Figure 1 ) 2. When the fourth actuator 9 is in the retracted state: The coil of the fourth solenoid valve 5 is de-energized, the valve core moves to the right, and compressed air enters from the P1 inlet of the solenoid valve seat 11, passes through the fourth solenoid valve 5, and enters the rod chamber of the fourth actuator 9, causing the cylinder rod in the fourth actuator 9 to retract. The air in the rodless chamber of the fourth actuator 9 is discharged into the atmosphere through the fourth solenoid valve 5, the R3 outlet of the solenoid valve seat 11, and the fifth speed control valve 17. The extension speed of the cylinder rod is controlled by the fifth speed control valve 17. (See also) Figure 2 ) The operating principles of the second actuator 7 and the third actuator 8 are the same as those of the fourth actuator 9 in steps 1 and 2 above, so they will not be described in detail.

[0031] 3. When the cylinder rod in the fourth actuator 9 extends rapidly: the coils of the fourth solenoid valve 5 and the fifth solenoid valve 19 are de-energized, and the air in the rod chamber of the fourth actuator 9 is discharged into the atmosphere through two branches: One branch is: the rod chamber of the fourth actuator 9 → the fourth solenoid valve 5 → the R4 exhaust port of the solenoid valve seat 11 → the sixth speed control valve 18; Another branch is: the rod chamber of the fourth actuator 9 → the fifth solenoid valve 19 → the R5 outlet of the solenoid valve seat 11 → the seventh speed control valve 20; (see...) Figure 3 ) By using two exhaust branches to increase exhaust flow, the fourth actuator 9 cylinder rod can extend more quickly.

[0032] In this embodiment, multiple actuators use the same air inlet but different air outlets, and the actuators do not interfere with each other; at the same time, all air inlets and outlets can be integrated onto a single solenoid valve seat 11 (see...). Figure 4 The structure is simple, and wiring and piping are more convenient and quick; in addition, installing each speed control valve on the same fixed plate makes operation more convenient.

[0033] Speed ​​control valves are installed at the outlet ends of the rod-side and rodless-side chambers of the second actuator 7, the third actuator 8, and the fourth actuator 9, which can adjust the extension and retraction of the cylinder rod respectively; furthermore, speed control valves are provided at the outlet ends of the second actuator 7, the third actuator 8, and the fourth actuator 9, which can adjust each element individually.

[0034] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0035] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0036] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. An integrated speed-regulating air circuit for a pneumatic manipulator, characterized in that, Includes a pressure regulating valve (1), a first solenoid valve (2), a second solenoid valve (3), a third solenoid valve (4), a fourth solenoid valve (5), a first actuator (6), a second actuator (7), a third actuator (8), and a fourth actuator (9); The inlet of the pressure regulating valve (1) is connected to the outlet of the air source (10); The first outlet of the pressure regulating valve (1) is connected to the first actuator (6) through the first solenoid valve (2), the second outlet of the pressure regulating valve (1) is connected to the second actuator (7) through the second solenoid valve (3), the third outlet of the pressure regulating valve (1) is connected to the third actuator (8) through the third solenoid valve (4), and the fourth outlet of the pressure regulating valve (1) is connected to the fourth actuator (9) through the fourth solenoid valve (5).

2. The integrated speed-regulating air circuit for a pneumatic manipulator according to claim 1, characterized in that, The second solenoid valve (3) is connected to the rodless chamber of the second actuator (7) via a first speed control valve (12), and the second solenoid valve (3) is connected to the rod chamber of the second actuator (7) via a second speed control valve (13).

3. An integrated speed-regulating air circuit for a pneumatic manipulator according to claim 2, characterized in that, The outlet of the second solenoid valve (3) is connected to the inlet of the silencer (14).

4. An integrated speed-regulating air circuit for a pneumatic manipulator according to claim 3, characterized in that, The outlet of the first solenoid valve (2) is connected to the inlet of the silencer (14).

5. An integrated speed-regulating air circuit for a pneumatic manipulator according to claim 1, characterized in that, One outlet of the third solenoid valve (4) is connected to the third speed control valve (15), and the other outlet is connected to the fourth speed control valve (16).

6. An integrated speed-regulating air circuit for a pneumatic manipulator according to claim 1, characterized in that, The fourth solenoid valve (5) has a fifth speed control valve (17) connected to one of its outlets and a sixth speed control valve (18) connected to the other outlet.

7. An integrated speed-regulating air circuit for a pneumatic manipulator according to claim 1, characterized in that, It also includes a fifth solenoid valve (19), the inlet of which is connected to the rod chamber of the fourth actuator (9), and the outlet of which is connected to the seventh speed control valve (20).

8. An integrated speed-regulating air circuit for a pneumatic manipulator according to claim 7, characterized in that, Both the first solenoid valve (2) and the second solenoid valve (3) are single-control solenoid valves.

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