CN215769454U - Valve terminal device, clamping handle control device and mechanical equipment - Google Patents
Valve terminal device, clamping handle control device and mechanical equipment Download PDFInfo
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- CN215769454U CN215769454U CN202121815522.9U CN202121815522U CN215769454U CN 215769454 U CN215769454 U CN 215769454U CN 202121815522 U CN202121815522 U CN 202121815522U CN 215769454 U CN215769454 U CN 215769454U
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Abstract
The utility model discloses a valve terminal device, a clamping hand control device and mechanical equipment. Belongs to the field of automatic control. The valve island device comprises a power supply module, a communication module and a pneumatic driving module, wherein the communication module is also used for acquiring a control signal; the pneumatic driving module is respectively connected with the power supply module and the communication module and used for receiving control signals through the communication module and changing the working state of the clamping hand according to the control signals. The valve terminal device integrates the communication module, the pneumatic driving module and the power supply module into a unified device, so that the connection is convenient, the assembly difficulty is greatly simplified, and the troubleshooting is convenient. In addition, the valve island device can acquire a control signal through the communication module, the pneumatic driving module receives the control signal through the communication module, and the working state of the clamping hand is changed according to the control signal, so that the clamping hand can work normally, and the running stability of the whole equipment is improved.
Description
Technical Field
The utility model relates to the field of automatic control, in particular to a valve terminal device, a clamping hand control device and mechanical equipment.
Background
In the related art, most of input/output signals on the gripper are connected with the PLC input/output module on the control electric box through one-to-one corresponding cables. The problem of complicated connecting wires often exists, and the difficulty of troubleshooting is increased. Therefore, how to provide a valve terminal device with simple connection to simplify the connection, the assembly is efficient, the operation is stable, and the difficulty of troubleshooting is reduced is a problem to be solved urgently.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the valve terminal device provided by the utility model is simple in connection, can reduce the assembly difficulty and is convenient for troubleshooting.
The utility model also provides a clamping hand control device with the valve terminal device.
The utility model also provides mechanical equipment with the clamping hand control device.
The valve island device according to an embodiment of the first aspect of the utility model includes:
the communication module is used for acquiring and transmitting a control signal;
the pneumatic driving module is connected with the communication module and used for receiving the control signal through the communication module and changing the working state of the gripper according to the control signal.
The power supply module is connected with the pneumatic driving module and the communication module and is used for providing a 24V working power supply for the pneumatic driving module and the communication module;
the valve island device provided by the embodiment of the utility model has at least the following beneficial effects: the valve island device comprises the power supply module, the communication module and the pneumatic driving module, and the communication module, the pneumatic driving module and the power supply module are integrated in the same valve island device, so that the connection is convenient, the assembly difficulty is greatly simplified, the assembly efficiency and reliability are improved, and the troubleshooting is convenient. In addition, the valve terminal device can acquire a control signal through the communication module, the pneumatic driving module receives the control signal through the communication module and directly changes the working state of the clamping hand according to the control signal, so that the clamping hand can normally work, and the running stability of the whole equipment is improved.
According to some embodiments of the utility model, the pneumatic drive module comprises:
the electromagnetic valve is used for changing the on-off state according to the control signal, and the electromagnetic valve is used for changing the working state of the gripper by changing the on-off state.
According to some embodiments of the utility model, the communication module comprises:
an integrated I/O module;
and the transmission bus is respectively connected with the integrated I/O module and the pneumatic driving module.
According to some embodiments of the utility model, the transmission bus is a Profinet field bus.
According to a second aspect embodiment of the present invention, a gripper control device includes:
the monitoring module is used for acquiring and outputting a monitoring signal;
the valve island device according to the embodiment of the first aspect, wherein a communication module of the valve island device is connected to the monitoring module, and the communication module is configured to acquire the monitoring signal.
The gripper control device provided by the embodiment of the utility model at least has the following beneficial effects: according to the clamping hand control device, the valve island device comprises the power supply module, the communication module and the pneumatic driving module, and the communication module, the pneumatic driving module and the power supply module are integrated in the same device, so that the connection is convenient, the assembly difficulty is greatly simplified, the connection reliability is improved, and troubleshooting is convenient. In addition, the valve island device can acquire a control signal through the communication module, the pneumatic driving module receives the control signal through the communication module, and the working state of the clamping hand is changed according to the control signal, so that the clamping hand can work normally, and the running stability of the whole equipment is improved. In addition, the clamping hand control device can monitor the working state of the clamping hand through the monitoring module, and further improves the operation stability of the whole equipment and the convenience of troubleshooting.
According to some embodiments of the utility model, the monitoring module comprises:
the electric eye is connected with the communication module and used for monitoring the working state of the clamping hand and outputting a first monitoring signal according to the working state;
and the limit switch is connected with the communication module and used for monitoring the position information of the clamping hand and outputting a second monitoring signal according to the position information.
According to the third aspect embodiment of the utility model, the mechanical equipment comprises the clamping hand control device.
The mechanical equipment provided by the embodiment of the utility model has at least the following beneficial effects: the mechanical equipment adopts the gripper control device of the embodiment of the second aspect, and the communication module, the pneumatic driving module and the power module are integrated in the same device, so that the connection is convenient, the assembly difficulty is greatly simplified, and the troubleshooting is convenient. In addition, the clamping hand control device can acquire a control signal through the communication module, the pneumatic driving module receives the control signal through the communication module and changes the working state of the clamping hand according to the control signal, so that the clamping hand can work normally, and the running stability of the whole equipment is improved. In addition, the clamping hand control device can monitor the working state of the clamping hand through the monitoring module, and timely corrects and adjusts the working state of the clamping hand, so that the operation accuracy of the whole equipment is further improved.
According to some embodiments of the utility model, the mechanical device further comprises:
the main control module is connected with the clamping hand control device and is used for outputting the control signal and receiving the monitoring signal.
According to some embodiments of the utility model, the mechanical device further comprises:
the clamping hand is connected with the clamping hand control device.
According to some embodiments of the utility model, the mechanical device further comprises:
and the mechanical arm is respectively connected with the clamping hand, the clamping hand control device and the main control module.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The utility model is further described with reference to the following figures and examples, in which:
fig. 1 is a schematic structural diagram of a valve island device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a valve island device according to another embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a gripper control device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a gripper control device according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a mechanical apparatus according to an embodiment of the present invention;
reference numerals: 100. a pneumatic drive module; 200. a communication module; 300. a power supply module; 400. a monitoring module; 500. a main control module; 600. clamping a hand; 700. a robot arm; 210. an integrated I/O module; 220. a transmission bus; 410. an electric eye; 420. and a limit switch.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In a first aspect, referring to fig. 1, a valve island apparatus according to an embodiment of the present invention includes a pneumatic driving module 100, a communication module 200, and a power supply module 300. The pneumatic drive module 100 is connected to the communication module 200 and the power module 300, respectively. The communication module 200 is further configured to obtain a control signal, and the pneumatic driving module 100 is configured to receive the control signal through the communication module 200 and change the operating state of the gripper 600 according to the control signal. The pneumatic driving module 100 receives the control signal acquired by the communication module 200, so as to control the operating state of the gripper 600 according to the control signal, for example, to control the operating state of the gripper 600. The power module 300 is capable of supplying power to the pneumatic drive module 100 so that the pneumatic drive module 100 operates normally. According to the valve island device, the communication module 200, the driving module 100 and the power module 300 are integrated in the same device, so that input signals or output signals required by the clamp 600 are integrated in the same device, the connection is convenient, the assembly difficulty is greatly simplified, and the troubleshooting is convenient. In addition, the valve island device can acquire a control signal through the communication module 200, the driving module 100 receives the control signal through the communication module 200, and changes the working state of the gripper 600 according to the control signal, so that the gripper 600 can work normally, and the running stability of the whole equipment is improved.
In some embodiments, the pneumatic drive module 100 includes a solenoid valve that is embedded directly within the valve island apparatus to avoid external connecting wire connections. The connecting mode is simplified, and the assembly efficiency is improved. The electromagnetic valve is used for changing the on-off state according to the control signal, and the electromagnetic valve is used for changing the working state of the gripper 600 by changing the on-off state. The electromagnetic valve receives the control signal acquired by the communication module 200, and controls the on-off state of the air valve in the electromagnetic valve system through the control signal, so that the working state of the gripper 600 is controlled by changing the on-off state, and the control accuracy can be improved.
In some embodiments, the pneumatic drive module 100 employs a pneumatic drive, but is not limited thereto.
Referring to fig. 2, a communication module 200 of an embodiment of the present invention includes an integrated I/O module 210 and a transport bus 220. The transmission bus 220 connects the integrated I/O module 210 and the pneumatic drive module 100, respectively. The communication module 200 communicates with an external device through the transmission bus 220, receives the monitoring signal output by the monitoring module 400 through the integrated I/O module 210, and outputs the monitoring signal through the transmission bus 220.
In some embodiments, the integrated I/O module 210 may be a plug-in I/O module to facilitate other devices to connect the integrated I/O module 210 via direct plug-in connections, thereby avoiding system clutter caused by external connection lines.
The transmission bus 220 may be a Profinet network, or may be other, and is not limited thereto.
Second aspect, referring to fig. 3, a gripper 600 control apparatus according to an embodiment of the present invention includes a valve island apparatus according to the first aspect of the embodiment of the present invention and a monitoring module 400. The communication module 200 of the valve island device is connected with the monitoring module 400, and the communication module 200 is used for acquiring monitoring signals. The monitoring module 400 can monitor the operating state of the gripper 600, when the movement range of the gripper 600 exceeds the preset monitoring range of the monitoring module 400, the monitoring module 400 outputs a monitoring signal, and the monitoring signal output by the monitoring module 400 can be transmitted to other equipment through the communication module 200400 of the valve island device. According to the control device of the gripper 600, the communication module 200, the pneumatic driving module 100 and the power supply module 300 are integrated in the same device, so that the connection is convenient, the assembly difficulty is greatly simplified, and the troubleshooting is convenient. In addition, the control device of the gripper 600 can obtain the control signal through the communication module 200, the pneumatic driving module 100 receives the control signal through the communication module 200, and changes the working state of the gripper 600 according to the control signal, so that the gripper 600 can work normally, and the running stability of the whole device is improved. In addition, the control device of the gripper 600 can monitor the working state of the gripper 600 through the monitoring module 400, and timely correct and adjust the working state of the gripper 600, so that the operation accuracy of the whole device is further improved.
In some embodiments, referring to fig. 4, the monitoring module 400 includes an electric eye 410 and a limit switch 420. The electric eye 410 is connected with the communication module 200 through the integrated I/O module 210, and the electric eye 410 is used for monitoring the working state of the gripper 600 and outputting a first monitoring signal according to the working state; the limit switch 420 is connected to the communication module 200, and is configured to monitor the position information of the gripper 600 and output a second monitoring signal according to the position information. The monitoring module 400 first monitors the working state of the gripper 600 through the electric eye 410, specifically, monitors whether the gripper 600 successfully grips the target object through the electric eye 410, directly outputs a monitoring signal if the gripper does not grip the target object, and performs the next monitoring through the limit switch 420 if the gripper successfully grips the target object. And then the position information of the gripper 600 is monitored through the limit switch 420, if the position of the gripper 600 exceeds the limit range of the limit switch 420, a monitoring signal is output, and if the position of the gripper 600 is within the limit range of the limit switch 420, the gripper 600 continues to keep the working state. If the monitoring requirements of the electric eye 410 and the limit switch 420 are met, the monitoring module 400 does not output a monitoring signal, and the gripper 600 keeps working normally. If the monitoring requirements of the electric eye 410 and the limit switch 420 cannot be met at the same time, a monitoring signal is output. Through the monitoring sequence, the monitoring signals can be fed back in time when the gripper 600 does not successfully grip the target object, instead of outputting the monitoring signals after the monitoring functions of the electric eye 410 and the limit switch 420 are all executed, and the monitoring efficiency of the working state of the gripper 600 can be improved in the practical application process. The time for monitoring signal feedback is reduced.
In some embodiments, the working states of the gripper 600 monitored by the electric eye 410 include whether the gripper performs a gripping operation on a product to be gripped, and then causes an external damage to the product, and working states such as product defects caused by physical collision, that is, whether the product is in a complete state after the gripper 600 performs the operation is monitored, and a first detection signal is output according to the complete state of the product.
In a third aspect, referring to fig. 5, the mechanical apparatus according to the embodiment of the present invention includes the gripper 600 control device according to the embodiment of the second aspect, a main control module 500, a gripper 600, and a robot 700. The main control module 500 is connected with the control device of the gripper 600 and the mechanical arm 700, and the mechanical arm 700 is respectively connected with the main control module 500, the gripper 600 and the control device of the gripper 600. The main control module 500 is connected to the control device of the gripper 600, and the main control module 500 is used for outputting a control signal and receiving a monitoring signal. The main control module 500 is connected to the robot 700 through the transmission bus 220 and the power line, controls the working state of the robot 700, and simultaneously supplies power to the robot 700 to enable the robot 700 to work normally. The main control module 500 is further connected with the control device of the gripper 600 through the transmission bus 220, and the main control module 500 outputs a control signal to the pneumatic driving module 100 and controls the working state of the gripper 600 through the control signal. The robot arm 700 is connected to the gripper 600 control device through the transmission bus 220 and the power line, so as to realize the communication connection between the gripper 600 control device and the main control module 500, and simultaneously supply power to the gripper 600 control device, so that the gripper 600 control device works normally. The gripper 600 control device is connected with the gripper 600 through the pneumatic driving module 100. The gripper 600 is connected with the limit switch 420, and the position information of the gripper 600 is monitored through the limit switch 420. The gripper 600 is further connected to the electric eye 410, and the working state of the gripper 600 is monitored through the electric eye 410. The communication module 200, the pneumatic driving module 100 and the power module 300 are integrated in the same device, so that the connection is convenient, the assembly difficulty is greatly simplified, and the troubleshooting is convenient. In addition, through monitoring module 400, can also monitor tong 600 operating condition, carry out error correction adjustment in time to tong 600 operating condition, further improve the operation accuracy of whole equipment.
In some embodiments, the electric eye 410 is disposed on the gripper 600, and whether the gripper 600 grips the object to be gripped is monitored through the electric eye 410. If the monitoring gripper 600 has gripped the object to be gripped, the monitoring signal is not output, and the next operation is continued. If the clamping hand 600 is monitored not to clamp the object to be clamped, a monitoring signal is output, so that the working state of the clamping hand 600 can be monitored, the working state of the clamping hand 600 can be corrected and adjusted in time, and the operation accuracy of the whole equipment is further improved.
In other embodiments, the limit switches 420 are respectively disposed at the release limit and the clamping limit of the gripper 600, when the gripper 600 exceeds the clamping limit or the release limit, the limit switches 420 are triggered, and the monitoring module 400 outputs a monitoring signal, so that the working state of the gripper 600 can be monitored, the working state of the gripper 600 can be corrected and adjusted in time, and the operation accuracy of the whole device is further improved.
It should be noted that the valve island apparatus and the gripper 600 may be connected via an M12A type connector I/O. The main control module 500 and the control device of the gripper 600 can be connected through an M12D type connector. The DC24V power connection between the main control module 500 and the robot 700, and between the robot 700 and the gripper 600 can be realized by adopting a power connector of a DC24V power line 7/8 ″. The connection can be realized by other types of power lines, but is not limited to the above. The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A valve island apparatus, comprising:
the communication module is used for acquiring and transmitting a control signal;
the pneumatic driving module is connected with the communication module and used for receiving the control signal through the communication module and changing the working state of the gripper according to the control signal;
the power module is connected with the pneumatic driving module and the communication module and is used for providing a working power supply for the pneumatic driving module and the communication module.
2. The valve island apparatus of claim 1, wherein the pneumatic drive module comprises:
the electromagnetic valve is used for changing the on-off state according to the control signal, and the electromagnetic valve is used for changing the working state of the gripper by changing the on-off state.
3. The valve island apparatus of claim 1, wherein the communication module comprises:
an integrated I/O module;
and the transmission bus is respectively connected with the integrated I/O module and the pneumatic driving module.
4. The valve island arrangement according to claim 3, wherein the transmission bus is a Profinet field bus.
5. The tong controlling means, its characterized in that includes:
the monitoring module is used for acquiring and outputting a monitoring signal;
the valve island device of any one of claims 1 to 4, a communication module of the valve island device being connected to the monitoring module, the communication module being configured to acquire the monitoring signal.
6. The gripper control apparatus of claim 5, wherein the monitoring module comprises:
the electric eye is connected with the communication module and used for monitoring the working state of the clamping hand and outputting a first monitoring signal according to the working state;
and the limit switch is connected with the communication module and used for monitoring the position information of the clamping hand and outputting a second monitoring signal according to the position information.
7. Mechanical device, characterized in that it comprises a gripper control device according to claim 5 or 6.
8. The mechanical apparatus of claim 7, further comprising:
the main control module is connected with the clamping hand control device and is used for outputting the control signal and receiving the monitoring signal.
9. The mechanical apparatus of claim 8, further comprising:
the clamping hand is connected with the clamping hand control device.
10. The mechanical apparatus of claim 9, further comprising:
and the mechanical arm is respectively connected with the clamping hand, the clamping hand control device and the main control die.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121815522.9U CN215769454U (en) | 2021-08-05 | 2021-08-05 | Valve terminal device, clamping handle control device and mechanical equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121815522.9U CN215769454U (en) | 2021-08-05 | 2021-08-05 | Valve terminal device, clamping handle control device and mechanical equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215769454U true CN215769454U (en) | 2022-02-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121815522.9U Active CN215769454U (en) | 2021-08-05 | 2021-08-05 | Valve terminal device, clamping handle control device and mechanical equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215769454U (en) |
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2021
- 2021-08-05 CN CN202121815522.9U patent/CN215769454U/en active Active
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