CN-122008284-A - Portable pneumatic clamp and control method thereof

CN122008284ACN 122008284 ACN122008284 ACN 122008284ACN-122008284-A

Abstract

The invention discloses a portable pneumatic clamp and a control method thereof, the portable pneumatic clamp comprises a shell, one end of the shell is provided with a quick-change connector, one end of the quick-change connector is provided with an internal connection air tap, the other end of the quick-change connector is detachably provided with a flexible clamping jaw, an air pump and a control valve assembly are fixedly arranged in the shell, a driving air circuit system is formed by communicating the air pump, the control valve assembly and the internal connection air tap through a pipeline, a control circuit board is further arranged in the shell, a positive pressure control button and a negative pressure control button are arranged on the shell, and a power supply assembly or a power supply plug is further fixedly arranged in the shell. The pneumatic clamp and the control method use the air pump and the control valve assembly to realize the positive and negative pressure switching of the flexible clamping jaw, and the control method is simpler and more convenient to operate.

Inventors

ZHANG FAN
YANG SONGWEN
LIU ZHICHENG
SUN BIN
SHEN KAI

Assignees

苏州柔触机器人科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260408

Claims (10)

1. The portable pneumatic clamp is characterized by comprising a shell which is convenient to hold, wherein one end of the shell is provided with a quick-change connector, one end of the quick-change connector is provided with an internal connection air tap, the other end of the quick-change connector is detachably provided with a flexible clamping jaw, an air pump and a control valve assembly are fixedly installed in the shell, a driving air circuit system for driving the flexible clamping jaw to open and close is formed by communicating the air pump, the control valve assembly and the internal connection air tap through a pipeline, a control circuit board electrically connected with the air pump and the control valve assembly is further arranged in the shell, a positive pressure control button and a negative pressure control button for operating the control circuit board are installed on the shell, the positive pressure control button and the negative pressure control button control the driving air circuit system to change the driving air pressure in the flexible clamping jaw so as to open and close the flexible clamping jaw, and a power supply assembly or a power supply plug is further fixed in the shell.
2. The portable pneumatic clamp of claim 1, wherein the control valve assembly comprises a first electromagnetic valve and a second electromagnetic valve, the housing is further fixed with a gas path connector, the gas outlet of the gas pump is communicated with one of the interfaces of the first electromagnetic valve, the other interface of the first electromagnetic valve is communicated with the first interface of the gas path connector, the second interface of the gas path connector is communicated with the internal connection gas tap, the gas inlet of the gas pump is communicated with one of the interfaces of the second electromagnetic valve, and the other interface of the second electromagnetic valve is communicated with the third interface of the gas path connector.
3. The portable pneumatic clamp of claim 2, wherein an air pressure sensor is further fixed in the housing, and the air pressure sensor is communicated with the fourth interface of the air passage connector.
4. The portable pneumatic clamp of claim 1, wherein the quick-change connector is a magnetic quick-change connector, the magnetic quick-change connector comprises a connecting sleeve fixed on the shell, a permanent magnet is fixed in an inner cavity of the connecting sleeve, the inner connecting air tap is arranged on an upper plate portion of the connecting sleeve, a flexible claw connector is magnetically arranged below the permanent magnet in the inner cavity of the connecting sleeve, the flexible claw is arranged on the flexible claw connector, an air channel connector is arranged on the flexible claw connector, and the inner connecting air tap is communicated with the air channel connector through an air guide connecting structure.
5. The portable pneumatic clamp according to claim 4, wherein the air guide connection structure comprises an air guide pipe section arranged on the inner side surface of the upper plate part of the connecting sleeve, an air guide through hole communicated with the internal connecting air tap is formed in the air guide pipe section, and the air guide pipe section penetrates through the permanent magnet, is inserted into the air channel connection port and is in sealing fit with the air channel connection port.
6. The portable pneumatic clamp of claim 5, wherein an angle positioning structure is arranged between the inner cavity of the connecting sleeve and the flexible claw connector, the angle positioning structure comprises a polygonal inner cavity section arranged at the lower section of the inner cavity of the connecting sleeve, and correspondingly, the flexible claw connector is provided with a polygonal positioning head matched with the polygonal inner cavity section.
7. The portable pneumatic clamp according to claim 1, wherein the quick-change connector comprises a connecting sleeve fixed on the shell, the upper plate part of the connecting sleeve is provided with an internal connection air tap, the flexible clamping jaw is fixed on the flexible jaw connector, the flexible jaw connector is provided with an air channel connecting port, the internal connection air tap is communicated with the air channel connecting port through an air guide connecting structure, and the flexible jaw connector is fixed with the connecting sleeve through a threaded connecting structure or a buckle connecting structure.
8. A control method of a portable pneumatic clamp is characterized in that the control method is used for controlling the portable pneumatic clamp as in claim 1 and comprises the following control modes: S1, a first working mode, wherein the mode continuously operates according to a set positive pressure mode, and the air circuit system is driven to continuously output positive pressure to the flexible clamping jaw to enable the flexible clamping jaw to open or close until the maximum positive pressure value is reached; continuously pressing the negative pressure control button to drive the gas circuit system to switch into a negative pressure mode for operation, and continuously outputting negative pressure to the flexible clamping jaws by the gas circuit system to enable the flexible clamping jaws to be closed or opened until reaching a maximum negative pressure value; s2, a second working mode, wherein the mode continuously operates according to a set negative pressure mode, the air channel system is driven to continuously output negative pressure to the flexible clamping jaw to enable the flexible clamping jaw to open or close until reaching a maximum negative pressure value, the positive pressure control button is continuously pressed down, the air channel system is driven to switch to the positive pressure mode to operate, the air channel system is driven to continuously output positive pressure to the flexible clamping jaw to enable the flexible clamping jaw to close or open until reaching the maximum positive pressure value to keep pressure, and the air channel system is driven to continuously operate according to the set negative pressure mode after the positive pressure control button is released; and S3, in a manual mode, the air pump runs according to an operation mode of an operator, when the operator continuously presses the positive pressure control button, the air circuit system is driven to continuously output positive pressure to the flexible clamping jaw until the operator releases the positive pressure control button before the flexible clamping jaw reaches a set maximum positive pressure value, the released flexible clamping jaw is in a pressure maintaining state, and when the operator continuously presses the negative pressure control button, the air circuit system is driven to continuously output negative pressure to the flexible clamping jaw until the operator releases the negative pressure control button before the flexible clamping jaw reaches the set maximum negative pressure value, and the released flexible clamping jaw is in the pressure maintaining state.
9. A control method of a portable pneumatic clamp as set forth in claim 8, wherein the driving air circuit system further comprises a first electromagnetic valve and a second electromagnetic valve, the first electromagnetic valve is connected between an air outlet of the air pump and the flexible clamping jaw, the second electromagnetic valve is connected between an air inlet of the air pump and the flexible clamping jaw, when positive pressure is output, the second electromagnetic valve breaks the air circuit between the air inlet of the air pump and the flexible clamping jaw, the first electromagnetic valve is opened, the air pump starts to supply air to the flexible clamping jaw through the first electromagnetic valve to enable the air to be in a positive pressure state, when negative pressure is output, the first electromagnetic valve breaks the air circuit between the air outlet of the air pump and the flexible clamping jaw, the second electromagnetic valve is opened, the air pump starts to pump air in the flexible clamping jaw to enable the air to be in a negative pressure state, when the flexible clamping jaw is in a pressure maintaining state, when the flexible clamping jaw is in a stop state, the first electromagnetic valve and the second electromagnetic valve enable the air circuit between the flexible clamping jaw and the air outlet of the air inlet of the air pump to be in a positive pressure state, and the flexible clamping jaw is in an initial state after the air pressure is restored.
10. A control method of a portable pneumatic clamp as set forth in claim 9, wherein the maximum positive pressure value and the maximum negative pressure value are adjustable, and wherein the maximum positive pressure value, the maximum negative pressure value and the current air pressure value are displayed simultaneously in the pneumatic clamp.

Description

Portable pneumatic clamp and control method thereof Technical Field The invention relates to a pneumatic clamp, in particular to a portable pneumatic clamp and a control method thereof. Background In the field of industrial automation, the robot arm end gripping action is mainly accomplished by a rigid robot gripper or vacuum chuck. However, the rigid mechanical gripper is difficult to grasp soft and fragile objects in a nondestructive manner due to the fact that the strength is difficult to control. The vacuum chuck is difficult to adapt to a special-shaped object with rough surface and open holes in the carrying process. This results in limitations in both application scenarios. The flexible mechanical finger is made of elastic materials, so that the flexible and fragile objects can be grabbed without damaging the objects. Conventional flexible jaws are generally used in industry, and require the flexible jaw to be secured to a support frame, and then the flexible jaw is in communication with a control system via an air tube, for example, two inventions with grant publication number CN216464657U and grant publication number CN223518823U each describe securing the flexible jaw to a mounting plate or mounting frame. And the mounting bracket can be fixed at the tail end of the manipulator so as to realize clamping. The invention with the authorization bulletin number of CN207027311U discloses a novel flexible chuck, a flexible clamp and a flexible clamping pen thereof, wherein the flexible clamping pen is portable and can be conveniently used in daily life, but the flexible clamping pen is used for controlling the opening and closing of the flexible chuck in a piston pressing mode, manual operation is more laborious, especially the pressing stroke can not be long during manual pressing, so that the generated positive and negative pressure value is smaller, a larger flexible chuck can not be used, and the clamping force of the flexible chuck is difficult to control. Disclosure of Invention The first technical problem to be solved by the invention is to provide the portable pneumatic clamp, which uses the air pump and the control valve assembly to realize the positive and negative pressure switching of the flexible clamping jaw, and is simpler to operate. The second technical problem to be solved by the invention is to provide a control method of the portable pneumatic clamp, which has a plurality of working modes for controlling the opening and closing of the flexible clamping jaw on the pneumatic clamp, is simple and labor-saving to operate, and can control the clamping force more accurately. In order to solve the first technical problem, the portable pneumatic clamp comprises a shell which is convenient to hold, wherein one end of the shell is provided with a quick-change connector, one end of the quick-change connector is provided with an internal connection air tap, the other end of the quick-change connector is detachably provided with a flexible clamping jaw, an air pump and a control valve assembly are fixedly arranged in the shell, a driving air circuit system for driving the flexible clamping jaw to open and close is formed by communicating the air pump, the control valve assembly and the internal connection air tap through a pipeline, a control circuit board which is electrically connected with the air pump and the control valve assembly is further arranged in the shell, a positive pressure control button and a negative pressure control button for operating the control circuit board are arranged on the shell, the positive pressure control button and the negative pressure control button control the driving air circuit system to change the driving air pressure in the flexible clamping jaw to open and close, and close a power supply assembly or an external connection power supply plug is further fixed in the shell. As a preferred scheme, the control valve assembly comprises a first electromagnetic valve and a second electromagnetic valve, the shell is also fixedly provided with an air passage connector, the air outlet of the air pump is communicated with one of the interfaces of the first electromagnetic valve, the other interface of the first electromagnetic valve is communicated with the first interface of the air passage connector, the second interface of the air passage connector is communicated with an internal connection air tap, the air inlet of the air pump is communicated with one of the interfaces of the second electromagnetic valve, and the other interface of the second electromagnetic valve is communicated with the third interface of the air passage connector. As a preferable scheme, an air pressure sensor is also fixed in the shell, and the air pressure sensor is communicated with a fourth interface of the air path connector. As a preferred scheme, quick change joint is that magnetism is inhaled quick change joint, magnetism is inhaled quick change joint and is in including fixing adapter