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A mixing valve for soft robots

A technology of mixing valves and robots, which is applied in the direction of manipulators, mechanical equipment, fluid pressure actuators, etc., to achieve the effects of improving control stability, air pressure stability, precision and fast movement

Active Publication Date: 2021-08-17
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for pneumatic soft robots, in terms of their drive control, people are limited to using simple proportional valves or solenoid valves to control and realize the adjustment of soft robots.

Method used

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  • A mixing valve for soft robots

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Embodiment Construction

[0010] The mixing valve for the soft robot proposed by the present invention has a structure such as figure 1 As shown, it includes a high-pressure air source 1, a proportional valve 2, a two-position three-way solenoid valve 3 and a controller 4. The high-pressure air pump 11 inputs the air source from external air, and outputs a stable high-pressure air source through the throttle valve 12. ; The input interface 21 of the two-position two-way proportional valve 2 is connected to the high-pressure air source output by the throttle valve 12 of the high-pressure air source 1, and the output interface 22 of the two-position two-way proportional valve 2 is connected to the two-position three-way solenoid valve 3. The input interface 31 is connected, and the output interface 32 of the two-position three-way solenoid valve 3 is connected with the input interface 51 of the air cavity 5 of the soft robot; the analog quantity output interface 41 of the controller 4 is connected with th...

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Abstract

The invention relates to a mixing valve for a soft robot, which belongs to the technical field of air pressure control. The mixing valve includes a high-pressure air source, a two-position two-way proportional valve, a two-position three-way solenoid valve and a controller. The high-pressure air pump inputs the air source from the outside air, and outputs a stable high-pressure air source through the throttle valve. The input interface of the two-position two-way proportional valve is connected to the high-pressure air source output by the throttle valve of the high-pressure air source, the output interface of the two-position two-way proportional valve is connected to the input interface of the two-position three-way solenoid valve, and the two-position three-way solenoid valve The output interface of the robot is connected with the input interface of the air chamber of the soft robot to the analog output interface of the controller and the control interface of the two-position two-way proportional valve. The pulse signal output interface of the controller is connected with the control interface of the two-position three-way solenoid valve. The mixing valve of the present invention improves the stability, accuracy and rapidity of air pressure control through three control modes of air pressure locking, precise air pressure adjustment and rapid air pressure adjustment, thereby improving the motion performance of the soft robot.

Description

technical field [0001] The invention relates to a mixing valve for a soft robot, which belongs to the technical field of air pressure control. Background technique [0002] Compared with traditional joint-link rigid robots, soft robots have the advantages of simple manufacturing, high degree of freedom, and convenient control, and have become one of the important directions of robotics technology. In recent years, soft robots have achieved important developments in terms of body structure, flexible sensing, and applications in different fields. However, for pneumatic soft robots, in terms of their drive control, people are limited to using simple proportional valves or solenoid valves for control to realize the adjustment of the soft robots. The proportional valve itself is a closed-loop control system with the characteristics of high linearity and high control precision. The solenoid valve has the characteristics of simple structure and fast open-loop response. Therefore...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F15B13/02F15B21/08B25J11/00
CPCB25J11/00F15B13/02F15B21/08
Inventor 孙富春方斌黄海明吴林源
Owner TSINGHUA UNIV
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