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A sensing method for a gas driver and a gas driving system

A drive and gas technology, applied in the direction of manufacturing tools, program control manipulators, manipulators, etc., can solve the problems of unfavorable batch application of software manipulators, complex gas drive systems, and difficulty in meeting the requirements for precise position control, and reduce measurement costs. The effect of high application value and convenient control process

Active Publication Date: 2022-03-01
深圳市韧识科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there are still some natural defects in gas actuators, and it is difficult to meet the requirements of precise control of position and good perception of external forces
If force sensors and displacement sensors are installed on the gas drive, it will make the gas drive system more complicated, which is not conducive to the mass application of soft manipulators

Method used

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  • A sensing method for a gas driver and a gas driving system
  • A sensing method for a gas driver and a gas driving system
  • A sensing method for a gas driver and a gas driving system

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Experimental program
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Embodiment 1

[0035] Please refer to figure 1 , the present application provides a gas driver sensing method, which mainly includes steps S110-S130, which will be described respectively below.

[0036] Step S110, obtain the driving air pressure of the gas driver, the gas driver has an air cavity (air bag) and forms the driving air pressure in the air cavity, then the pressure of the driving air pressure in the air cavity can be changed, so that the gas driver can be driven under the action of the driving air pressure Do stretching exercises.

[0037] Step S120, intelligently analyzing the driving air pressure according to the pre-established perception model, and processing to obtain the driving amount of the gas driver under the action of the driving air pressure.

[0038] It should be noted that in this embodiment, the detection value of the driving air pressure is taken as the object of data analysis, and the driving amount is taken as the label of the data analysis, so that when the dr...

Embodiment 2

[0072] Please refer to Image 6 with Figure 7 , on the basis of the gas drive sensing method disclosed in Embodiment 1, the present application also discloses a gas drive system, including a gas source 31, a first type of gas drive 32, a second type of gas drive 35, and a first air pressure sensor 33 , the second air pressure sensor 36 and the controller 34 will be described separately below.

[0073] The gas source 31 is used to provide driving gas. The air source 31 should have the function of inflating and inhaling, which can not only supplement the gas, but also extract the gas, so the air compressor and the vacuum pump can be used to build the air source 31, so as to realize the functions of inflating and inhaling respectively according to the needs .

[0074] The first-type gas driver 32 has a retractable first air cavity 321 , and the first air cavity 321 is connected to the gas source 31 by a pipeline to form an adjustable internal air pressure inside.

[0075] Th...

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Abstract

A sensing method for a gas driver and a gas driving system, wherein the sensing method includes: obtaining the driving air pressure of the gas driver; intelligently analyzing the driving air pressure according to a pre-established sensing model, and processing to obtain the driving amount of the gas driver under the action of the driving air pressure; Outputs the driving amount of the gas driver. In the sensing method, the sensing function of the driving volume of the gas driver can be realized only by detecting the driving air pressure, which reduces the detection data, but can also meet the interaction requirements with the external environment through the perception of force and displacement, and enhance the gas sensor’s ability to respond to complex Adaptability to the environment.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a gas drive sensing method and a gas drive system. Background technique [0002] At present, most manipulators are driven by a connecting rod structure and driven by a servo motor. They are called hard manipulators. Hard manipulators often have a large load capacity and relatively high stability. During use, the hard manipulator combined with the corresponding force sensor and displacement sensor can realize the interaction with the external environment and realize the control of force and displacement. However, for deformable objects and complex external environments, this process requires more complex control strategies, which will limit the application of hard manipulators. [0003] Tactile perception refers to any property measured by contact, including force, roughness, temperature, etc., which is indispensable for humans to grasp and manipulate objects. Through tactile...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/02B25J9/16B25J9/00
CPCB25J19/02B25J9/16B25J9/00B25J9/161B25J9/0009
Inventor 刘思聪苏引引王峥
Owner 深圳市韧识科技有限公司