CN110980279B

CN110980279B - Gas path control system and method, robot, control device and readable storage medium

Info

Publication number: CN110980279B
Application number: CN201911185637.1A
Authority: CN
Inventors: 王阳
Original assignee: Shenzhen Lan Pangzi Machine Intelligence Co Ltd
Current assignee: Shenzhen Lan Pangzi Machine Intelligence Co Ltd
Priority date: 2019-11-27
Filing date: 2019-11-27
Publication date: 2021-10-19
Anticipated expiration: 2039-11-27
Also published as: CN110980279A

Abstract

The invention discloses a gas circuit control system and method, a robot, control equipment and a readable storage medium, comprising: the electromagnetic valve assembly is arranged on the confluence device, so that single airflow enters from the confluence device and flows to the electromagnetic valve assembly; the electromagnetic valve assembly is respectively connected to the double-guide-rod cylinder, the telescopic cylinder assembly and the vacuum generator through air pipes; the guide rod cylinder and the telescopic cylinder assembly are respectively connected with the suction tool assembly to drive the suction tool assembly to move and fit with an article; one end of the air distribution device is connected to the vacuum generator through an air pipe, and the vacuum port is connected to the suction tool assembly through the air pipe, so that the suction tool assembly sucker can generate vacuum adsorption on articles; the other end of the air distribution device is connected to the other port of the electromagnetic valve which is connected with the vacuum generator in the same way through an air pipe, so that the air flow flowing out of the electromagnetic valve blows back to destroy the vacuum generated by the sucker of the suction tool assembly to release articles. The invention can realize single air source to meet the multi-point and multi-mode air using requirements, save the space of the air path and pipeline and realize the control integration.

Description

Gas path control system and method, robot, control device and readable storage medium

Technical Field

The invention relates to the field of gas circuit control, in particular to a gas circuit control system and method, a robot, control equipment and a readable storage medium.

Background

At present, in industrial production, generally adopt the arm to automatically pick carton article to alleviate staff's working strength, improve work efficiency. The robot arm generally includes a suction assembly with a suction cup, and the robot arm body drives the suction assembly to move over an object to be gripped, and the suction cup thereof sucks the object to bring the object to a stacking position of the object.

In the prior art, an air channel formed by an air cylinder is generally adopted to control the fixed adsorption of a sucker assembly. In the prior art, the cylinder and the sucker are generally controlled by an independent air circuit, so that the air circuit pipeline space is complex, the control is dispersed, and the integrated control is not facilitated.

Disclosure of Invention

In view of this, the gas circuit control system and method, the robot, the control device and the readable storage medium provided by the embodiments of the present invention can realize that a single gas source meets the multi-point and multi-mode gas demand, save the space of the gas circuit and the pipeline, and realize the control integration.

The technical scheme adopted by the invention for solving the technical problems is as follows:

according to an aspect of an embodiment of the present invention, there is provided a pneumatic control system for an end effector, the pneumatic control system including: the vacuum pump comprises a suction tool assembly, a double-guide-rod cylinder, a telescopic cylinder assembly, an electromagnetic valve assembly, a vacuum generator, a confluence device and a gas distribution device; wherein:

the solenoid valve assembly is arranged on the confluence device, so that a single air flow enters from the confluence device and flows to the solenoid valve assembly;

the electromagnetic valve assembly is respectively connected to the double-guide-rod air cylinder, the telescopic air cylinder assembly and the vacuum generator through air pipes;

the double-guide-rod cylinder and the telescopic cylinder assembly are respectively connected with the suction tool assembly, and the suction tool assembly is driven to move and fit with an article under the control of the electromagnetic valve connected with the double-guide-rod cylinder and the telescopic cylinder assembly;

one end of the air distribution device is connected to the vacuum generator through an air pipe, and a vacuum port of the air distribution device is connected to the suction tool assembly through an air pipe so that a suction disc of the suction tool assembly generates vacuum to adsorb articles; the other end of the air distribution device is connected to the other port of the electromagnetic valve which is connected with the vacuum generator through an air pipe, so that the air flow flowing out of the electromagnetic valve is subjected to back blowing after passing through the air distribution device to destroy the vacuum generated by the sucker of the suction tool assembly, and articles are released.

In one possible design, the solenoid valve assembly includes at least a first solenoid valve, a second solenoid valve, a third solenoid valve, and a fourth solenoid valve, each of the solenoid valves including a first port and a second port.

In one possible design, the vacuum generator includes a first port connected to the first port of the fourth solenoid valve through a gas pipe, and a vacuum port connected to one end of the gas distribution device.

In one possible design, the gas distribution device comprises a first connection port, a second connection port and a plurality of vacuum ports, the first connection port of the gas distribution device is connected to the vacuum port of the vacuum generator, and the plurality of vacuum ports are connected to the suction tool assembly through a gas pipe, so that the gas flow flowing out of the first port of the fourth electromagnetic valve passes through the vacuum generator, and the suction cup of the suction tool assembly is vacuumized under the communication effect of the vacuum ports and the suction tool assembly to adsorb the articles; and a second connecting port of the air distribution device is connected to a second port of the fourth electromagnetic valve through an air pipe, so that the air flow flowing out of the second port of the fourth electromagnetic valve passes through the air distribution device and then is subjected to back blowing to destroy the vacuum generated by the sucker of the suction tool assembly, and articles are released.

In one possible design, the double-guide-rod cylinder is connected with the first electromagnetic valve through an air pipe, and the suction tool assembly is driven to perform telescopic movement in the horizontal direction under the control of the first electromagnetic valve.

In one possible design, the double-guide-rod cylinder comprises a first air inlet port and a second air inlet port which are respectively connected with a first port and a second port of the first electromagnetic valve through air pipes; the first port of the first electromagnetic valve is electrified to conduct an air pipe air path connected with the first air inlet port of the double-guide-rod air cylinder, so that the double-guide-rod air cylinder drives the suction tool assembly to extend in the horizontal direction; and the second port of the first electromagnetic valve is electrified to enable the air pipe air path connected with the second air inlet port of the double-guide-rod air cylinder to be conducted, so that the double-guide-rod air cylinder drives the suction tool assembly to contract in the horizontal direction.

In one possible design, the telescopic cylinder assembly at least comprises a first telescopic cylinder and a second telescopic cylinder, and the first telescopic cylinder and the second telescopic cylinder are oppositely arranged and installed on the same sliding rod body; the two telescopic cylinders are respectively connected with the suction tool assembly and respectively connected with the second electromagnetic valve and the third electromagnetic valve through air pipes, and the suction tool assembly is driven to stretch in the vertical direction under the control of the second electromagnetic valve and the third electromagnetic valve.

In one possible design, the first telescopic cylinder and the second telescopic cylinder both comprise a third air inlet port and a fourth air inlet port, and are respectively connected with the first port and the second port of the second electromagnetic valve and the third electromagnetic valve through air pipes; the first port of the second electromagnetic valve and the first port of the third electromagnetic valve are electrified to enable the air pipe and the air passage connected with the third air inlet ports of the first telescopic cylinder and the second telescopic cylinder to be communicated, so that the first telescopic cylinder and the second telescopic cylinder drive the suction tool assembly to extend in the vertical direction; and the second port of the second electromagnetic valve and the second port of the third electromagnetic valve are electrified to ensure that the air pipe air passage connected with the fourth air inlet ports of the first telescopic cylinder and the second telescopic cylinder is communicated, so that the telescopic cylinder drives the suction tool assembly to contract in the vertical direction.

According to another aspect of the invention, a robot is provided, which comprises a mechanical arm assembly and an end effector, wherein the end effector comprises the gas circuit control system according to the embodiment of the invention.

According to another aspect of the present invention, there is provided a pneumatic control method for an end effector to grasp an article, the pneumatic control method comprising:

a confluence device for receiving a single air flow and flowing to a solenoid valve assembly, wherein the solenoid valve assembly is installed on the confluence device and comprises at least two solenoid valves, and each solenoid valve comprises a first port and a second port;

opening a first port of at least one electromagnetic valve, driving a double-guide-rod cylinder or/and a telescopic cylinder assembly to extend, and further driving a suction tool assembly to move to an article grabbing point, wherein the double-guide-rod cylinder and the telescopic cylinder are respectively connected with the electromagnetic valve through air pipes, and the double-guide-rod cylinder and the telescopic cylinder assembly are respectively connected with the suction tool assembly;

open another the first port of solenoid valve, control air current flow through vacuum generator, produce the vacuum and through divide the gas device with inhale a plurality of sucking discs intercommunication of utensil subassembly, so that inhale the sucking disc of utensil subassembly and produce the vacuum, adsorb article, the first port of solenoid valve pass through the trachea with vacuum generator connects, vacuum generator's vacuum mouth passes through the trachea and connects divide gas device one end, divide the gas device to include a plurality of vacuum mouths, a plurality of vacuum mouths pass through the trachea with a plurality of sucking discs are connected.

In a possible design, after opening the first port of at least one of the solenoid valves to drive the dual-guide-rod cylinder or/and the telescopic cylinder assembly to extend and further drive the suction tool assembly to move to the article grabbing point, the method further comprises:

and opening a second port of at least one electromagnetic valve, driving the double-guide-rod air cylinder or/and the telescopic air cylinder assembly to contract, and further driving the suction tool assembly to move and fit the article.

In one possible design, the solenoid valve assembly includes at least a first solenoid valve, a second solenoid valve, a third solenoid valve, and a fourth solenoid valve, each of the solenoid valves including a first port and a second port;

the double-guide-rod cylinder comprises a first air inlet port and a second air inlet port, and is respectively connected with a first port and a second port of the first electromagnetic valve through air pipes;

the telescopic cylinder assembly at least comprises a first telescopic cylinder and a second telescopic cylinder, the first telescopic cylinder and the second telescopic cylinder respectively comprise a third air inlet port and a fourth air inlet port, and the first air inlet port and the second air inlet port are respectively connected with the first port and the second port of the second electromagnetic valve and the third electromagnetic valve through air pipes;

a first port and a second port of the fourth electromagnetic valve are respectively connected with the vacuum generator and one end of the gas distribution device through gas pipes; and the vacuum port of the vacuum generator is connected with the other end of the gas distribution device.

According to another aspect of the present invention, there is provided a pneumatic circuit control method for an end effector to release an article, the pneumatic circuit control method comprising:

opening one the second port of solenoid valve, control air current flow through divide the gas device, and then destroy divide the inside vacuum cavity of gas device to blow off the air current from a plurality of sucking discs of suction tool subassembly, thereby release article, the one end of dividing the gas device is passed through the trachea and is connected vacuum generator for produce the vacuum cavity, the other end of dividing the gas device pass through the trachea with the second port of solenoid valve is connected, divide the gas device still to include a plurality of vacuum mouths, a plurality of vacuum mouths pass through the trachea and are connected with a plurality of sucking discs.

In a possible design, the opening the second port of one of the solenoid valves and controlling the airflow through the air distribution device further includes:

and opening a second port of at least one other electromagnetic valve, driving a double-guide-rod cylinder or/and a telescopic cylinder assembly to contract, and further driving a suction tool assembly to move to an initial preset position, wherein the double-guide-rod cylinder and the telescopic cylinder are respectively connected with the electromagnetic valve through air pipes, and the double-guide-rod cylinder and the telescopic cylinder assembly are respectively connected with the suction tool assembly.

According to another aspect of the present invention, there is provided a control apparatus including: the gas path control method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the computer program realizes the steps of the gas path control method provided by the embodiment of the invention when being executed by the processor.

According to another aspect of the present invention, a readable storage medium is provided, where a program of a gas circuit control method is stored, and the program of the gas circuit control method implements the steps of the gas circuit control method provided in the embodiments of the present invention when executed by a processor.

Compared with the related art, the gas path control system and method, the robot, the control device and the readable storage medium provided by the embodiment of the invention are used for an end effector and comprise the following components: the vacuum pump comprises a suction tool assembly, a double-guide-rod cylinder, a telescopic cylinder assembly, an electromagnetic valve assembly, a vacuum generator, a confluence device and a gas distribution device; wherein: the solenoid valve assembly is arranged on the confluence device, so that a single air flow enters from the confluence device and flows to the solenoid valve assembly; the electromagnetic valve assembly is respectively connected to the double-guide-rod air cylinder, the telescopic air cylinder assembly and the vacuum generator through air pipes; the double-guide-rod cylinder and the telescopic cylinder assembly are respectively connected with the suction tool assembly, and the suction tool assembly is driven to move and fit with an article under the control of the electromagnetic valve connected with the double-guide-rod cylinder and the telescopic cylinder assembly; one end of the air distribution device is connected to the vacuum generator through an air pipe, and a vacuum port of the air distribution device is connected to the suction tool assembly through an air pipe so that a suction disc of the suction tool assembly generates vacuum to adsorb articles; the other end of the air distribution device is connected to the other port of the electromagnetic valve which is connected with the vacuum generator through an air pipe, so that the air flow flowing out of the electromagnetic valve is subjected to back blowing after passing through the air distribution device to destroy the vacuum generated by the sucker of the suction tool assembly, and articles are released. According to the embodiment of the invention, the electromagnetic valve assembly is respectively connected to the double-guide-rod air cylinder, the telescopic air cylinder assembly and the vacuum generator through the air pipes, the double-guide-rod air cylinder and the telescopic air cylinder assembly are respectively connected with the suction tool assembly, the air distribution device is respectively connected with the vacuum generator and the vacuum generator through the air pipes and is used for enabling a single air flow to each electromagnetic valve after entering from the confluence device, and each electromagnetic valve respectively controls the air path work of the sucker of the suction tool assembly and the air path work of the double-guide-rod air cylinder and the telescopic air cylinder assembly, so that the adsorption of the sucker of the suction tool assembly and the telescopic functions of the double-guide-rod air cylinder and the telescopic air cylinder assembly are realized, the multi-point and multi-mode air using requirements of a single air source are met, the air path pipeline space is saved, and the control integration is realized.

Drawings

Fig. 1 is a schematic structural diagram of a gas circuit control system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a suction device assembly in the gas path control system according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a gas path control system according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a solenoid valve assembly and a combiner according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a vacuum generator according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a gas separation device according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a robot provided in an embodiment of the present invention;

fig. 8 is a schematic flow chart of the air path control method for the end effector to grasp an article according to the embodiment of the present invention;

fig. 9 is a schematic flow chart of the air path control method for the end effector to release the article according to the embodiment of the present invention;

fig. 10 is a schematic structural diagram of a control device according to an embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

In one embodiment, as shown in fig. 1, the present invention provides a pneumatic circuit control system for an end effector, the pneumatic circuit control system 100 comprising: the vacuum cleaner comprises a suction tool assembly 10, a double-guide-rod air cylinder 20, a telescopic air cylinder assembly 30, a solenoid valve assembly 40, a vacuum generator 50, a confluence device 60 and an air distribution device 70; wherein:

the solenoid valve assembly is mounted on the converging device 60, so that a single air flow enters from the converging device 60 and flows to the solenoid valve assembly;

the electromagnetic valve assembly 40 is connected to the double-guide-rod cylinder 20, the telescopic cylinder assembly 30 and the vacuum generator 50 through air pipes respectively;

the double-guide-rod cylinder 20 and the telescopic cylinder assembly 30 are respectively connected with the suction tool assembly 10, and the suction tool assembly 10 is driven to move and attach to an article under the control of the electromagnetic valve connected with the double-guide-rod cylinder and the telescopic cylinder assembly;

one end of the air distributor 70 is connected to the vacuum generator 50 through an air pipe, and a vacuum port of the air distributor 70 is connected to the suction tool assembly 10 through an air pipe, so that a suction cup of the suction tool assembly 10 generates vacuum to adsorb an article; the other end of the air distributor 70 is connected to the other port of the electromagnetic valve, which is connected to the vacuum generator 50, through an air pipe, so that the air flowing out of the electromagnetic valve passes through the air distributor 70 and then is blown back to break the vacuum generated by the suction cup of the suction tool assembly 10, thereby releasing the articles.

In this embodiment, be connected to double-guide-rod cylinder respectively through the trachea through the solenoid valve subassembly, flexible cylinder subassembly and vacuum generator, double-guide-rod cylinder, flexible cylinder subassembly is connected with the suction tool subassembly respectively, divide the solenoid valve that the gas device passes through the trachea and is connected with vacuum generator and this vacuum generator respectively, make single air current flow to each solenoid valve after the confluence device gets into, the gas circuit work and the double-guide-rod cylinder of the sucking disc of suction tool subassembly are controlled separately to every solenoid valve, the gas circuit work of flexible cylinder subassembly, in order to realize the absorption and the double-guide-rod cylinder of the sucking disc of suction tool subassembly, the flexible function of flexible cylinder subassembly, realize that single air supply solves multiple spot and multi-mode gas demand, save gas circuit pipeline space, realize control integration.

In one embodiment, the telescopic cylinder assembly 30 at least includes a first telescopic cylinder 31 and a second telescopic cylinder 32, and the first telescopic cylinder 31 and the second telescopic cylinder 32 are respectively connected to the suction tool assembly 10, and the suction tool assembly 10 is driven to move under the control of the electromagnetic valve connected thereto so as to fit an article.

In one embodiment, as shown in fig. 2 and 3, the chuck assembly 10 includes a primary vacuum chuck assembly 110 and a secondary vacuum chuck assembly 120, the primary vacuum chuck assembly 110 for suctioning an article from a top surface of the article, and the secondary vacuum chuck assembly 120 for suctioning an article from a side surface of the article.

The adsorption direction of the sub-vacuum suction assembly 120 is perpendicular to the adsorption direction of the main vacuum suction assembly 110, so that the main vacuum suction assembly 110 adsorbs the top of the article from top to bottom, and the sub-vacuum suction assembly 120 adsorbs the sidewall of the article from the side. The sub-vacuum chuck assembly 120 is installed on the main vacuum chuck assembly 110, and the sub-vacuum chuck assembly 120 includes a sub-vacuum chuck 121 and a multi-link mechanism 122 for driving the sub-vacuum chuck 121 to perform a telescopic motion in a vertical direction.

The multi-link mechanism 122 includes a multi-link telescopic frame body, and the auxiliary vacuum suction tool 121 is installed on the multi-link telescopic frame body. Specifically, the multi-link telescopic frame body includes a plurality of first links 1221 and a plurality of second links 1222; one end of a first link 1221 is rotatably connected to one end of the sliding structure, and the other end of the first link 1221 is sequentially rotatably connected to the rest of the first links 1221; one end of a second link 1222 is rotatably connected to the other end of the sliding structure, and the other end is rotatably connected to all the remaining second links 1222; the first connecting rods 1221 are rotatably connected with the second connecting rods 1222 in a one-to-one correspondence staggered manner. The sub-vacuum chuck 121 includes a plurality of sub-vacuum chucks 1211, and each sub-vacuum chuck 1211 is installed on a rotation connection node.

In one embodiment, as shown in fig. 2 and 3, the dual pilot cylinder 20 includes a first intake port 201 and a second intake port 202.

The first telescopic cylinder 31 and the second telescopic cylinder 32 have the same structure and comprise a third air inlet port and a fourth air inlet port; that is, the first telescopic cylinder 31 includes a third intake port 313 and a fourth intake port 314. The second telescopic cylinder 32 includes a third intake port 323 and a fourth intake port 324.

In one embodiment, as shown in fig. 1 and 4, the solenoid valve assembly 40 includes at least four solenoid valves respectively connected to the double-guide rod cylinder 20, the first telescopic cylinder 31, the second telescopic cylinder 32 and the vacuum generator 50 through air pipes.

Optionally, the four solenoid valves are identical in structure and include a first port and a second port.

Specifically, of the four solenoid valves, there are a first solenoid valve 41, a second solenoid valve 42, a third solenoid valve 43, and a fourth solenoid valve 44, respectively. The first solenoid valve 41 includes a first port 411 and a second port 412; the second solenoid valve 42 includes a first port 421 and a second port 422; the third solenoid valve 43 includes a first port 431 and a second port 432; the fourth solenoid valve 44 includes a first port 441 and a second port 442.

The first port 411 and the second port 412 of the first solenoid valve 41 are respectively connected to the first air inlet port 201 and the second air inlet port 202 of the double pilot rod cylinder 20 through air pipes; the first port 421 and the second port 422 of the second solenoid valve 42 are connected to the third intake port 313 and the fourth intake port 314 of the first telescopic cylinder 31 through air pipes, respectively; the first port 431 and the second port 432 of the third solenoid valve 43 are connected to the third intake port 323 and the fourth intake port 324 of the second telescopic cylinder 32 through air pipes, respectively; the first port 441 of the fourth solenoid valve 44 is connected to the vacuum generator 50 through an air tube.

Optionally, the solenoid valve is a three-position, three-way solenoid valve.

In this embodiment, be connected to double-guide rod cylinder through the trachea respectively through every solenoid valve, first telescopic cylinder, second telescopic cylinder and vacuum generator, double-guide rod cylinder, first telescopic cylinder, second telescopic cylinder is connected with suction tool subassembly respectively, divide the solenoid valve that the gas device was connected with vacuum generator and this vacuum generator respectively through the trachea, make single air current flow to each solenoid valve after getting into from the confluence device, every solenoid valve controls the gas circuit work of the sucking disc of suction tool subassembly and double-guide rod cylinder and first telescopic cylinder, the gas circuit work of second telescopic cylinder separately, in order to realize the absorption of the sucking disc of suction tool subassembly and double-guide rod cylinder and first telescopic cylinder, the flexible function of second telescopic cylinder, realize that single air supply solves multiple spot and multi-mode gas demand, save gas circuit pipeline space, realize control integration.

In one embodiment, as shown in fig. 5, the vacuum generator 50 includes a first interface 501 and a vacuum port 502, the first interface 501 is connected to the first port 441 of the fourth solenoid valve 44 through an air pipe, and the vacuum port 502 is connected to one end of the air distribution device 70.

Alternatively, as shown in fig. 4, the junction device 60 is a junction block, which allows a single air flow P to flow from the junction block to each solenoid valve. The manifold block 40 also includes plugs 62 for plugging unused inlet ports of the block.

In one embodiment, as shown in fig. 6, the gas distribution device 70 includes a first connection port 701, a second connection port 702 and a plurality of vacuum ports 703, the first connection port 701 of the gas distribution device 70 is connected to the vacuum port 502 of the vacuum generator 50, the plurality of vacuum ports 703 are connected to the secondary vacuum chuck assembly 120 of the chuck assembly 10 through a gas pipe, so that the gas flowing out from the first port 441 of the fourth solenoid valve 44 passes through the vacuum generator 50, and the secondary vacuum chuck of the secondary vacuum chuck assembly 120 of the chuck assembly 10 is vacuumed under the control of the vacuum generator 50 to adsorb the object; the second connection port 702 of the air distributor 70 is connected to the second port 442 of the fourth solenoid valve 44 through an air pipe, so that the air flowing out from the second port 442 of the fourth solenoid valve 44 passes through the air distributor 70 and then is blown back to break the vacuum generated by the sub-vacuum chuck of the sub-vacuum chuck assembly 120 of the suction assembly 10, thereby releasing the articles.

Optionally, the number of the vacuum ports 703 of the air distribution device 70 is greater than or equal to the number of the sub-vacuum suction cups included in the sub-vacuum suction assembly 120 of the suction assembly 10, and if the number of the vacuum ports 703 of the air distribution device 70 is greater than the number of the sub-vacuum suction cups included in the sub-vacuum suction assembly 120 of the suction assembly 10, the remaining vacuum ports of the air distribution device 70 are blocked. Optionally, the gas distribution device 70 is a gas distribution block.

In one embodiment, as shown in fig. 2 and 3, the double-guide-rod cylinder 20 is connected to the suction unit 10 and connected to the first solenoid valve 41 through an air pipe, and drives the sub vacuum suction unit 120 of the suction unit 10 to perform a telescopic motion in a horizontal direction under the control of the first solenoid valve 41.

Specifically, the double pilot cylinder 20 includes a first intake port 201 and a second intake port 202. The first intake port 201 is connected to the first port 411 of the first solenoid valve 41 via an air pipe, and the second intake port 202 is connected to the second port 412 of the first solenoid valve 41 via an air pipe.

The first port 412 of the first solenoid valve 41 is energized to conduct the air passage of the air pipe connected to the first air inlet port 201 of the double-guide-rod cylinder 20, so that the double-guide-rod cylinder 41 drives the auxiliary vacuum suction device assembly 120 of the suction device assembly 10 to extend in the horizontal direction; the second port 412 of the first solenoid valve 41 is energized to conduct the air passage of the air pipe connected to the second air inlet port 202 of the dual-pilot cylinder 20, so that the dual-pilot cylinder 20 drives the sub-vacuum chuck assembly 120 of the chuck assembly 10 to contract in the horizontal direction.

Further, the double guide rod cylinder 20 drives the sub vacuum chuck 121 to perform a telescopic motion in a horizontal direction together with the multi link mechanism 122. The double-guide-rod cylinder 20 is installed on the top side of the main vacuum chuck assembly 110, and the cylinder shaft of the double-guide-rod cylinder 20 is tightly connected with the power structure 122. Specifically, the cylinder shaft of each double-guide-rod cylinder 20 is fastened to the cylinder mounting base 1223 of the power structure 122, and the multi-link mechanism 122 and the auxiliary vacuum suction tool 121 are driven to perform telescopic movement in the horizontal direction by the telescopic movement of the cylinder shaft of the double-guide-rod cylinder 20. It is obvious to those skilled in the art that the number of the double-guide-rod cylinders 20 may be two according to actual needs, and the two cylinders are respectively disposed on the top side of the main vacuum chuck assembly 110, and the cylinder shaft of each double-guide-rod cylinder 20 is tightly connected to the power structure 122. Specifically, the cylinder shaft of each double-guide-rod cylinder 20 is fastened to the cylinder mounting base 1223 of the power structure 122, and the multi-link mechanism 122 and the auxiliary vacuum suction tool 121 are driven to perform telescopic movement in the horizontal direction by the telescopic movement of the cylinder shaft of the power cylinder 1231.

In one embodiment, the first telescopic cylinder 31 and the second telescopic cylinder 32 are installed on the same sliding rod body in an opposite arrangement; the first telescopic cylinder 31 and the second telescopic cylinder 32 are respectively connected to the sub-vacuum suction assembly 120 of the suction assembly 10, and are respectively connected to the second solenoid valve 42 and the third solenoid valve 43 through air pipes, and the sub-vacuum suction assembly 120 of the suction assembly 10 is driven to vertically extend and retract under the control of the second solenoid valve 42 and the third solenoid valve 43.

Optionally, the first telescopic cylinder 31 and the second telescopic cylinder 32 have the same structure and include a third air inlet port and a fourth air inlet port; that is, the first telescopic cylinder 31 includes a third intake port 313 and a fourth intake port 314. The second telescopic cylinder 32 includes a third intake port 323 and a fourth intake port 324.

The third intake port 313 of the first telescopic cylinder 31 is connected to the first port 421 of the second solenoid valve 42 through an air pipe, and the fourth intake port 314 of the first telescopic cylinder 31 is connected to the second port 422 of the second solenoid valve 42 through an air pipe. The third intake port 323 of the second telescopic cylinder 32 is connected to the first port 431 of the third solenoid valve 43 through an air pipe, and the fourth intake port 324 of the second telescopic cylinder 32 is connected to the second port 432 of the third solenoid valve 43 through an air pipe.

The first port 421 of the second solenoid valve 42 is energized and the first port 431 of the third solenoid valve 43 is energized, so that the air pipe air path connected between the third air inlet 313 of the first telescopic cylinder 31 and the third air inlet 323 of the second telescopic cylinder 32 is conducted, the first telescopic cylinder 31 and the second telescopic cylinder 32 extend outwards on the sliding rod body, and the first telescopic cylinder 31 and the second telescopic cylinder 32 extend vertically to the auxiliary vacuum suction device assembly 120 of the suction device assembly 10.

The second port 422 of the second solenoid valve 42 is energized and the second port 432 of the third solenoid valve 43 is energized, so that the air pipe air path connected between the fourth air inlet port 314 of the first telescopic cylinder 31 and the fourth air inlet port 324 of the second telescopic cylinder 32 is conducted, the first telescopic cylinder 31 and the second telescopic cylinder 32 are retracted inwards on the sliding rod body, and the first telescopic cylinder 31 and the second telescopic cylinder 32 drive the auxiliary vacuum suction device assembly 120 of the suction device assembly 10 to retract in the vertical direction.

Specifically, the air path control system 100 further includes a sliding structure for driving the multi-link telescopic frame to extend and retract. The sliding structure includes a cylinder mounting base 1223, a sliding rod 1224, a first sliding block 1225, and a second sliding block 1227. The sliding rod body 1224, the first telescopic cylinder 31 and the second telescopic cylinder 32 are respectively arranged on the cylinder mounting base body 1223, the cylinder shaft telescopic direction of the first telescopic cylinder 31 and the cylinder shaft telescopic direction of the second telescopic cylinder 32 are opposite, the first sliding block 1225 is slidably connected to one end of the sliding rod body 1224, the first sliding block 1225 is rotatably connected to one end of the corresponding first connecting rod 1221, the second sliding block 1227 is slidably connected to the other end of the sliding rod body 1224, and the second sliding block 1227 is rotatably connected to one end of the corresponding second connecting rod 1222. The first telescopic cylinder 31 drives the first sliding block 1225 to slide on the sliding rod 1224, and the second telescopic cylinder 32 drives the second sliding block 1227 to slide on the sliding rod 1224. At this time, the first telescopic cylinder 31 drives the first slider 1225 to slide on the sliding rod 1224 and the second telescopic cylinder 32 drives the second slider 1227 to slide on the sliding rod 1224, so that the telescopic function of the multi-link telescopic frame body can be realized. For those skilled in the art, in this embodiment, two telescopic cylinders drive two sliding blocks to move in opposite directions or away from each other to achieve the telescopic function of the multi-link telescopic frame, and one of the telescopic cylinders can be independently controlled to drive the corresponding sliding block to move on the sliding rod body according to actual needs to achieve the telescopic function of the multi-link telescopic frame. In addition, also can only use a telescopic cylinder drive, adopt one end fixed promptly, the other end makes a round trip the translation through a telescopic cylinder drive slider and realizes the flexible function of the flexible support body of many connecting rods, at this moment, this sliding structure (not shown) includes cylinder installation pedestal, the slip body of rod, first slider and fixed block, first telescopic cylinder drive first slider slides on the slip body of rod, the slip body of rod and first telescopic cylinder are installed respectively on cylinder installation pedestal, first slider sliding connection is in the one end of the slip body of rod, and first slider rotates with the one end of corresponding first connecting rod to be connected, the fixed block sets firmly in the other end of the slip body of rod, and the fixed block rotates with the one end of corresponding second connecting rod to be connected.

In one embodiment, as shown in fig. 2, the main vacuum chuck assembly 110 includes a connecting base 111 and a plurality of main vacuum chucks 112, the plurality of main vacuum chucks 112 are disposed side by side on the bottom side of the connecting base 111, and each main vacuum chuck 112 includes a main chuck mounting base and a plurality of main vacuum chucks arranged in an array on the bottom side of the main chuck mounting base. With this arrangement, the maximum suction force of a single main vacuum chuck 112 is 50kg, whereas the chuck assembly 10 of the present invention specifically employs three main vacuum chucks 112 for sucking up 150kg of articles at the maximum.

In addition, the main vacuum chuck assembly 110 further includes a translation mechanism 113 for driving the main vacuum chucks 112 to move horizontally relative to the connecting base 111, the translation mechanism 113 includes a plurality of horizontal slides 1131 and a lead screw power mechanism 1132 fixed on the top side of the connecting base 1131, the connecting base 111 is slidably connected to the plurality of horizontal slides 1131 through the matching of the slide rails and the slide grooves, each horizontal slide 1131 is fastened to one of the main vacuum chucks 112, and the lead screw power mechanism 1132 drives the plurality of main vacuum chucks 112 to move horizontally relative to the connecting base 111 through the matching of the lead screw and the lead screw nut. Specifically, the lead screw power mechanism 1132 includes a lead screw, a plurality of lead screw nuts and a servo motor, the outer surface of the lead screw nut is fixedly connected to the horizontal slide 1131, the lead screw is driven by the servo motor to rotate, the plurality of lead screw nuts are driven to make linear motion on the lead screw, and then the plurality of horizontal slides 1131 are driven to move horizontally on the slide rail connected to the seat body 111. Further, the lead screw comprises a bi-directional threaded lead screw, such that the horizontal carriages 1131 and their fixedly connected main vacuum chuck 112 can move linearly in opposite directions. When the suction tool assembly is provided with two main vacuum suction tools 112, the two main vacuum suction tools 112 are respectively arranged in different thread section stroke ranges of the bidirectional screw rod; when the suction assembly has three main vacuum suction devices 112, the middle main vacuum suction device 112 is fixedly arranged on the connecting seat body 111, and the main vacuum suction devices 112 at two sides are respectively arranged in different thread section stroke ranges of the bidirectional screw rod; when the suction assembly has four main vacuum suction tools 112, two main vacuum suction tools 112 are respectively arranged in different thread section stroke ranges of the bidirectional screw rod; when there are more main vacuum cleaners 112, the distribution is performed by analogy, so that the main vacuum cleaners 112 can be close to or far from each other, and for the overall cleaner assembly, the position of the main vacuum cleaners 112 for sucking the article box can be adjusted. Therefore, the distribution of the grabbing force can be planned according to the surface size of the object, and the object can be grabbed more stably.

The air path control system of the invention is operated as shown in fig. 1 to 6. The robot body drives the gripper assembly 10 over the article (e.g., carton) to be gripped by the pneumatic control system, the main vacuum gripper assembly 110 starts to operate, its bottom side picks up the article, and then its sub-vacuum gripper assembly 120 starts to operate.

Controlling the first port 411 of the first electromagnetic valve 41 to be electrified, so that the air passage of the air pipe connected with the first air inlet port 201 of the double-guide-rod air cylinder 20 is conducted, and the double-guide-rod air cylinder 20 drives the auxiliary vacuum suction tool 121 to move outwards together with the multi-link mechanism 122; the first port 421 of the second solenoid valve 42 and the first port 431 of the third solenoid valve 43 are controlled to be electrified, so that the air pipe air passage connected with the third air inlet port 313 of the first telescopic cylinder 31 and the third air inlet port 323 of the second telescopic cylinder 32 is conducted, the first telescopic cylinder 31 and the second telescopic cylinder 32 drive the multi-link mechanism 122 to drive the multi-link frame body to drive the auxiliary vacuum suction tool 121 to move together in an extending manner, and the auxiliary vacuum suction tool assembly 120 extends in the horizontal transverse direction and the vertical direction, so that the auxiliary vacuum suction tool 121 is extended to a proper position.

The second solenoid valve 42 and the third solenoid valve 43 are de-energized, and the second port 412 of the first solenoid valve 41 is energized, so that the air passage of the air pipe connected to the second air inlet port 202 of the double-guide-rod air cylinder 20 is conducted, the double-guide-rod air cylinder 20 drives the auxiliary vacuum suction tool assembly 120 to transversely contract for a short distance, so as to attach the auxiliary vacuum suction tool 121 to the side position of the article, and at this time, the first solenoid valve 41 is de-energized.

The first port 441 of the fourth solenoid valve 44 is controlled to be energized, and the air flow P passes through the sub vacuum chuck of the vacuum-making sub vacuum suction assembly 120 generated by the vacuum generator to adsorb and fix the side wall of the article from the side, so as to further adsorb and fix the articles with different sizes and different weights, thereby avoiding the articles from shaking during the transportation process.

After the articles in the box are gripped to the stacking position, the second port 442 of the fourth solenoid valve 44 is controlled to be energized, so that the air flowing out from the second port 442 of the fourth solenoid valve 44 passes through the air distributor 70 and then is blown back to break the vacuum generated by the sub-vacuum chuck of the sub-vacuum chuck assembly 120 of the suction assembly 10, thereby releasing the articles.

The fourth solenoid valve 44 is de-energized, the second port 412 of the first solenoid valve 41, the second port 412 of the second solenoid valve 42, and the second port 432 of the third solenoid valve 43 are energized, so that the double-guide-rod cylinder 20 drives the sub vacuum suction tool 121 to translate inward together with the multi-link mechanism 122, the first telescopic cylinder 31 and the second telescopic cylinder 32 drive the multi-link mechanism 122 to drive the multi-link frame body to drive the sub vacuum suction tool 121 to contract together, so that the sub vacuum suction tool assembly 120 contracts to the initial position, and the first solenoid valve 41, the second solenoid valve 42, and the third solenoid valve 43 are de-energized.

Repeating the steps and grabbing the next box object.

In one embodiment, as shown in fig. 7, the present invention provides a robot, comprising a robot arm assembly 150 and an end effector 160, wherein the end effector 160 comprises the pneumatic control system 100 according to any one of the above embodiments; the robot assembly 150 drives the end effector 160 to grasp or release an article under the action of the pneumatic control system 100.

The robotic arm assembly drives the pick-up assembly 10 to a position directly above the object to be picked under the action of the pneumatic control system 100, the main vacuum pick-up assembly 110 starts to operate, the bottom side thereof sucks up the object, and then the sub vacuum pick-up assembly 120 starts to operate.

Repeating the steps and grabbing the next box object.

It should be noted that the robot embodiment and the apparatus embodiment belong to the same concept, and specific implementation processes thereof are described in the apparatus embodiment, and technical features in the apparatus embodiment are applicable to the robot embodiment, which is not described herein again.

In one embodiment, as shown in fig. 8, the present invention provides a gas path control method for an end effector to grasp an article, where the end effector includes the gas path control system 100 described in any of the above embodiments, the gas path control system 100 includes a suction tool assembly, a dual-guide rod cylinder, a telescopic cylinder assembly, a solenoid valve assembly, a vacuum generator, a confluence device, and a gas distribution device, where the solenoid valve assembly is installed on the confluence device; the gas path control method comprises the following steps:

s11, a confluence device receives the single airflow and flows to a solenoid valve assembly, the solenoid valve assembly is installed on the confluence device, the solenoid valve assembly comprises at least two solenoid valves, and each solenoid valve comprises a first port and a second port;

s12, opening a first port of at least one electromagnetic valve, driving a double-guide-rod cylinder or/and a telescopic cylinder assembly to extend, and further driving a suction tool assembly to move to an article grabbing point, wherein the double-guide-rod cylinder and the telescopic cylinder are respectively connected with the electromagnetic valve through air pipes, and the double-guide-rod cylinder and the telescopic cylinder assembly are respectively connected with the suction tool assembly;

s13, opening another the first port of solenoid valve, control air current flow through vacuum generator, produce vacuum and through divide the gas device with inhale a plurality of sucking discs intercommunication of utensil subassembly, so that inhale the sucking disc of utensil subassembly and produce the vacuum, adsorb article, the first port of solenoid valve pass through the trachea with vacuum generator connects, vacuum generator' S vacuum mouth passes through the trachea and connects divide gas device one end, divide the gas device to include a plurality of vacuum mouths, a plurality of vacuum mouths pass through the trachea with a plurality of sucking discs are connected.

Preferably, in step S12, after the opening the first port of at least one of the solenoid valves to drive the dual-link cylinder or/and the telescopic cylinder assembly to extend and further drive the suction assembly to move to the article grabbing point, the method further includes:

Preferably, the solenoid valve assembly comprises at least a first solenoid valve, a second solenoid valve, a third solenoid valve and a fourth solenoid valve, each of the solenoid valves comprising a first port and a second port;

In this embodiment, a single gas flow is received by a confluence device and flows to a solenoid valve assembly, the solenoid valve assembly is mounted on the confluence device, and the solenoid valve assembly comprises at least two solenoid valves, and the solenoid valves comprise a first port and a second port; opening a first port of at least one electromagnetic valve, driving a double-guide-rod cylinder or/and a telescopic cylinder assembly to extend, and further driving a suction tool assembly to move to an article grabbing point, wherein the double-guide-rod cylinder and the telescopic cylinder are respectively connected with the electromagnetic valve through air pipes, and the double-guide-rod cylinder and the telescopic cylinder assembly are respectively connected with the suction tool assembly; open another the first port of solenoid valve, control air current flow through vacuum generator, produce the vacuum and through divide the gas device with inhale a plurality of sucking discs intercommunication of utensil subassembly, so that inhale the sucking disc of utensil subassembly and produce the vacuum, adsorb article, the first port of solenoid valve pass through the trachea with vacuum generator connects, vacuum generator's vacuum mouth passes through the trachea and connects divide gas device one end, divide the gas device to include a plurality of vacuum mouths, a plurality of vacuum mouths pass through the trachea with a plurality of sucking discs are connected. Make single air current flow to each solenoid valve after the device that converges gets into, every solenoid valve controls the gas circuit work of the sucking disc of suction tool subassembly and the gas circuit work of double-guide-rod cylinder, flexible cylinder subassembly separately to realize the absorption of the sucking disc of suction tool subassembly and the flexible function of double-guide-rod cylinder, flexible cylinder subassembly, realize that single air supply solves multiple spot and multi-mode and uses the gas demand, save gas circuit pipeline space, realize control integration.

It should be noted that the method embodiment and the system embodiment belong to the same concept, and specific implementation processes thereof are described in detail in the device embodiment, and technical features in the system embodiment are correspondingly applicable in the method embodiment, which is not described herein again.

In one embodiment, as shown in fig. 9, the present invention provides a gas path control method for an end effector to release an article, where the end effector includes the gas path control system 100 described in any of the above embodiments, the gas path control system 100 includes a suction tool assembly, a dual-guide rod cylinder, a telescopic cylinder assembly, a solenoid valve assembly, a vacuum generator, a confluence device, and a gas distribution device, where the solenoid valve assembly is installed on the confluence device; the gas path control method comprises the following steps:

s21, a confluence device receives the single airflow and flows to a solenoid valve assembly, the solenoid valve assembly is installed on the confluence device, the solenoid valve assembly comprises at least two solenoid valves, and each solenoid valve comprises a first port and a second port;

s22, opening a second port of the electromagnetic valve, controlling airflow to flow through the air distribution device, further damaging a vacuum cavity inside the air distribution device, blowing the airflow out of the suction cups of the suction tool assembly, and releasing articles, wherein one end of the air distribution device is connected with a vacuum generator through an air pipe to generate the vacuum cavity, the other end of the air distribution device is connected with the second port of the electromagnetic valve through the air pipe, the air distribution device further comprises a plurality of vacuum ports, and the vacuum ports are connected with the suction cups through the air pipe.

Preferably, in step S22, after the opening the second port of one of the electromagnetic valves and controlling the airflow through the air distributor, the method further includes:

In this embodiment, a single gas flow is received by a confluence device and flows to a solenoid valve assembly, the solenoid valve assembly is mounted on the confluence device, and the solenoid valve assembly comprises at least two solenoid valves, and the solenoid valves comprise a first port and a second port; opening one the second port of solenoid valve, control air current flow through divide the gas device, and then destroy divide the inside vacuum cavity of gas device to blow off the air current from a plurality of sucking discs of suction tool subassembly, thereby release article, the one end of dividing the gas device is passed through the trachea and is connected vacuum generator for produce the vacuum cavity, the other end of dividing the gas device pass through the trachea with the second port of solenoid valve is connected, divide the gas device still to include a plurality of vacuum mouths, a plurality of vacuum mouths pass through the trachea and are connected with a plurality of sucking discs. Make single air current flow to each solenoid valve after the device that converges gets into, every solenoid valve controls the gas circuit work of the sucking disc of suction tool subassembly and the gas circuit work of double-guide-rod cylinder, flexible cylinder subassembly separately to realize the absorption of the sucking disc of suction tool subassembly and the flexible function of double-guide-rod cylinder, flexible cylinder subassembly, realize that single air supply solves multiple spot and multi-mode and uses the gas demand, save gas circuit pipeline space, realize control integration.

In addition, an embodiment of the present invention further provides a control device, as shown in fig. 10, where the control device 900 includes: a memory 902, a processor 901 and one or more computer programs stored in the memory 902 and executable on the processor 901, wherein the memory 902 and the processor 901 are coupled together by a bus system 903, and the one or more computer programs are executed by the processor 901 to implement the following steps of a gas path control method provided by an embodiment of the present invention:

Or

The method disclosed in the above embodiments of the present invention may be applied to the processor 901, or implemented by the processor 901. The processor 901 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by an integrated logic circuit of hardware or an instruction in the form of software in the processor 901. The processor 901 may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 901 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 902, and the processor 901 reads the information in the memory 902 and performs the steps of the foregoing method in combination with the hardware thereof.

It is to be understood that the memory 902 of embodiments of the present invention may be either volatile memory or nonvolatile memory, and may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic Random Access Memory (FRAM), a magnetic Random Access Memory (Flash Memory) or other Memory technologies, a Compact disc Read-Only Memory (CD-ROM), a Digital Versatile Disc (DVD), or other optical disc storage, magnetic cartridge, magnetic tape, magnetic Disk storage, or other magnetic storage devices; volatile Memory can be Random Access Memory (RAM), and by way of exemplary and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Double Data Rate Synchronous Random Access Memory (ESDRAM), Synchronous Link Dynamic Random Access Memory (SLDRAM), Direct Memory bus Random Access Memory (DRRAM). The described memory for embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.

It should be noted that the apparatus embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are described in detail in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the apparatus embodiment, which is not described herein again.

In addition, in an exemplary embodiment, an embodiment of the present invention further provides a computer storage medium, specifically a computer-readable storage medium, for example, a memory 902 storing a computer program, where the computer storage medium stores one or more programs of a gas circuit control method, and when the one or more programs of the gas circuit control method are executed by a processor 901, the following steps of the gas circuit control method provided by the embodiment of the present invention are implemented:

Or

It should be noted that, the embodiment of the gas circuit control method program on the computer-readable storage medium and the embodiment of the method belong to the same concept, and the specific implementation process is described in detail in the embodiment of the method, and the technical features in the embodiment of the method are applicable to the embodiment of the computer-readable storage medium, which is not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A gas path control system for an end effector, the gas path control system comprising: the vacuum pump comprises a suction tool assembly, a double-guide-rod cylinder, a telescopic cylinder assembly, an electromagnetic valve assembly, a vacuum generator, a confluence device and a gas distribution device; wherein:

the electromagnetic valve assembly is respectively connected to the double-guide-rod air cylinder, the telescopic air cylinder assembly and the vacuum generator through air pipes; the solenoid valve assembly comprises at least a first solenoid valve, a second solenoid valve, a third solenoid valve and a fourth solenoid valve, and each solenoid valve comprises a first port and a second port;

the double-guide-rod cylinder and the telescopic cylinder assembly are respectively connected with the suction tool assembly, and the suction tool assembly is driven to move and fit with an article under the control of the first electromagnetic valve connected with the double-guide-rod cylinder and the telescopic cylinder assembly;

the telescopic cylinder component at least comprises a first telescopic cylinder and a second telescopic cylinder, and the first telescopic cylinder and the second telescopic cylinder are oppositely arranged and installed on the same sliding rod body; the two telescopic cylinders are respectively connected with the suction tool assembly and are respectively connected with the second electromagnetic valve and the third electromagnetic valve through air pipes, and the suction tool assembly is driven to stretch in the vertical direction under the control of the second electromagnetic valve and the third electromagnetic valve;

the vacuum generator is connected with a first port of the fourth electromagnetic valve;

one end of the air distribution device is connected to the vacuum generator through an air pipe, and a vacuum port of the air distribution device is connected to the suction tool assembly through an air pipe so that a suction disc of the suction tool assembly generates vacuum to adsorb articles; the other end of the air distribution device is connected to a second port of the fourth electromagnetic valve which is connected with the vacuum generator through an air pipe, so that air flow flowing out of the fourth electromagnetic valve is subjected to back blowing after passing through the air distribution device to destroy vacuum generated by the sucker of the suction tool assembly, and articles are released.

2. The gas path control system according to claim 1, wherein the vacuum generator comprises a first interface and a vacuum port, the first interface is connected to the first port of the fourth solenoid valve through a gas pipe, and the vacuum port is connected to one end of the gas distribution device.

3. The gas path control system according to claim 1, wherein the gas distribution device comprises a first connection port, a second connection port, and a plurality of vacuum ports, the first connection port of the gas distribution device is connected to the vacuum port of the vacuum generator, and the plurality of vacuum ports are connected to the suction tool assembly through a gas pipe, so that the gas flow flowing out from the first port of the fourth solenoid valve passes through the vacuum generator, and the suction cup of the suction tool assembly is vacuumized under the communication effect between the vacuum port and the suction tool assembly to adsorb the object; and a second connecting port of the air distribution device is connected to a second port of the fourth electromagnetic valve through an air pipe, so that the air flow flowing out of the second port of the fourth electromagnetic valve passes through the air distribution device and then is subjected to back blowing to destroy the vacuum generated by the sucker of the suction tool assembly, and articles are released.

4. The air path control system as claimed in claim 1, wherein the double-guide-rod cylinder is connected to the first solenoid valve through an air pipe, and the suction tool assembly is driven to perform telescopic movement in a horizontal direction under the control of the first solenoid valve.

5. The air path control system as claimed in claim 4, wherein the double-guide-rod cylinder comprises a first air inlet port and a second air inlet port, and is respectively connected with the first port and the second port of the first solenoid valve through air pipes; the first port of the first electromagnetic valve is electrified to conduct an air pipe air path connected with the first air inlet port of the double-guide-rod air cylinder, so that the double-guide-rod air cylinder drives the suction tool assembly to extend in the horizontal direction; and the second port of the first electromagnetic valve is electrified to enable the air pipe air path connected with the second air inlet port of the double-guide-rod air cylinder to be conducted, so that the double-guide-rod air cylinder drives the suction tool assembly to contract in the horizontal direction.

6. The gas path control system according to claim 1, wherein the first telescopic cylinder and the second telescopic cylinder each include a third gas inlet port and a fourth gas inlet port, and are connected to the first port and the second port of the second solenoid valve and the third solenoid valve respectively through gas pipes; the first port of the second electromagnetic valve and the first port of the third electromagnetic valve are electrified to enable the air pipe and the air passage connected with the third air inlet ports of the first telescopic cylinder and the second telescopic cylinder to be communicated, so that the first telescopic cylinder and the second telescopic cylinder drive the suction tool assembly to extend in the vertical direction; and the second port of the second electromagnetic valve and the second port of the third electromagnetic valve are electrified to ensure that the air pipe air passage connected with the fourth air inlet ports of the first telescopic cylinder and the second telescopic cylinder is communicated, so that the telescopic cylinder drives the suction tool assembly to contract in the vertical direction.

7. A robot comprising a robot arm assembly and an end effector, wherein the end effector comprises the pneumatic control system of any one of claims 1 to 6.

8. An air path control method for an end effector to grasp an article, the air path control method comprising:

a manifold device receives the single gas flow and flows to a solenoid valve assembly mounted on the manifold device,

the solenoid valve assembly comprises at least a first solenoid valve, a second solenoid valve, a third solenoid valve and a fourth solenoid valve, and each solenoid valve comprises a first port and a second port; the double-guide-rod cylinder comprises a first air inlet port and a second air inlet port, and is respectively connected with the first port and the second port of the first electromagnetic valve through air pipes; the telescopic cylinder assembly at least comprises a first telescopic cylinder and a second telescopic cylinder, wherein the first telescopic cylinder and the second telescopic cylinder respectively comprise a third air inlet port and a fourth air inlet port and are respectively connected with the first ports and the second ports of the second electromagnetic valve and the third electromagnetic valve through air pipes; a first port and a second port of the fourth electromagnetic valve are respectively connected with one end of the vacuum generator and one end of the gas distribution device through gas pipes; the vacuum port of the vacuum generator is connected with the other end of the gas distribution device;

opening a first port of at least one of the first electromagnetic valve, the second electromagnetic valve or the third electromagnetic valve, driving a double-guide-rod air cylinder or/and a telescopic air cylinder assembly to extend, and further driving a suction tool assembly to move to an article grabbing point, wherein the double-guide-rod air cylinder and the telescopic air cylinder assembly are respectively connected with the suction tool assembly;

open the first port of fourth solenoid valve, control air current flow through vacuum generator, produce the vacuum and through divide the gas device with inhale a plurality of sucking discs intercommunication of utensil subassembly, so that inhale the sucking disc of utensil subassembly and produce the vacuum, adsorb article, the first port of fourth solenoid valve pass through the trachea with vacuum generator connects, vacuum generator's vacuum mouth passes through the trachea and connects divide gas device one end, divide the gas device to include a plurality of vacuum mouths, a plurality of vacuum mouths pass through the trachea with a plurality of sucking discs are connected.

9. The air path control method according to claim 8, wherein the opening a first port of at least one of the first solenoid valve, the second solenoid valve, or the third solenoid valve to drive the double-guide-rod cylinder or/and the telescopic cylinder assembly to extend and further drive the suction tool assembly to move to the article catching point further comprises:

and opening a second port of at least one of the first electromagnetic valve, the second electromagnetic valve or the third electromagnetic valve, driving the double-guide-rod air cylinder or/and the telescopic air cylinder assembly to contract, and further driving the suction tool assembly to move and fit the article.

10. A pneumatic circuit control method for an end effector to release an article, the pneumatic circuit control method comprising:

opening the second port of the fourth electromagnetic valve, controlling the airflow to flow through the air distribution device, further destroying the vacuum cavity inside the air distribution device, blowing the airflow out of a plurality of suckers of the suction tool assembly, thereby releasing the articles, connecting one end of the air distribution device with a vacuum generator through an air pipe for generating the vacuum cavity, connecting the other end of the air distribution device with the second port of the fourth electromagnetic valve through the air pipe, wherein the air distribution device further comprises a plurality of vacuum ports, and the plurality of vacuum ports are connected with the suckers through the air pipe.

11. The gas circuit control method according to claim 10, wherein the opening the second port of the fourth solenoid valve to control the gas flow through the gas distribution device further comprises:

and opening a second port of at least one other first electromagnetic valve, second electromagnetic valve or third electromagnetic valve, driving a double-guide-rod cylinder or/and a telescopic cylinder assembly to contract, and further driving a suction tool assembly to move to an initial preset position, wherein the double-guide-rod cylinder and the telescopic cylinder assembly are respectively connected with the suction tool assembly.

12. A control apparatus, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of a gas path control method as claimed in any one of claims 8 to 11.

13. A readable storage medium, characterized in that the readable storage medium stores thereon a program of a gas path control method, which when executed by a processor implements the steps of a gas path control method according to any one of claims 8 to 11.