1. The utility model provides a manipulator interval regulation and control equipment, feeds jar (1), centre gripping actuating cylinder (3) and chuck pole (5) including the motion, one side fixed mounting of centre gripping actuating cylinder (3) has chuck seat (35), the surface of chuck pole (5) is equipped with the through-hole and rotates and has cup jointed fixed pin pole (51), the one end of fixed pin pole (51) is connected with the fixed surface of chuck seat (35), a serial communication port, the both ends fixed mounting that the motion fed jar (1) has end cover (12), the inboard of end cover (12) is equipped with connects pull rod (11), the inside of motion fed jar (1) is equipped with piston motion chamber (13), the inside slidable mounting in piston motion chamber (13) has piston case (9), one side fixedly connected with piston tube pole (2) of piston case (9), the other end of piston tube pole (2) runs through to the outside and the fixedly connected with connector head(s) of motion fed jar (1), (2) 21) The end part of the connecting seat head (21) is fixedly connected with one end of a clamping driving cylinder (3), the outer side of the motion feeding cylinder (1) is provided with a feeding air port (15) and a clamping air port (16), the end parts of the feeding air port (15) and the clamping air port (16) are fixedly connected with an air saving control mechanism (7), the end part of the chuck rod (5) is fixedly sleeved with an induction chuck (6), and a pressure sensor (10) is fixedly arranged inside the induction chuck (6);

a clamping driving cavity (31) is arranged inside the clamping driving cylinder (3), the inner cavity of the clamping driving cavity (31) is communicated with the end part of the piston pipe rod (2), a driving piston (34) is slidably mounted inside the clamping driving cavity (31), a shaft rod (32) is fixedly mounted on one side of the driving piston (34), the end part of the clamping driving cavity (31) is in threaded connection with a plug seat (33), the end part of the shaft rod (32) penetrates through the surface of the plug seat (33) and is fixedly mounted with a hinged linkage mechanism (4) located on the outer side of the clamping driving cylinder (3), and the hinged linkage mechanism (4) is movably connected with the end part of the chuck rod (5);

the piston valve core (9) comprises a first piston end (91), an air inlet groove (92) and a second piston end (93), the first piston end (91) and the second piston end (93) are respectively located at two ends of the air inlet groove (92) and fixedly connected with the end part of the air inlet groove (92), a cavity is arranged inside the air inlet groove (92), a plurality of air inlet holes (921) communicated with the cavity are formed in the surface of the air inlet groove (92), the piston pipe rod (2) is of a hollow tubular structure, and two ends of the piston pipe rod (2) are respectively communicated with the piston valve core (9) and the inside of the clamping driving cavity (31);

the piston motion chamber (13) one end fixed mounting of inner chamber has distance sensor (8), the input electric connection of solar term control mechanism (7) has the controller, the output electric connection of distance sensor (8) and pressure sensor (10) has the treater, the inside of treater is equipped with proofreading module, the input communication connection of treater has control terminal.

2. The manipulator distance adjusting and controlling device according to claim 1, wherein the sealing end covers (12) are fixedly connected through a connecting pull rod (11), a sealing gasket is arranged on the inner sides of the sealing end covers (12), the other side of the sealing gasket is combined with the end portion of the motion feeding cylinder (1), a through hole is formed in the surface of one of the sealing end covers (12), a sealing shaft plug (14) is fixedly installed on the surface of the sealing end cover, the sealing shaft plug (14) is movably sleeved on the outer side of the piston pipe rod (2), and the outer side of the piston pipe rod (2) is in interference fit with the inner side of the sealing shaft plug (14).

3. The manipulator distance adjusting and controlling device according to claim 1, wherein piston rings are sleeved on the outer sides of the first piston end (91), the second piston end (93) and the driving piston (34), the outer sides of the first piston end (91) and the second piston end (93) are in interference fit with the inner wall of the piston motion cavity (13), the outer side of the driving piston (34) is in interference fit with the inner wall of the clamping driving cavity (31), the number of the feeding air ports (15) is two, the two feeding air ports are symmetrically distributed at two ends of the motion feeding cylinder (1) and communicated with the inner cavity of the piston motion cavity (13), and the end part of each clamping air port (16) is arranged between the first piston end (91) and the air inlet groove (92).

4. The manipulator spacing adjustment and control device according to claim 1, wherein the hinged linkage mechanism (4) comprises a hinged seat (41) and a linkage lug (42), one end of the linkage lug (42) is movably connected with one side of the hinged seat (41), and the other end of the linkage lug (42) is movably connected with the end of the chuck rod (5).

5. The manipulator distance adjusting and controlling apparatus according to claim 1, wherein the throttle control mechanism (7) includes a first throttle control valve (71), a second throttle control valve (72), and a third throttle control valve (73), the first throttle control valve (71) and the second throttle control valve (72) are fixedly installed at an end of the feed air port (15), the third throttle control valve (73) is fixedly installed at an end of the grip air port (16), and the first throttle control valve (71), the second throttle control valve (72), and the third throttle control valve (73) are of an electromagnetic control valve structure.

6. The manipulator distance adjusting and controlling device according to claim 1, wherein a mounting cavity is formed on the inner side of the sealing end cover (12), the piston valve core (9) is located on the inner side of the mounting cavity, and the sensing end of the distance sensor (8) faces to one side of the piston valve core (9).

7. The method for using the robot distance adjusting and controlling apparatus according to claims 1 to 6, comprising the steps of,

s1: installation and programming control: the manipulator is fixed, and a feeding air port (15) and a clamping air port (16) are connected and assembled with high-pressure pumping equipment through a first air-saving control valve (71), a second air-saving control valve (72) and a third air-saving control valve (73) respectively, flow meters are provided at the ends of the first throttle control valve (71), the second throttle control valve (72), and the third throttle control valve (73), the opening and closing control flow of a first air-saving control valve (71), a second air-saving control valve (72) and a third air-saving control valve (73) is set by utilizing a control terminal according to the required movement path and the clamping effect of the mechanical arm, determining the air inflow through the processor according to the functional relationship between the movement path and the clamping effect and the air inflow, determining the opening and closing control flow of the throttle control mechanism (7) according to the functional relation between the air inflow and the opening and closing control time of the throttle control mechanism (7);

s2: and (3) clamping operation: the first section is opened through a first air-saving control valve (71) on one side of the motion feeding cylinder (1), air flow enters the interior of a piston motion cavity (13) to drive a piston valve core (9) to move like the pushing direction of the air flow, so that a clamping driving cylinder (3) is pushed to perform feeding motion through a piston pipe rod (2), and in the second section, the opening air flow passing through a second air-saving control valve (72) enters the interior of the piston motion cavity (13) and is sent into the interior of a clamping driving cavity (31) through a sealing end cover (12) and an air inlet hole (921) through the piston pipe rod (2), so that a hinged seat (41) is pushed to move, so that an object is clamped by a chuck rod (5), and the whole clamping action is completed;

s3: monitoring and feedback regulation: the motion distance of the piston valve core (9) is sensed in real time through the distance sensor (8) in the motion process of the piston valve core (9), the clamping acting force of the induction chuck (6) and an object is sensed in real time through the pressure sensor (10), the measurement results of the motion distance and the clamping force are transmitted to the processor through electric signals, data are compared with a preset motion path and a preset clamping effect through the calibration module, if the comparison results are inconsistent, the motion path and the clamping effect are reflected through the output signals of the controller receiving the distance sensor (8) and the pressure sensor (10), the air-saving control mechanism (7) is controlled to be opened and closed in a feedback mode, the air inflow is adjusted again, and feedback regulation is completed.

8. The method for using the manipulator distance adjusting and controlling device according to claim 7, wherein in the step S3, the controller monitors the influence of the air inflow on the output values of the distance sensor (8) and the pressure sensor (10) in real time through the output values of the distance sensor (8) and the pressure sensor (10), and when the motion states shown by the output values of the distance sensor (8) and the pressure sensor (10) are consistent with the required motion path and clamping effect, the controller directly controls the closing of the corresponding throttle control mechanism (7).

Background

With the popularization and application of industrial automation, the mechanical arm is widely applied to various fields, the industrial mechanical arm is a programmable automatic mechanical arm, the programmable automatic mechanical arm appears in the end of the fifty years, an important automatic device which is rapidly developed in recent years is an important means for realizing industrialization, and the programmable automatic mechanical arm is widely applied to the production of injection molding, stamping, spraying, die casting and the like, plays a role in taking out finished products or loading and unloading, for example, the stamping mechanical arm is a mechanical arm which is used for carrying out the work of stamping, carrying, loading and unloading and the like of materials according to the stamping production characteristics on the basis of automatic equipment, and has the advantages of saving labor cost, improving the safety of manpower and equipment, ensuring the productivity and quality of products and the like.

Present manipulator need carry out position or interval control with the help of interval adjusting device when using, and interval adjusting device's kind is more, mainly includes 4 kinds: the pneumatic control device comprises a hydraulic drive adjusting device, a pneumatic drive adjusting device, an electric drive adjusting device and a mechanical drive adjusting device, wherein the pneumatic drive adjusting device is provided with a simple air source, a low cost and a convenient maintenance.

However, in practical use, the common air pressure driven distance adjusting device in the market generally faces, and due to the fact that the air pressure driven adjusting device is simple in structure, feeding propulsion and clamping driving are independently controlled, and propulsion or clamping driving is controlled through a hydraulic or other starting mechanism, the traditional manipulator is large in size, not sensitive enough, and troublesome in installation and complex in control operation in use.

In addition, the current pneumatic drive control manipulator is mainly controlled through a throttle valve, and the distance regulation and control of the manipulator are accurately controlled by utilizing the air flow throughput and the air pressure of the throttle valve, but the air pressure is greatly influenced by the temperature along with the change of environmental factors, so that the distance regulation and control of the pneumatic drive control manipulator is easy to have errors, thereby causing the change of feeding amount errors or clamping force, easily causing serious production accidents, and having certain defects.

Disclosure of Invention

In order to overcome the above-mentioned defects in the prior art, embodiments of the present invention provide a manipulator distance adjusting and controlling apparatus and a method for using the same, where the motion feeding cylinder and the clamping driving cylinder are both set-up and drive-controlled by air intake of the feeding air port and the clamping air port, and the air intake is controlled and adjusted by air throttle control mechanisms at the ends of the feeding air port and the clamping air port, respectively, to achieve control of the feeding distance and the clamping distance of the manipulator, so as to solve the problems in the background art.

In order to achieve the purpose, the invention provides the following technical scheme that the manipulator distance regulating and controlling equipment comprises a motion feeding cylinder, a clamping driving cylinder and a chuck rod, wherein one side of the clamping driving cylinder is fixedly provided with a chuck seat, the surface of the chuck rod is provided with a through hole and is rotatably sleeved with a fixing pin rod, one end of the fixing pin rod is fixedly connected with the surface of the chuck seat, two ends of the motion feeding cylinder are fixedly provided with sealing end covers, the inner side of each sealing end cover is provided with a connecting pull rod, a piston motion cavity is arranged in the motion feeding cylinder, a piston valve core is slidably arranged in the piston motion cavity, one side of the piston valve core is fixedly connected with a piston pipe rod, the other end of the piston pipe rod penetrates through the outer side of the motion feeding cylinder and is fixedly connected with a connecting seat head, and the end part of the connecting seat head is fixedly connected with one end of the clamping driving cylinder, the outer side of the motion feeding cylinder is provided with a feeding air port and a clamping air port, the end parts of the feeding air port and the clamping air port are fixedly connected with a throttle control mechanism, the end part of the chuck rod is fixedly sleeved with an induction chuck, and a pressure sensor is fixedly arranged inside the induction chuck;

a clamping driving cavity is arranged in the clamping driving cylinder, the inner cavity of the clamping driving cavity is communicated with the end part of the piston pipe rod, a driving piston is slidably mounted in the clamping driving cavity, a shaft rod is fixedly mounted on one side of the driving piston, the end part of the clamping driving cavity is in threaded connection with a plug seat, the end part of the shaft rod penetrates through the surface of the plug seat and is fixedly provided with a hinged linkage mechanism located on the outer side of the clamping driving cylinder, and the hinged linkage mechanism is movably connected with the end part of the chuck rod;

the piston valve core comprises a first piston end, an air inlet groove and a second piston end, the first piston end and the second piston end are respectively positioned at two ends of the air inlet groove and fixedly connected with the end part of the air inlet groove, a cavity is arranged in the air inlet groove, a plurality of air inlet holes communicated with the cavity are formed in the surface of the air inlet groove, the piston pipe rod is of a hollow tubular structure, and two ends of the piston pipe rod are respectively communicated with the piston valve core and the interior of the clamping driving cavity;

the piston motion chamber is characterized in that a distance sensor is fixedly mounted at one end of the inner cavity of the piston motion chamber, the input end of the throttle control mechanism is electrically connected with a controller, the output ends of the distance sensor and the pressure sensor are electrically connected with a processor, a calibration module is arranged inside the processor, and the input end of the processor is in communication connection with a control terminal.

Preferably, the sealing end covers are fixedly connected through connecting pull rods, sealing gaskets are arranged on the inner sides of the sealing end covers, the other sides of the sealing gaskets are combined with the end portions of the motion feeding cylinders, a through hole is formed in the surface of one of the sealing end covers, a sealing shaft plug is fixedly mounted on the surface of the sealing end cover, the sealing shaft plug is movably sleeved on the outer side of the piston pipe rod, and the outer side of the piston pipe rod is in interference fit with the inner side of the sealing shaft plug.

Preferably, the piston rings are sleeved on the outer sides of the first piston end, the second piston end and the driving piston, the outer sides of the first piston end and the second piston end are in interference fit with the inner wall of the piston motion cavity, the outer side of the driving piston is in interference fit with the inner wall of the clamping driving cavity, the number of the feeding air ports is two, the two feeding air ports are symmetrically distributed at two ends of the motion feeding cylinder and communicated with the inner cavity of the piston motion cavity, and the end parts of the clamping air ports are arranged between the first piston end and the air inlet groove.

Preferably, the hinged linkage mechanism comprises a hinged seat and a linkage lug, one end of the linkage lug is movably connected with one side of the hinged seat, and the other end of the linkage lug is movably connected with the end part of the chuck rod.

Preferably, the throttle control mechanism includes a first throttle control valve, a second throttle control valve and a third throttle control valve, the first throttle control valve and the second throttle control valve are fixedly mounted at the end of the feeding air port, the third throttle control valve is fixedly mounted at the end of the clamping air port, and the first throttle control valve, the second throttle control valve and the third throttle control valve are of electromagnetic control valve structures.

Preferably, the inner side of the sealing end cover is provided with an installation cavity, the piston valve core is positioned on the inner side of the installation cavity, and the sensing end of the distance sensor faces one side of the piston valve core.

The use method of the manipulator distance adjusting and controlling equipment comprises the following steps,

s1: installation and programming control: fixing the manipulator, connecting and assembling a feeding air port and a clamping air port with high-pressure pumping equipment through a first air-saving control valve, a second air-saving control valve and a third air-saving control valve respectively, arranging flow meters at the end parts of the first air-saving control valve, the second air-saving control valve and the third air-saving control valve, setting the opening and closing control flows of the first air-saving control valve, the second air-saving control valve and the third air-saving control valve by using a control terminal according to a required manipulator motion path and a clamping effect, determining air inflow according to a function relation of the motion path and the clamping effect and the air inflow through a processor, and determining the opening and closing control flow of the air-saving control mechanism according to a function relation of the air inflow and opening and closing control time of the air-saving control mechanism;

s2: and (3) clamping operation: the first section is opened through a first throttle control valve at one side of the motion feeding cylinder, airflow enters the interior of the piston motion cavity to drive the piston valve core to move like the pushing direction of the airflow, so that the clamping driving cylinder is pushed to perform feeding motion through the piston pipe rod, and in the second section, the airflow which is opened through a second throttle control valve enters the interior of the piston motion cavity and is sent into the interior of the clamping driving cavity through the piston pipe rod through the sealing end cover and the air inlet hole to push the hinged seat to move, so that an object is clamped by the chuck rod, and the whole clamping action is completed;

s3: monitoring and feedback regulation: the motion distance of the piston valve core is sensed in real time through the distance sensor in the motion process of the piston valve core, the clamping acting force of the chuck and an object is sensed and sensed through the pressure sensor in real time, the measurement result of the motion distance and the clamping force is conveyed to the processor through an electric signal, data are compared with a preset motion path and a preset clamping effect through the checking module, if the comparison result is inconsistent, the motion path and the clamping effect are reflected through the controller receiving the output signals of the distance sensor and the pressure sensor, the air input is readjusted by controlling the air throttle control mechanism to be opened and closed, and feedback regulation is completed.

Preferably, in the step S3, the controller monitors the influence of the intake air amount on the output values of the distance sensor and the pressure sensor in real time through the output values of the distance sensor and the pressure sensor, and when the motion states shown by the output values of the distance sensor and the pressure sensor are consistent with the required motion path and clamping effect, the controller directly controls the closing of the corresponding throttle control mechanism.

The invention has the technical effects and advantages that:

1. in the scheme, the motion feeding cylinder and the clamping driving cylinder are subjected to group starting driving control through the air inlet of the feeding air port and the air inlet of the clamping air port, and the air inlet amount is controlled and adjusted through the air saving control mechanisms at the end parts of the feeding air port and the clamping air port respectively to realize the control of the feeding distance and the clamping distance of the manipulator, so that the structure integration degree is higher, the device is small in size, convenient to install and control, and the stability of the device is effectively improved;

2. in the scheme, the control terminal controls each air-saving control valve to carry out preset programming control through instruction input, the motion feeding amount and the clamping force are measured through the distance sensor and the pressure sensor respectively in the motion clamping process of the manipulator, the measured values are compared with the variables given by programming through the calibration module to carry out function relation, the initial variables are adjusted to complete feedback control, the motion feeding amount and the clamping force are adjusted in real time, and manipulator control abnormality caused by external factors such as environment is avoided.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the motion feed cylinder of the present invention;

FIG. 3 is a schematic view of the piston valve cartridge of the present invention;

FIG. 4 is a schematic view of the internal structure of the clamping driving cylinder of the present invention;

FIG. 5 is a schematic view of the chuck rod structure of the present invention;

fig. 6 is a schematic diagram of a control structure of the present invention.

The reference signs are:

1. a motion feed cylinder; 2. a piston tube rod; 3. a clamping driving cylinder; 4. a hinged linkage mechanism; 5. a chuck rod; 6. an induction chuck; 7. a throttle control mechanism; 8. a distance sensor; 9. a piston valve core; 10. a pressure sensor; 11. connecting a pull rod; 12. sealing the end cap; 13. a piston motion chamber; 14. sealing the shaft plug; 15. a feed gas port; 16. clamping the air port; 21. connecting the seat head; 31. a clamping drive cavity; 32. a shaft lever; 33. a plug seat; 34. a drive piston; 35. a chuck base; 41. a hinged seat; 42. linkage lug plates; 51. fixing the pin rod; 71. a first throttle control valve; 72. a second throttle control valve; 73. a third air control valve; 91. a first piston end; 92. an air inlet groove; 93. a second piston end; 921. and (4) air inlet holes.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides manipulator distance regulating equipment and a using method thereof as shown in attached figures 1 to 6, the manipulator distance regulating equipment comprises a motion feeding cylinder 1, a clamping driving cylinder 3 and a chuck rod 5, one side of the clamping driving cylinder 3 is fixedly provided with a chuck seat 35, the surface of the chuck rod 5 is provided with a through hole and is rotatably sleeved with a fixed pin rod 51, one end of the fixed pin rod 51 is fixedly connected with the surface of the chuck seat 35, two ends of the motion feeding cylinder 1 are fixedly provided with a sealing end cover 12, the inner side of the sealing end cover 12 is provided with a connecting pull rod 11, the interior of the motion feeding cylinder 1 is provided with a piston motion cavity 13, the interior of the piston motion cavity 13 is slidably provided with a piston valve core 9, one side of the piston valve core 9 is fixedly connected with a piston pipe rod 2, the other end of the piston pipe rod 2 penetrates through the outer side of the motion feeding cylinder 1 and is fixedly connected with a connecting seat head 21, the end part of the connecting seat head 21 is fixedly connected with one end of the clamping driving cylinder 3, a feeding air port 15 and a clamping air port 16 are formed in the outer side of the motion feeding cylinder 1, the end parts of the feeding air port 15 and the clamping air port 16 are fixedly connected with a throttle control mechanism 7, the end part of a chuck rod 5 is fixedly sleeved with an induction chuck 6, and a pressure sensor 10 is fixedly installed inside the induction chuck 6;

a clamping driving cavity 31 is arranged in the clamping driving cylinder 3, the inner cavity of the clamping driving cavity 31 is communicated with the end part of the piston pipe rod 2, a driving piston 34 is slidably arranged in the clamping driving cavity 31, a shaft rod 32 is fixedly arranged on one side of the driving piston 34, the end part of the clamping driving cavity 31 is in threaded connection with a plug seat 33, the end part of the shaft rod 32 penetrates through the surface of the plug seat 33 and is fixedly provided with a hinged linkage mechanism 4 positioned on the outer side of the clamping driving cylinder 3, the hinged linkage mechanism 4 is movably connected with the end part of the chuck rod 5, the hinged linkage mechanism 4 comprises a hinged seat 41 and a linkage lug 42, one end of the linkage lug 42 is movably connected with one side of the hinged seat 41, and the other end of the linkage lug 42 is movably connected with the end part of the chuck rod 5;

the piston valve core 9 comprises a first piston end 91, an air inlet groove 92 and a second piston end 93, the first piston end 91 and the second piston end 93 are respectively positioned at two ends of the air inlet groove 92 and fixedly connected with the end part of the air inlet groove 92, a cavity is arranged inside the air inlet groove 92, a plurality of air inlet holes 921 communicated with the cavity are formed in the surface of the air inlet groove 92, the piston pipe rod 2 is of a hollow tubular structure, and two ends of the piston pipe rod 2 are respectively communicated with the piston valve core 9 and the inside of the clamping driving cavity 31;

the one end fixed mounting of piston motion chamber 13 inner chamber has distance sensor 8, the input electric connection of solar term control mechanism 7 has the controller, distance sensor 8 and pressure sensor 10's output electric connection has the treater, the inside of treater is equipped with proofreading module, the input communication connection of treater has control terminal, the inboard of end cover 12 is equipped with the installation cavity, piston case 9 is located the inboard of installation cavity, distance sensor 8's induction end is towards one side of piston case 9.

Wherein, end cover 12 is through connecting pull rod 11 fixed connection, the inboard of end cover 12 is equipped with sealed the pad, the opposite side that sealed pad combines together with the tip of motion feed cylinder 1, the through-hole has been seted up and fixed mounting has sealed axle stopper 14 on the surface of one of them end cover 12, sealed axle stopper 14 activity cup joints in the outside of piston tube pole 2, the outside of piston tube pole 2 and the inboard interference fit of sealed axle stopper 14, realize the motion feed cylinder 1 and the sealed of centre gripping actuating cylinder 3, prevent the problem that the gas leakage article pine takes off among the clamping process.

As shown in fig. 3, piston rings are sleeved on the outer sides of the first piston end 91, the second piston end 93 and the driving piston 34, the outer sides of the first piston end 91 and the second piston end 93 are in interference fit with the inner wall of the piston movement cavity 13, the outer side of the driving piston 34 is in interference fit with the inner wall of the clamping driving cavity 31, the number of the feeding air ports 15 is two, the two feeding air ports are symmetrically distributed at two ends of the movement feeding cylinder 1 and communicated with the inner cavity of the piston movement cavity 13, and the end portions of the clamping air ports 16 are located between the first piston end 91 and the air inlet groove 92.

Specifically, the air flow is conveyed to the inside of the clamping driving cylinder 3 through the piston valve core 9 and the piston pipe rod 2 by the motion feeding cylinder 1, so that continuous air flow circulation of the air flow in the motion process of the clamping driving cylinder 3 is ensured, and the dynamic driving of the clamping driving cylinder 3 is facilitated.

The throttle control mechanism 7 includes a first throttle control valve 71, a second throttle control valve 72, and a third throttle control valve 73, the first throttle control valve 71 and the second throttle control valve 72 are fixedly mounted on the end portion of the intake port 15, the third throttle control valve 73 is fixedly mounted on the end portion of the clamp port 16, and the first throttle control valve 71, the second throttle control valve 72, and the third throttle control valve 73 are of electromagnetic control valve structures.

Specifically, the respective intake ports are independently controlled by the first, second, and third throttle control valves 71, 72, and 73, thereby completing the feeding and clamping operations.

The use method of the manipulator distance adjusting and controlling equipment comprises the following steps,

s1: installation and programming control: fixing the manipulator, connecting and assembling the feeding air port 15 and the clamping air port 16 with high-pressure pumping equipment through a first air-saving control valve 71, a second air-saving control valve 72 and a third air-saving control valve 73 respectively, arranging flow meters at the ends of the first air-saving control valve 71, the second air-saving control valve 72 and the third air-saving control valve 73, setting opening and closing control flows of the first air-saving control valve 71, the second air-saving control valve 72 and the third air-saving control valve 73 by using a control terminal according to a required manipulator motion path and a clamping effect, determining air inflow according to a function relation of the motion path and the clamping effect and the air inflow through a processor, and determining an opening and closing control flow of the air-saving control mechanism 7 according to a function relation of the air inflow and opening and closing control time of the air-saving control mechanism 7;

s2: and (3) clamping operation: the first section is opened through a first air-saving control valve 71 on one side of the motion feeding cylinder 1, the air flow enters the interior of the piston motion cavity 13 to drive the piston valve core 9 to move like the pushing direction of the air flow, so that the clamping driving cylinder 3 is pushed through the piston pipe rod 2 to carry out feeding motion, the second section is opened through the second air-saving control valve 72, the air flow enters the interior of the piston motion cavity 13 and is sent into the interior of the clamping driving cavity 31 through the piston pipe rod 2 through the sealing end cover 12 and the air inlet hole 921, the hinged seat 41 is pushed to move, so that the object is clamped by the chuck rod 5, and the whole clamping action is completed;

s3: monitoring and feedback regulation: the motion distance of the piston valve core 9 is sensed in real time through the distance sensor 8 in the motion process of the piston valve core 9, the clamping acting force of the induction chuck 6 and an object is sensed in real time through the pressure sensor 10, the measurement results of the motion distance and the clamping force are transmitted to the processor through electric signals, data are compared with a preset motion path and a preset clamping effect through the checking module, if the comparison results are inconsistent, the motion path and the clamping effect are reflected through the controller receiving output signals of the distance sensor 8 and the pressure sensor 10, the air input is readjusted, and feedback regulation is completed.

Preferably, in step S3, the controller monitors the influence of the intake air amount on the output values of the distance sensor 8 and the pressure sensor 10 in real time through the output values of the distance sensor 8 and the pressure sensor 10, and when the motion states indicated by the output values of the distance sensor 8 and the pressure sensor 10 are consistent with the required motion path and clamping effect, the controller directly controls the closing of the corresponding throttle control mechanism 7.

The working process of the invention is as follows:

according to the scheme, the motion feeding cylinder 1 and the clamping driving cylinder 3 are subjected to group starting driving control through air inlet of the feeding air port 15 and the clamping air port 16, and the air inlet amount is controlled and adjusted through the air throttle control mechanisms 7 at the end parts of the feeding air port 15 and the clamping air port 16 respectively to realize the control of the feeding distance and the clamping distance of the manipulator, so that the structure integration degree is higher, the device is small in size, convenient to install and control, and the stability of the equipment is effectively improved; and the control terminal controls each air-saving control valve to carry out preset programming control through instruction input, the motion feed amount and the clamping force are respectively measured through the distance sensor 8 and the pressure sensor 10 in the motion clamping process of the manipulator, the measured values are compared with the variables given by programming through the calibration module to carry out function relation, the initial variables are adjusted to complete feedback control, the motion feed amount and the clamping force are adjusted in real time, and the manipulator control abnormality caused by external factors such as environment is avoided.

Finally, it should be noted that, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may be changed;

secondly, in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to common designs, and under the condition of no conflict, the same embodiment and different embodiments of the invention can be combined with each other;

finally, the above description is only for the preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalents, improvements and the like which are within the spirit and principle of the present invention should be included in the protection scope of the present invention.