WO2015074562A1 - 自动泄气装置 - Google Patents

自动泄气装置 Download PDF

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Publication number
WO2015074562A1
WO2015074562A1 PCT/CN2014/091646 CN2014091646W WO2015074562A1 WO 2015074562 A1 WO2015074562 A1 WO 2015074562A1 CN 2014091646 W CN2014091646 W CN 2014091646W WO 2015074562 A1 WO2015074562 A1 WO 2015074562A1
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Prior art keywords
base
pressure detecting
deflation
venting
opening
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PCT/CN2014/091646
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English (en)
French (fr)
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杨敏敏
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苏州科沃斯商用机器人有限公司
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Publication of WO2015074562A1 publication Critical patent/WO2015074562A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Definitions

  • the invention relates to an automatic deflation device and belongs to the field of machinery.
  • the existing vacuum adsorption robot relies on the suction cup to adsorb on the surface of the adsorbed surface. After the work is completed, the machine can be removed by deflation. Due to the natural deflation, it takes a long time, so that the suction cup can be deflated in a short time after the work is completed. Most of these devices are equipped with a deflation device.
  • the existing air venting device mainly has the following two disadvantages: First, the degree of automation is low, and usually requires manual auxiliary operation to complete the deflation and reduce the working efficiency; on the other hand, the venting device has a limited application range and can only be used for integration.
  • the machine is continuously adsorbed during the running process, and is used in the case of venting after the work is completed; for the split type machine, it relies on the suction of the suction cups on the front and rear split machines, and the separation and closing of the split machine makes the machine move forward.
  • the suction cups on the front and rear split machines are required to cooperate with the driving mechanism to take up the adsorption and deflation in turn, so that the suction of the front and rear machines alternately sucks and releases the air to complete the moving operation, and the existing deflation The device is not available.
  • the present invention discloses an automatic deflation device, which can quickly realize the deflation of the suction cup on the one hand, and more importantly, can be used for the opening and closing of the venting holes of the front and rear body by the split vacuum adsorption robot.
  • An automatic deflation device includes a venting base provided with a cavity, and a surface of the venting base is provided with an opening communicating with the cavity; the venting base is provided with a deflation mechanism, and the deflation mechanism reciprocates The opening is sealed or opened.
  • the air venting mechanism in the present invention includes a deflated linear motor mounted on the venting base, and a line of deflation a sealing mechanism for abutting the motor, the sealing mechanism comprising a sealing member rotatably connected on one side of the venting base, wherein the sealing member is connected by a return spring in order to quickly return the venting hole to the vent hole after the power is cut off On the venting base.
  • the outer side of the seal holder is provided with a suction cup connection port for connecting with the vacuum chamber to be vented, when the seal is When the bracket is rotated and fastened in the direction of the air vent base, the suction cup connection port is docked with the opening.
  • the surface of the venting base is further provided with a suction cup connecting hole for connecting with the vacuum chamber to be vented.
  • the seal holder is provided with a seal fixed by a cover plate, and the seal member is disposed at a position corresponding to the opening.
  • the seal holder comprises two bracket elements arranged symmetrically, each of the bracket elements being “L” shaped, and the bracket elements are respectively provided with through holes for the suction cup connecting holes and the through holes.
  • the venting base is further provided with a pressure detecting mechanism, the pressure detecting mechanism comprising: at least one of the cavities formed by the venting base, the pressure detecting cavity communicating with the opening; being installed in the deflated air
  • a pressure sensing and control integrated circuit on the pedestal is provided with a pressure detecting element on the pressure detecting and controlling integrated circuit for detecting the pressure in the pressure detecting cavity.
  • a pressure detecting mechanism is also disposed in the venting base, and the pressure detecting mechanism includes: at least one of the cavities formed by the venting base, and the pressure detecting cavities are respectively opened The hole is connected to the suction cup connection hole.
  • the magnetic field generated by the coil in the energized state is driven to extend the magnetized iron core to the outside of the air venting base to push the sealing member out of the air to realize the deflation.
  • the sealing member is restored to the original position by the elastic force of the return spring.
  • a vacuum detection control board is further mounted on the vent base to detect the pressure in the vent base.
  • the automatic deflation device of the invention is not only suitable for the traditional integrated machine, but also can be effectively applied to the split type vacuum adsorption body.
  • the machine includes the front body and the rear body, and the front body and the rear body are connected with the automatic deflation device.
  • the automatic deflation device changes the state of the front body suction cup from deflation to the adsorption state, and at the same time changes the suction cup of the rear body from the absorbing state to the deflated state, thus reciprocatingly operating to realize the forward and backward movement of the split type machine.
  • 1a, 1b, and 1c are respectively a schematic structural view of a first embodiment of the automatic deflation device of the present invention, a cross-sectional view of the internal structure, and a schematic diagram of the composition of the deflated linear motor used;
  • 2a, 2b and 2c are respectively a perspective view, a structural assembly diagram and a schematic diagram of the composition of the deflated linear motor used in the second embodiment of the automatic deflation device of the present invention
  • 3a and 3b are respectively a schematic structural view and an overall structural view of a third embodiment of the present invention.
  • the automatic deflation device of the present invention includes a venting base 1 in which a pressure detecting cavity 11 is formed, and a pressure detecting and controlling integrated circuit 12 is mounted on the venting base, under pressure
  • the detection and control integrated circuit is provided with a pressure detecting element 13 for detecting the pressure in the pressure detecting cavity 11; the pressure detecting cavity is connected to the vent hole 14 and the suction cup connecting port 15 on the vent base.
  • a deflation linear motor 2 is disposed on the venting base 1, and the deflation linear motor 2 is connected to the pressure detecting cavity.
  • the deflation linear motor includes a base 21, a coil bracket 22 mounted on the base, and a coil capable of being energized around the coil bracket ( Not shown in the figure), a core 23 and an armature 24 are sequentially arranged in the coil holder, and a return spring 25 is arranged between the iron core and the armature, and the top of the armature is fixedly connected to the sealing member 26 through the upper cover 20.
  • the seal 26 seals the venting opening 14.
  • the working principle is as follows: when the power is applied, the magnetic field is generated in the coil holder 22 to make the core 23 magnetic, and the armature 24 is adsorbed. Since the armature 24 and the sealing member 26 are fixed, the sealing member 26 is pulled outward, and the air leakage hole 14 is opened; Under the action of the return spring 25, the seal 26 is pushed back to close the venting opening 14.
  • FIGS. 2a, 2b and 2c are respectively a perspective view, a structural assembly diagram and a schematic diagram of the composition of the deflated linear motor used in the second embodiment of the automatic deflation device of the present invention.
  • another embodiment of the automatic deflation device of the present invention includes a venting base 1 having a venting opening 14 (Fig. 2a in a sealed state, not shown, reference drawing) 2b is visible) and the suction cup connection port 15 is provided with a vacuum detection control plate 16 installed in the vent base.
  • a seal holder 17 is rotatably connected to one side of the vent hole 14 , and the seal holder 17 is connected to the vent base 1 by a return spring 25 (shown in FIG. 1 c ), and the seal holder 17 is mounted with a seal 26 .
  • the sealing member is fixed by the cover plate 27; the venting base 1 is provided with a deflation linear motor 2, and the deflated linear motor 2 includes a casing 29 closed by the end cover 28, and an electric coil 30 is provided in the casing 29, and the coil 30 is provided. There is a magnetized iron core 31.
  • the working principle is as follows: in the non-deflected state, the return spring 25 seals the sealing member 26 on the vent hole 14 through the seal holder 17, and the coil generates a magnetic field inside the coil under the energized state, and the magnetized iron core 31 extends to the outside of the venting base. Out, the seal holder 17 is pushed away, thereby moving the seal to open the vent hole.
  • the working process is as follows: First, the machine is turned on, and all the suction cups on the machine are adsorbed on the surface of the object, and when the machine moves forward, the automatic deflation device first starts.
  • the suction cup of the machine is deflated, the suction cup of the rear machine is still in the adsorption state, providing sufficient friction for the movement of the front machine, and then the driving mechanism operates to separate the front and rear two-part machines, so that the front machine moves forward, and when running to the end of the stroke, the driving mechanism
  • the automatic deflation device changes the state of the suction cup of the front machine from the deflated air to the absorbing state, and at the same time changes the suction cup of the rear machine from the absorbing state to the deflated state, and then the driving mechanism operates to close the front and rear two machines; the same is true when retreating.
  • This reciprocating operation realizes the forward and backward movement of the split type machine.
  • FIG. 3a is a schematic structural diagram of Embodiment 3 of the present invention.
  • the present invention provides an automatic deflation device, which mainly includes a venting base 1, a cavity is provided inside the venting base 1, and a surface of the venting base 1 is provided in communication with the cavity.
  • the opening 100 is configured to be connected to the suction cup.
  • the venting base 1 is provided with a deflation mechanism, and the deflation mechanism reciprocates to close or open the opening 100.
  • the deflation mechanism includes a deflation linear motor 2 mounted on the ventilating base 1 and a sealing mechanism abutting the deflation linear motor 2, the sealing mechanism including a slewingly connected seal disposed on one side of the venting base
  • the holder 17 is attached to the venting base 1 by a return spring (not shown).
  • the outer side of the seal holder 17 is provided with a suction cup connection port 15 for connecting with the suction cup.
  • the port 15 is docked with the opening 100.
  • the seal holder 17 comprises two bracket elements arranged symmetrically, each bracket element being "L" shaped.
  • FIG. 3b is an overall structural diagram of Embodiment 3 of the present invention.
  • the action process of the present invention is such that the suction cup of the vacuum adsorption robot is connected to the deflation base 1 through the suction cup connection port 15, and the seal holder 17 is engaged when the suction cup is in the vacuum state.
  • the side of the ventilating base 1 is closed.
  • the opening 100 is sealed by the seal holder 17; when the suction cup needs to be deflated, the deflated linear motor 2 is driven, and the magnetized iron core 31 disposed at the end thereof seals the seal holder 17
  • the suction cup connection port 15 and the opening 100 provided in the deflation base 1 are simultaneously exposed to communicate with the outside to realize the deflation process.
  • the difference between the embodiment and the foregoing two embodiments is that the openings provided in the venting base of the first embodiment and the second embodiment are two groups, one for connecting with the suction cup and the other for the other group. Depressed.
  • the functions of the suction cup and the deflation are simultaneously realized by only one set of openings.
  • the automatic air deflation device provided in the above three embodiments may be used for the integral vacuum adsorption robot, and may also be used for the split structure.
  • the vacuum adsorption robot is a split structure, it may include The front body and the rear body, the front body and the rear body are connected to an automatic deflation device.
  • the automatic deflation device relies on the magnetic field generated by the coil in the energized state to drive the magnetized iron core to protrude outside the venting base, pushes the sealing member to open the venting, and relies on the reset after the power is turned off.
  • the spring force restores the seal holder to its original position.
  • a vacuum detection control panel is mounted on the vent base to detect the pressure in the vent base.
  • the automatic deflation device of the present invention can be applied to a conventional one-piece machine, and the suction cup connection port on the automatic deflation device can be directly connected to the suction cup or connected to the vacuum chamber to be vented. It can also be effectively applied to a split type vacuum adsorption body.
  • the machine includes a front body and a rear body, and the front body and the rear body are connected to an automatic deflation device.
  • the automatic deflation device changes the state of the suction cup of the front body from the deflation to the adsorption state, and changes the suction cup of the rear body from the absorbing state to the deflated state, so that the reciprocating operation realizes the forward and backward movement of the split type machine.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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  • Mechanical Engineering (AREA)
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Abstract

一种自动泄气装置，包括设有空腔的泄气基座（1），泄气基座表面设有与所述空腔连通的开孔（100）；所述泄气基座上设有泄气机构，所述泄气机构往复运动使所述开孔密闭或打开。该自动泄气装置通过密封件的移动控制泄气基座的密封腔体的泄气，进一步的可以控制分体式真空吸附机器人的闭合、分开，使机器产生运动。

Description

自动泄气装置 技术领域
本发明涉及一种自动泄气装置，属于机械领域。
背景技术
现有的真空吸附机器人，依靠吸盘吸附在被吸附面的表面，工作完成后通过泄气可将机器取下，由于自然泄气需要较长时间，为方便在工作完成后短时间内让吸盘泄气，大多数此类装置都配备了泄气装置。现有的泄气装置主要有如下两个缺点：一是自动化程度低，通常需要人工辅助操作才能完成泄气，降低了工作效率；另一方面，此种泄气装置的适用范围有限，仅能用于一体式机器，在运行过程中持续吸附，工作完成后泄气的情况下使用；对于分体式机器，其依靠前后两分体机上的吸盘吸附，并靠分体机的分开和闭合使机器前行的分体式机器上，在机器分开与闭合的前行过程中，需要前后两分体机上的吸盘配合驱动机构轮流吸附和泄气，从而依靠前后机的吸盘交替吸放气来完成移动作业，现有的泄气装置无法适用。
发明内容
针对现有技术的不足，本发明公开了一种自动泄气装置，一方面能够快速实现吸盘的泄气，更重要的，可以用于分体式真空吸附机器人交替控制前后机体泄气孔的开闭。
为实现上述效果，本发明是通过如下技术方案实现的：
一种自动泄气装置，包括设有空腔的泄气基座，泄气基座表面设有与所述空腔连通的开孔；所述泄气基座上设有泄气机构，所述泄气机构往复运动使所述开孔密闭或打开。
为了实现整个控制过程的自动化，本领域技术人员可动过多种电气控制的方式实现密封件的移动，本发明中的所述泄气机构包括安装在泄气基座上的泄气直线电机，与泄气直线电机抵接的密封机构，所述密封机构包括设置在泄气基座一侧可旋转连接的密封件支架，为了使得断电后密封件迅速返回泄气孔位置封闭泄气孔，密封件支架通过复位弹簧连接在泄气基座上。
所述密封件支架的外侧设有吸盘连接口，用于与待泄真空室相连，当所述密封件 支架朝泄气基座方向旋转扣合时，所述吸盘连接口与所述开孔对接。
所述泄气基座表面还设有吸盘连接孔，用于与待泄真空室相连。
所述密封件支架上设有由盖板固定的密封件，所述密封件的设置位置与所述开孔相对应。
所述密封件支架包括对称设置的两个支架元件，每个支架元件为“L”形，支架元件上分别设有用于吸盘连接孔和开孔穿过的通孔。
为了保证泄气的效果，所述泄气基座内还设有压力检测机构，该压力检测机构包括：泄气基座形成的至少一个所述空腔，该压力检测空腔与开孔连通；安装在泄气基座上的压力检测与控制集成电路，在该压力检测与控制集成电路上设有压力检测元件用来检测压力检测空腔内的压力。
在本发明的另一个实施例中，同样在所述泄气基座内设有压力检测机构，该压力检测机构包括：泄气基座形成的至少一个所述空腔，该压力检测空腔分别与开孔和吸盘连接孔连通。
通过此结构，依靠线圈在通电状态下产生的磁场带动磁化铁芯向泄气基座外部伸出将密封件支架推开实现泄气，断电后依靠复位弹簧的弹力将密封件支架恢复原位。
进一步的，泄气基座上还安装有真空度检测控制板用来检测泄气基座内的压力。
本发明的自动泄气装置不仅适用于传统的一体机，而且可以有效适用于分体式真空吸附机体，此类机器包括前机体和后机体，前机体和后机体均连接自动泄气装置。
在上述结构有下，自动泄气装置将前机体吸盘的状态由泄气变为吸附状态，同时将后机体的吸盘由吸附状态变为泄气状态，如此往复运作，实现分体式机器的前行与后退。
下面结合附图和具体实施例，对本发明的技术方案进行详细地说明。
附图说明
图1a、图1b和图1c分别为本发明自动泄气装置实施例一的结构装配示意图、内部结构剖面图和所用泄气直线电机的组成示意图；
图2a、图2b和图2c分别为本发明自动泄气装置实施例二的立体图、结构装配示意图和所用泄气直线电机的组成示意图；
图3a和图3b分别为本发明实施例三的结构示意图和整体结构图。
具体实施方式
下面结合附图对本发明的实施方式做具体说明。在下述图示中，均是示意了两组泄气直线电机的情形，很显然，其他类驱动装置也可以被采用。
实施例一
图1a、图1b和图1c分别为本发明自动泄气装置实施例一的结构装配示意图、内部结构剖面图和所用泄气直线电机的组成示意图。参考图1a、图1b和图1c，本发明的自动泄气装置包括泄气基座1，泄气基座内形成压力检测空腔11，在泄气基座上安装有压力检测与控制集成电路12，在压力检测与控制集成电路上设有压力检测元件13用来检测压力检测空腔11内的压力；压力检测空腔与位于泄气基座上的泄气孔14和吸盘连接口15连接。
在泄气基座1上设有泄气直线电机2，泄气直线电机2连接压力检测空腔，该泄气直线电机包括底座21，安装在底座上的线圈支架22，线圈支架上绕有可通电的线圈(图中未示出)，在线圈支架内依次设有相抵接的铁芯23和衔铁24，在铁芯和衔铁之间设有复位弹簧25，衔铁的顶部穿过上盖20固定连接密封件26，该密封件26可密封泄气孔14。
其工作原理如下：通电时线圈支架22内产生磁场使铁芯23产生磁性，将衔铁24吸附，由于衔铁24和密封件26固定，将密封件26向外拉，泄气孔14打开；断电时，在复位弹簧25的作用下，将密封件26顶回封闭泄气孔14。
实施例二
图2a、图2b和图2c分别为本发明自动泄气装置实施例二的立体图、结构装配示意图和所用泄气直线电机的组成示意图。参考图2a、图2b和图2c，本发明的自动泄气装置的另一个实施例包括泄气基座1，泄气基座1上设有泄气孔14(图2a位于密封状态，无法示出，参考图2b可见)和吸盘连接口15，泄气基座1内安装有真空度检测控制板16。
在泄气孔14一侧可旋转的连接有密封件支架17，密封件支架17通过复位弹簧25(结合图1c所示)连接在泄气基座1上，密封件支架17上安装有密封件26，密封件由盖板27固定住；在泄气基座1安装有泄气直线电机2，泄气直线电机2包括由端盖28封闭的外壳29，在外壳29内设有可通电的线圈30，线圈30中具有磁化铁芯31。
其工作原理如下：非泄气状态下，复位弹簧25通过密封件支架17将密封件26密封在泄气孔14上，线圈在通电状态下使线圈内部产生磁场，磁化铁芯31向泄气基座外部伸出，将密封件支架17推开，从而移动密封件使泄气孔打开。
当本发明的自动泄气装置用于分体式真空吸附机器人时，其工作过程如下：首先，将机器开机，机器上所有的吸盘吸附在物体表面，机器往前运动的时候，自动泄气装置先将前机的吸盘泄气，后机的吸盘仍处于吸附状态，为前机移动提供足够摩擦力，然后驱动机构运作使前后两分体机分开，使前机往前运动，运行到行程端点时，驱动机构停止运作，自动泄气装置将前机吸盘的状态由泄气变为吸附状态，同时将后机的吸盘由吸附状态变为泄气状态，然后驱动机构运作使前后两机靠拢闭合；后退时同理。如此往复运作，实现分体式机器的前行与后退。
实施例三
图3a为本发明实施例三的结构示意图。如图3a所示，本发明提供一种自动泄气装置，该装置主要包括泄气基座1，在泄气基座1的内部设有空腔，泄气基座1表面设有与所述空腔连通的开孔100，所述开孔100用于与吸盘相连，所述泄气基座1上设有泄气机构，所述泄气机构往复运动使所述开孔100密闭或打开。具体来说，所述泄气机构包括安装在泄气基座1上的泄气直线电机2，与泄气直线电机2抵接的密封机构，所述密封机构包括设置在泄气基座一侧可旋转连接的密封件支架17，密封件支架17通过复位弹簧(图中未示出)连接在泄气基座1上。如图3a所示，所述密封件支架17的外侧设有吸盘连接口15，用于与吸盘相连，当所述密封件支架17朝泄气基座1的方向旋转扣合时，所述吸盘连接口15与所述开孔100对接。所述密封件支架17包括对称设置的两个支架元件，每个支架元件为“L”形。
图3b为本发明实施例三的整体结构图。如图3a并结合图3b所示，本发明的动作过程是这样的：真空吸附机器人的吸盘通过吸盘连接口15与泄气基座1相连，当吸盘处于抽真空状态时，密封件支架17扣合关闭在泄气基座1的侧面，此时，开孔100被密封件支架17封住；当吸盘需要泄气时，泄气直线电机2驱动，设置在其端部的磁化铁芯31将密封件支架17顶起，吸盘连接口15和设置在泄气基座1上的开孔100同时露出与外界连通，实现泄气过程。
因此，本实施例与前述两个实施例之间的区别在于，实施例一和实施例二在泄气基座上设置的开孔为两组，一组用于与吸盘相连，另一组则用于泄气。而在本实施例中，只通过一组开孔就同时实现了与吸盘和泄气两个功能。
另外，需要说明的是，上述三个实施例中所提供的自动泄气装置可以用于整体式真空吸附机器人，也可以用于分体式结构，当所述真空吸附机器人为分体式结构时，可以包括前机体和后机体，前机体和后机体均连接自动泄气装置。
综上所述，本发明提供的这种自动泄气装置，依靠线圈在通电状态下产生的磁场带动磁化铁芯向泄气基座外部伸出，将密封件支架推开实现泄气，断电后依靠复位弹簧的弹力将密封件支架恢复原位。同时还在泄气基座上安装有真空度检测控制板用来检测泄气基座内的压力。本发明的自动泄气装置可以适用于传统的一体机，该自动泄气装置上的吸盘连接口可以直接与吸盘相连，也可以与待泄真空室相连。还可以有效地适用于分体式真空吸附机体，此类机器包括前机体和后机体，前机体和后机体均连接自动泄气装置。自动泄气装置将前机体吸盘的状态由泄气变为吸附状态，同时将后机体的吸盘由吸附状态变为泄气状态，如此往复运作，实现分体式机器的前行与后退。

Claims (8)

  1. 一种自动泄气装置，其特征在于，包括设有空腔的泄气基座(1)，泄气基座表面设有与所述空腔连通的开孔(100)；所述泄气基座上设有泄气机构，所述泄气机构往复运动使所述开孔密闭或打开。
  2. 如权利要求1所述的自动泄气装置，其特征在于，所述泄气机构包括安装在泄气基座(1)上的泄气直线电机(2)，与泄气直线电机(2)抵接的密封机构，所述密封机构包括设置在泄气基座一侧可旋转连接的密封件支架(17)，密封件支架(17)通过复位弹簧(25)连接在泄气基座(1)上。
  3. 如权利要求2所述的自动泄气装置，其特征在于，所述密封件支架(17)的外侧设有吸盘连接口(15)，用于与待泄真空室相连，当所述密封件支架朝泄气基座(1)方向旋转扣合时，所述吸盘连接口(15)与所述开孔(100)对接。
  4. 如权利要求2所述的自动泄气装置，其特征在于，所述泄气基座(1)表面还设有吸盘连接孔，用于与待泄真空室相连。
  5. 如权利要求4所述的自动泄气装置，其特征在于，所述密封件支架(17)上设有由盖板(27)固定的密封件(26)，所述密封件的设置位置与所述开孔(100)相对应。
  6. 如权利要求4所述的自动泄气装置，其特征在于，所述密封件支架(17)包括对称设置的两个支架元件，每个支架元件为“L”形，支架元件上分别设有用于吸盘连接孔和开孔穿过的通孔。
  7. 如权利要求1-3任一项所述的自动泄气装置，其特征在于，所述泄气基座(1)内还设有压力检测机构，该压力检测机构包括：泄气基座形成的至少一个所述空腔(11)，该压力检测空腔(11)与开孔(100)连通；安装在泄气基座(1)上的压力检测与控制集成电路(12)，在该压力检测与控制集成电路(12)上设有压力检测元件(13)用来检测压力检测空腔(11)内的压力。
  8. 如权利要求4-6任一项所述的自动泄气装置，其特征在于，所述泄气基座(1)内还设有压力检测机构，该压力检测机构包括：泄气基座形成的至少一个所述空腔(11)，该压力检测空腔(11)分别与开孔(100)和吸盘连接孔(15)连通；安装在泄气基座(1)上的压力检测与控制集成电路(12)，在该压力检测与控制集成电路(12)上设有压力检测元件(13)用来检测压力检测空腔(11)内的压力。
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