阅读说明：本技术 一种可驱动对象多方位移动的一体式气缸 (Integrated air cylinder capable of driving object to move in multiple directions ) 是由 赵宗辉 覃作成 李建峰 杨东锋 黄国华 袁聪 于 2020-06-30 设计创作，主要内容包括：本发明提供一种可驱动对象多方位移动的一体式气缸,该可驱动对象多方位移动的一体式气缸结构简单,大大减少运动模块整体体积的同时,可通过改变第一气嘴和第二气嘴的通气状态,来改变顶板的所处位置,可将工件固定于顶板上方使工件随顶板的移动而移动,可作为小型工件进行加工的移动机构,实现工件的多个工位灵活改变,同时,该可驱动对象多方位移动的一体式气缸可作为装夹机构,通过使第一气嘴和第二气嘴通气,顶板与滑座之间形成压合状态且位于底板的右端,对位于底板右端的工件起到压合作用,通过使第二气嘴和第一气嘴不通气,顶板与滑座之间形成压合状态且位于底板的右端,此时顶板与滑座之间形成远离状态并位于底板的左端,使被压合的位于底板右端的工件松开,且此时工件上方无顶板遮挡,方便工人拿取。(The invention provides an integrated cylinder capable of driving an object to move in multiple directions, which has a simple structure, can greatly reduce the whole volume of a motion module, can change the position of a top plate by changing the ventilation states of a first air nozzle and a second air nozzle, can fix a workpiece above the top plate to enable the workpiece to move along with the movement of the top plate, can be used as a moving mechanism for processing small workpieces, realizes the flexible change of multiple stations of the workpiece, can be used as a clamping mechanism, can form a pressing state between the top plate and a sliding seat and is positioned at the right end of a bottom plate by ventilating the first air nozzle and the second air nozzle, plays a pressing role on the workpiece positioned at the right end of the bottom plate, and forms a pressing state between the top plate and the sliding seat and is positioned at the right end of the bottom plate by not ventilating the second air nozzle and the first air nozzle, form between roof and the slide this moment and keep away from the state and be located the left end of bottom plate, make the work piece that is located the bottom plate right-hand member by the pressfitting loosen, and work piece top this moment does not have the roof to shelter from, makes things convenient for the workman to take.)

1. An integrated cylinder capable of driving an object to move in multiple directions is characterized by comprising a horizontal driving mechanism and a vertical driving mechanism;

the horizontal driving mechanism comprises a lower air cylinder and a bottom plate, the lower air cylinder is fixed on the bottom plate, the lower air cylinder comprises a lower cylinder barrel and a lower piston rod, a lower piston cavity is horizontally arranged in the lower cylinder barrel, an end cover is arranged at the left end of the lower cylinder barrel, a first air tap is arranged on the end cover, a first through hole through which the right end of the lower piston rod can penetrate is formed in the lower cylinder barrel, the left end of the lower piston rod is in sliding fit with the lower piston cavity, a groove capable of containing a first sealing rubber ring is formed in the left end of the lower piston rod, the outer edge of the first sealing rubber ring is attached to the surface of the lower piston cavity, a baffle plate is arranged at the right end of the bottom plate, and the right end of the lower piston rod is connected to the baffle plate through a first compression spring;

the vertical driving mechanism comprises a sliding seat and a top plate used for supporting a workpiece, the bottom of the top plate is connected to the upper surface of the sliding seat through a second compression spring, the bottom of the sliding seat is fixed at the right end of the lower piston rod, an air inlet pipeline, an upper piston rod and an upper piston cavity are arranged in the sliding seat, the air inlet pipeline is horizontally arranged, a second air nozzle is arranged at the left end of the air inlet pipeline, the upper piston cavity is vertically arranged, the upper end of the upper piston cavity is communicated with the air inlet pipeline, the upper piston rod comprises a piston sheet and a push rod, the push rod is fixed at the upper end of the piston sheet, the outer edge of the piston sheet is movably matched with the upper piston cavity, a second through hole through which the push rod can penetrate is formed in the upper end of the sliding seat, the piston sheet is provided with a groove capable of accommodating a second sealing rubber ring, and the outer edge of the second sealing rubber ring is attached to, the inner surface of the second through hole is provided with a groove capable of containing a third sealing rubber ring, the inner edge of the third sealing rubber ring is attached to the push rod, and the bottom of the top plate is fixed to the top of the push rod.

2. The integrated cylinder capable of driving the object to move in multiple directions as claimed in claim 1, wherein there are two lower cylinders, and the end cover is provided with a vent pipe for communicating the first air nozzle with the lower piston cavity.

3. The integrated cylinder capable of driving an object to move in multiple directions as claimed in claim 1, wherein the upper end of the bottom plate is provided with a front linear guide rail and a rear linear guide rail which are matched in parallel, and the front side and the rear side of the sliding seat are respectively connected with the front linear guide rail and the rear linear guide rail in a sliding manner.

4. The integrated cylinder capable of driving an object to move in multiple directions according to claim 1, comprising a controller, wherein a first photoelectric sensor, a second photoelectric sensor and a third photoelectric sensor electrically connected to the controller are disposed on the front side or the rear side of the bottom plate, grooves are disposed in the middle of the first photoelectric sensor, the second photoelectric sensor and the third photoelectric sensor, a transmitter and a receiver are disposed on the two sides of each groove, the first photoelectric sensor and the second photoelectric sensor are disposed on the left end and the rear end of the bottom plate, respectively, the top plate is provided with a first light shielding block in sliding fit with the first photoelectric sensor and the second photoelectric sensor, and the slide base is provided with a second light shielding block in sliding fit with the third photoelectric sensor.

5. The integrated cylinder capable of driving the object to move in multiple directions as claimed in claim 1, wherein a vertical guide rod is disposed at the lower end of the top plate, and a slide cavity slidably engaged with the vertical guide rod is disposed above the slide seat.

6. The integrated cylinder capable of driving the object to move in multiple directions as claimed in claim 1, wherein the baffle is provided with a third through hole for the first threaded fastener to pass through, and the third through hole is in threaded connection with the first threaded fastener.

7. The integrated cylinder capable of driving an object to move in multiple directions as claimed in claim 1, wherein the first sealing ring and the second sealing ring are double-O-shaped sealing rings, the cross section of each double-O-shaped sealing ring is a combined surface formed by two circles intersecting each other, and the third sealing ring is a Y-shaped sealing ring.

8. The integrated cylinder capable of driving an object to move in multiple directions according to claim 1, further comprising a motion module displacement block, wherein the motion module displacement block comprises a clamp and a pressing plate, the base is provided with a positioning pin, the clamp is fixed on the base through the positioning pin, and the pressing plate is fixed on the upper surface of the top plate.

9. The integrated cylinder capable of driving the object to move in multiple directions as claimed in claim 1, wherein the base plate is fixed on the worktable by a second threaded fastener, and the base is provided with a fourth through hole for the second threaded fastener to be screwed.

Technical Field

The invention belongs to the technical field of motion modules, and particularly relates to an integrated air cylinder capable of driving an object to move in multiple directions.

Background

The cylinder is a cylindrical metal part which can guide the piston to do linear reciprocating motion in the cylinder, is a pneumatic actuating element which can convert the pressure energy of compressed gas into mechanical energy in pneumatic transmission and is widely applied to the technical fields of tension control of printing, semiconductor spot welding, chip grinding, automatic control, robots and the like, the cylinder in the prior art is composed of a cylinder barrel, an end cover, a piston cavity, a piston rod, a sealing element and the like, usually, only one end of the cylinder is provided with the piston rod, air is supplied from one side of the piston cavity and is gathered to generate air pressure, the air pressure pushes the piston to generate pushing force to extend out, and only the pushing effect of a single direction can be realized on an acting object, in the assembling process of some modules, the workpiece needs to be adjusted in multiple directions, so that the workpiece can be flexibly changed at a plurality of different stations in the horizontal direction and the vertical direction, and in the prior, the workpiece is moved to a plurality of different stations in the horizontal and vertical directions to complete corresponding procedures, but the manipulator is large in size, is suitable for moving large-sized workpieces with large moving stroke, and cannot meet the requirement of short-distance movement of small workpieces between stations within a distance of 50mm so as to meet corresponding precision machining.

Disclosure of Invention

Therefore, in order to overcome the above technical problems, the present invention provides an integrated cylinder capable of driving an object to move in multiple directions, which is characterized by comprising a horizontal driving mechanism and a vertical driving mechanism;

the horizontal driving mechanism comprises a lower air cylinder and a bottom plate, the lower air cylinder is fixed on the bottom plate, the lower air cylinder comprises a lower cylinder barrel and a lower piston rod, a lower piston cavity is horizontally arranged in the lower cylinder barrel, an end cover is arranged at the left end of the lower cylinder barrel, a first air tap is arranged on the end cover, a first through hole through which the right end of the lower piston rod can penetrate is formed in the lower cylinder barrel, the left end of the lower piston rod is in sliding fit with the lower piston cavity, a groove capable of containing a first sealing rubber ring is formed in the left end of the lower piston rod, the outer edge of the first sealing rubber ring is attached to the surface of the lower piston cavity, a baffle plate is arranged at the right end of the bottom plate, and the right end of the lower piston rod is connected to the baffle plate through a first compression spring;

the vertical driving mechanism comprises a sliding seat and a top plate used for supporting a workpiece, the bottom of the top plate is connected to the upper surface of the sliding seat through a second compression spring, the bottom of the sliding seat is fixed at the right end of the lower piston rod, an air inlet pipeline, an upper piston rod and an upper piston cavity are arranged in the sliding seat, the air inlet pipeline is horizontally arranged, a second air nozzle is arranged at the left end of the air inlet pipeline, the upper piston cavity is vertically arranged, the upper end of the upper piston cavity is communicated with the air inlet pipeline, the upper piston rod comprises a piston sheet and a push rod, the push rod is fixed at the upper end of the piston sheet, the outer edge of the piston sheet is movably matched with the upper piston cavity, a second through hole through which the push rod can penetrate is formed in the upper end of the sliding seat, the piston sheet is provided with a groove capable of accommodating a second sealing rubber ring, and the outer edge of the second sealing rubber ring is attached to, the inner surface of the second through hole is provided with a groove capable of containing a third sealing rubber ring, the inner edge of the third sealing rubber ring is attached to the push rod, the bottom of the top plate is fixed at the top of the push rod, and the top of the piston sheet is not in contact with the top of the upper piston cavity.

Furthermore, the number of the lower air cylinders is two, and the end cover is provided with an air duct which can be used for communicating the first air nozzle with the lower piston cavity. The two piston rods simultaneously carry out horizontal movement, so that the horizontal movement of the sliding seat is more stable.

Furthermore, the upper end of the bottom plate is provided with a front linear guide rail and a rear linear guide rail which are matched in parallel, and the front side and the rear side of the sliding seat are respectively connected with the front linear guide rail and the rear linear guide rail in a sliding mode. The horizontal movement of the sliding seat is more stable.

Further, including the controller, the front side or the rear side of bottom plate be equipped with controller electric connection's first photoelectric sensor, second photoelectric sensor and third photoelectric sensor, first photoelectric sensor second photoelectric sensor with third photoelectric sensor's middle part all is equipped with the recess, the both sides of recess are transmitter and receiver respectively, first photoelectric sensor with second photoelectric sensor locates respectively the left end and the rear end of bottom plate, the roof be equipped with first photoelectric sensor second photoelectric sensor sliding fit's first piece that hides light, the slide be equipped with third photoelectric sensor sliding fit's second piece that hides light. The controller plays a role in sensing the position of the shading block through the photoelectric sensor, controls the corresponding air nozzle according to the position of the shading block of the sliding seat or the top plate, and improves the movement precision.

Furthermore, the lower end of the top plate is provided with a vertical guide rod, and a sliding cavity in sliding fit with the vertical guide rod is arranged above the sliding seat. The up-and-down movement of the top plate is more stable.

Furthermore, the baffle is provided with a third through hole for a first threaded fastener to penetrate through, the third through hole is in threaded connection with the first threaded fastener, and the first threaded fastener is a fine thread screw. Threaded fastener plays the effect of blockking to the slide of baffle left end, and through finely tuning threaded fastener, the accurate regulation of slide position is realized to the rightmost position that steerable slide was located.

Further, the first sealing ring and the second sealing ring are double-O-shaped sealing rings, the cross section of each double-O-shaped sealing ring is a combined surface formed by two circles in an intersecting mode, and the third sealing ring is a Y-shaped sealing ring. The double-O-shaped sealing ring and the Y-shaped sealing ring have stronger sealing performance than the common O-shaped sealing ring, and play an important role in high-strength movement.

Further, the motion module replacement block comprises a clamp and a pressing plate, the base is provided with a positioning pin, the clamp is fixed on the base through the positioning pin, and the pressing plate is fixed on the upper surface of the top plate. The upper part of the clamp is used for supporting a product to be pressed on a workpiece, the pressing plate plays a role in pressing and fixing the workpiece along with the downward movement of the top plate, and the distance between the pressing plate and the clamp is different by replacing the clamps with different heights so as to adapt to the pressed products with different heights.

Further, the bottom plate is fixed in the workstation through second threaded fastener, the base is equipped with and supplies second threaded fastener threaded connection's fourth through-hole.

The invention has the following beneficial effects: the integrated cylinder capable of driving the object to move in multiple directions has a simple structure, the whole volume of the motion module can be greatly reduced, the position of the top plate can be changed by changing the ventilation states of the first air nozzle and the second air nozzle, the workpiece can be fixed above the top plate to move along with the movement of the top plate and can be used as a moving mechanism for processing small workpieces, the flexible change of multiple stations of the workpiece can be realized, meanwhile, the integrated cylinder capable of driving the object to move in multiple directions can be used as a clamping mechanism, the first air nozzle and the second air nozzle are ventilated, the pressing state is formed between the top plate and the slide seat and is positioned at the right end of the bottom plate, the pressing effect is realized on the workpiece positioned at the right end of the bottom plate, the pressing state is formed between the top plate and the slide seat and is positioned at the right end of the bottom plate by not ventilating the second air nozzle and the first air nozzle, and, the workpiece pressed on the right end of the bottom plate is loosened, and the top of the workpiece is not covered by the top plate, so that the workpiece is convenient for workers to take.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

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

FIG. 2 is a schematic structural diagram of a base plate according to the present invention;

FIG. 3 is a schematic view of the internal structure of the lower cylinder of the present invention;

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

FIG. 5 is a schematic structural diagram of a photoelectric sensor according to the present invention;

FIG. 6 is a schematic structural diagram of the slider according to the present invention;

FIG. 7 is a schematic view of a first photoelectric sensor and a light shielding block according to the present invention;

FIG. 8 is a schematic view of a third photo sensor and a light shielding block according to the present invention;

FIG. 9 is a schematic diagram of a motion module replacement block according to the present invention;

wherein, 1, horizontal driving mechanism; 11. a lower cylinder; 111. a lower cylinder barrel; 1111. a lower piston chamber; 1112. an end cap; 1113. a first air tap; 1114. a first through hole; 112. a lower piston rod; 1121. a first sealing rubber ring; 1122. a first compression spring; 12. a base plate; 121. a baffle plate; 1211. a first threaded fastener; 1212. a third through hole; 122. a front linear guide rail; 123. a rear linear guide rail; 124. a first photosensor; 1241. a transmitter; 1242. a receiver; 125. a second photosensor; 126. a third photosensor; 127. positioning pins; 128. a fourth via hole; 2. a vertical drive mechanism; 21. a slide base; 211. an air intake duct; 2111. a second air tap; 212. an upper piston rod; 2121. a piston plate; 21211. a second sealing rubber ring; 2122. a push rod; 213. an upper piston chamber; 214. a second through hole; 2141. a third sealing rubber ring; 215. a second light shielding block; 22. a top plate; 221. a second compression spring; 222. a first light shielding block; 223. a vertical guide rod; 2231. a slide chamber; 3. a motion module replacement block; 31. pressing a plate; 32. and (4) clamping.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.

Embodiments of the present invention will be described below with reference to the accompanying drawings.

Fig. 1-9 show an integrated cylinder capable of driving an object to move in multiple directions, which is provided by the present embodiment and is characterized by comprising a horizontal driving mechanism 1 and a vertical driving mechanism 2;

the horizontal driving mechanism 1 comprises a lower cylinder 11 and a bottom plate 12, the lower cylinder 11 is fixed on the bottom plate 12, the lower cylinder 11 comprises a lower cylinder barrel 111 and a lower piston rod 112, a lower piston cavity 1111 is horizontally arranged in the lower cylinder barrel 111, an end cover 1112 is arranged at the left end of the lower cylinder barrel 111, a first air nozzle 1113 is arranged on the end cover 1112, a first through hole 1114 through which the right end of the lower piston rod 112 can penetrate is arranged on the lower cylinder barrel 111, the left end of the lower piston rod 112 is in sliding fit with the lower piston cavity 1111, a groove capable of containing a first sealing rubber ring 1121 is arranged at the left end of the lower piston rod 112, the outer edge of the first sealing rubber ring 1121 is attached to the surface of the lower piston cavity 1111, a baffle 121 is arranged at the right end of the bottom plate 12, and the right end of the lower piston rod 112 is connected to the baffle 1122 through a first compression spring;

the vertical driving mechanism 2 comprises a sliding seat 21 and a top plate 22 for supporting a workpiece, the bottom of the top plate 22 is connected to the upper surface of the sliding seat 21 through a second compression spring 221, the bottom of the sliding seat 21 is fixed at the right end of the lower piston rod 112, an air inlet pipe 211, an upper piston rod 212 and an upper piston cavity 213 are arranged in the sliding seat 21, the air inlet pipe 211 is horizontally arranged, a second air nozzle 2111 is arranged at the left end of the air inlet pipe 211, the upper piston cavity 213 is vertically arranged, the upper end of the upper piston cavity 213 is communicated with the air inlet pipe 211, the upper piston rod 212 comprises a piston sheet 2121 and a push rod 2122, the push rod 2122 is fixed at the upper end of the piston sheet 2121, the outer edge of the piston sheet 2121 is movably matched with the upper piston cavity 213, a second through hole 214 for the push rod 2122 to penetrate through is arranged at the upper end of the sliding seat 21, the piston sheet 2121 is provided with a groove for accommodating a second sealing rubber ring, the inner surface of the second through hole 214 is provided with a groove capable of accommodating the third sealing rubber ring 2141, the inner edge of the third sealing rubber ring 2141 is attached to the push rod 2122, the bottom of the top plate 22 is fixed to the top of the push rod 2122, and the top of the piston plate 2121 is not in contact with the top of the upper piston cavity 213.

The lower cylinder 11 has two, and the end cover 1112 is provided with a vent pipe for communicating the first air nozzle 1113 with the lower piston chamber 1111. The two piston rods move horizontally at the same time, so that the horizontal movement of the sliding seat 21 is more stable.

The upper end of the bottom plate 12 is provided with a front linear guide 122 and a rear linear guide 123 which are matched in parallel, and the front side and the rear side of the sliding seat 21 are respectively connected with the front linear guide 122 and the rear linear guide 123 in a sliding way. The horizontal movement of the slider 21 is made smoother.

The intelligent photoelectric detection device comprises a controller, a first photoelectric sensor 124, a second photoelectric sensor 125 and a third photoelectric sensor 126 which are electrically connected with the controller are arranged on the front side or the rear side of a bottom plate 12, grooves are formed in the middle of the first photoelectric sensor 124, the second photoelectric sensor 125 and the third photoelectric sensor 126, a transmitter 1241 and a receiver 1242 are respectively arranged on two sides of each groove, the first photoelectric sensor 124 and the second photoelectric sensor 125 are respectively arranged at the left end and the rear end of the bottom plate 12, a first shading block 222 in sliding fit with the first photoelectric sensor 124 and the second photoelectric sensor 125 is arranged on a top plate 22, and a second shading block 215 in sliding fit with the third photoelectric sensor 126 is arranged on a sliding seat 21. The controller has an induction effect on the position of the shading block through the photoelectric sensor, and controls the corresponding air nozzle according to the position of the shading block of the sliding seat 21 or the top plate 22, so that the movement precision is improved.

The lower end of the top plate 22 is provided with a vertical guide rod 223, and a sliding cavity 2231 in sliding fit with the vertical guide rod 223 is arranged above the sliding seat 21. Making the up and down movement of the top plate 22 smoother.

The baffle 121 has a third through hole 1212 for the first threaded fastener 1211 to pass through, the third through hole 1212 is threadedly connected to the first threaded fastener 1211, and the first threaded fastener 1211 is a fine thread screw. Threaded fastener plays the effect of blockking to the slide 21 of baffle 121 left end, through finely tuning threaded fastener, steerable slide 21 is located rightmost position, realizes the accurate adjustment of slide 21 position.

The first sealing ring and the second sealing ring are double-O-shaped sealing rings, the cross section of each double-O-shaped sealing ring is a combined surface formed by two circles in an intersecting mode, and the third sealing ring is a Y-shaped sealing ring. The double-O-shaped sealing ring and the Y-shaped sealing ring have stronger sealing performance than the common O-shaped sealing ring, and play an important role in high-strength movement.

The motion module replacement block 3 is further included, the motion module replacement block 3 comprises a clamp 32 and a pressing plate 31, the base is provided with a positioning pin 127, the clamp 32 is fixed on the base through the positioning pin 127, and the pressing plate 31 is fixed on the upper surface of the top plate 22. The upper part of the clamp 32 is used for supporting a product to be pressed on a workpiece, the pressing plate 31 plays a role in pressing and fixing the workpiece along with the downward movement of the top plate 22, and the distance between the pressing plate 31 and the clamp 32 is different by replacing the clamps 32 with different heights so as to adapt to the pressed products with different heights.

The bottom plate 12 is fixed to the table by a second threaded fastener, and the base is provided with a fourth through hole 128 for the second threaded fastener to be threadedly connected.

The working principle is as follows: .

The top plate 22 is moved to four different stations by changing the ventilation modes of the first air nozzle 1113 and the second air nozzle 2111, and the four ventilation modes and the position of the top plate 22 are as follows:

(1) neither the first air nozzle 1113 nor the second air nozzle 2111 is vented: the slide carriage 21 is kept in the initial state, i.e. at the left side of the bottom plate 12, by the horizontal leftward elastic force of the first compression spring 1122, and the top plate 22 is kept at the initial height by the vertical upward elastic force of the second compression spring 221, and at this time, a separated state is formed between the top plate 22 and the slide carriage 21 and is located at the left end of the bottom plate 12;

(2) first nozzle 1113 is vented and second nozzle 2111 is not vented: gas enters the lower piston cavity 1111 from the first air nozzle 1113, the pressure generated by the air pressure is greater than the elastic force of the first compression spring 1122, the lower piston rod 112 moves horizontally to the right under the action of the air pressure, the sliding seat 21 moves horizontally to the right along with the lower piston rod 112, when the second light shielding plate reaches the groove of the third photoelectric sensor 126 along with the sliding seat 21, the originally received optical signal of the transmitter 1241 by the receiver 1242 of the third photoelectric sensor 126 is shielded, the electric signal of the receiver 1242 received by the controller changes, the controller stops the ventilation of the first air nozzle 1113 and maintains the air pressure in the state, the sliding seat 21 is positioned at the right side, the top plate 22 keeps the initial height under the action of the vertically upward elastic force of the second compression spring 221, and the top plate 22 and the sliding seat 21 form a far-away state and are positioned at the upper right side of the bottom plate 12;

(3) second nozzle 2111 is vented, first nozzle 1113 is not vented: the slide carriage 21 is kept in the initial state, i.e. at the left side of the bottom plate 12, by the horizontal leftward elastic force of the first compression spring 1122, the air is transmitted from the second air nozzle 2111 to the upper piston chamber 213 through the air inlet pipe 211, an air pressure with a pressure greater than the elastic force of the second compression spring 221 is generated above the piston sheet 2121, the push rod 2122 moves vertically and downwardly with the piston sheet 2121 under the action of the air pressure, the top plate 22 moves vertically and downwardly with the push rod 2122, when the first light shielding plate moves down to the groove of the first photoelectric sensor 124 located at the left end of the bottom plate 12, the electric signal received by the controller from the receiver 1242 changes, the controller stops ventilating the second air nozzle 2111 and maintains the air pressure in this state, at this time, the top plate 22 is located below the initial height of the top plate 22, at this time, a press-fit state is formed between the top plate 22 and;

(4) first air tap 1113 and second air tap 2111 are both vented: the air enters the lower piston chamber 1111 from the first air nozzle 1113, the sliding base 21 moves horizontally with the lower piston rod 112 to the right, when the second light shielding plate reaches the groove of the third photoelectric sensor 126 along with the sliding base 21, the receiver 1242 of the third photoelectric sensor 126 originally receives the light signal of the transmitter 1241, the electric signal of the receiver 1242 received by the controller changes, the controller stops ventilating the first air nozzle 1113 and maintains the air pressure in this state, at this time, the sliding base 21 is located at the right side, the air is transmitted to the upper piston chamber 213 from the second air nozzle 2111 through the air inlet pipe 211, the air pressure above the piston sheet 2121 generates the air pressure which is greater than the elastic force of the second compression spring 221, the push rod 2122 moves vertically downwards along with the piston sheet 2121 under the action of the air pressure, the top plate 22 moves vertically downwards along with the push rod 2122, when the first light shielding plate moves downwards to the groove of the first photoelectric sensor 124 located at the left end of the bottom, when the electric signal received by the controller from the receiver 1242 changes, the controller stops ventilating the second air nozzle 2111 and maintains the air pressure in this state, and at this time, the top plate 22 is located below the initial height of the top plate 22, and a press-fit state is formed between the top plate 22 and the slide base 21 and located at the right end of the bottom plate 12.

The integrated cylinder capable of driving the object to move in multiple directions has a simple structure, the whole volume of the motion module is greatly reduced, the position of the top plate 22 can be changed by changing the ventilation states of the first air nozzle 1113 and the second air nozzle 2111, the workpiece can be fixed above the top plate 22 to move along with the movement of the top plate 22 and can be used as a moving mechanism for processing small workpieces, the flexible change of multiple stations of the workpiece is realized, meanwhile, the integrated cylinder capable of driving the object to move in multiple directions can be used as a clamping mechanism, the first air nozzle 1113 and the second air nozzle 2111 are ventilated, the top plate 22 and the sliding seat 21 form a pressing state and are positioned at the right end of the bottom plate 12, the workpiece at the right end of the bottom plate 12 is pressed, the second air nozzle 2111 and the first air nozzle 1113 are not ventilated, the top plate 22 and the sliding seat 21 form a pressing state and are positioned at the right end of, at this time, a far-away state is formed between the top plate 22 and the sliding seat 21 and the far-away state is located at the left end of the bottom plate 12, so that the pressed workpiece located at the right end of the bottom plate 12 is loosened, and the top plate 22 is not arranged above the workpiece to shield the workpiece, so that a worker can take the workpiece conveniently.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "upper", "lower", "left", "right" and the like are used herein for illustrative purposes only.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. It will be apparent to those skilled in the art that various modifications, additions, substitutions, and the like can be made without departing from the spirit of the invention and these are therefore considered to be within the scope of the invention.