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Pneumatic system of soft robot based on congestion principle

A pneumatic system and robot technology, applied in fluid pressure actuation devices, mechanical equipment, servo motors, etc., can solve the problems of difficult to maintain a completely choked flow state, slow response speed of soft robots, etc., and achieve sensitive, high-precision fine movements. Effect

Active Publication Date: 2022-04-05
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] For this reason, the technical problem to be solved by the present invention is to overcome the problem that the pneumatic system driving the soft robot is difficult to maintain a completely blocked flow state and cause the soft robot to respond slowly in the prior art, and to provide a pneumatic soft robot based on the principle of congestion. The system, in the first operation mode, can drive the soft robot to respond quickly and sensitively; in the second operation mode, it can reliably maintain the full congestion flow state for a long time, and in this mode, it can control the movement of the soft robot with high precision

Method used

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  • Pneumatic system of soft robot based on congestion principle
  • Pneumatic system of soft robot based on congestion principle
  • Pneumatic system of soft robot based on congestion principle

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Embodiment 1

[0037] refer to figure 1 As shown, the present invention discloses a soft robot pneumatic system based on the principle of congestion, which includes an external pilot pressure reducing valve 2, the air inlet end of the external pilot pressure reducing valve 2 is connected to an air source; the first air intake part, the The first air intake part is connected to the soft robot 1 and the air outlet of the external pilot pressure reducing valve 2; it is used to control the air intake into the soft robot 1 with the first flow rate until the inner cavity of the soft robot 1 The pressure approaches the target pressure; the second air intake part, the second air intake part connects the soft robot 1 and the outlet port of the external pilot pressure reducing valve 2; it is used for when the inner cavity pressure of the soft robot 1 reaches When the target pressure is reached, air intake into the soft robot 1 is controlled at a second flow rate based on the blocking principle; the se...

Embodiment 2

[0056] The embodiment of the present invention also discloses a soft robot pneumatic system based on the principle of congestion. The difference from the first embodiment is that the setting of the second air intake part is different:

[0057] refer to Figure 5 As shown, the second air intake part includes a small hole throttle valve 61, a high-frequency high-speed switching valve 62 and a second air intake pipeline 63, and the second air intake pipeline 63 connects the soft robot 1 and the inlet The air outlet end of the gas adjustable throttle valve 41; the small hole throttle valve 61 is arranged on the second air intake pipeline 63, which is used to control the intake air with the second flow rate; the high-frequency high-speed switching valve 62 It is arranged on the second air intake pipeline 63 , which is used to control the opening and closing of the air intake to the inner cavity of the soft robot 1 .

[0058] The soft robot pneumatic system based on the principle o...

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Abstract

The invention relates to a soft robot pneumatic system based on the blocking principle, comprising an external pilot pressure reducing valve, the air inlet end of the external pilot pressure reducing valve is connected to an air source; a first air intake part, the first air intake part is connected to a soft robot and the air outlet of the external pilot-operated decompression valve; it is used to control the air intake into the soft robot with a large flow rate until the inner cavity pressure of the soft robot approaches the target pressure; the second air intake part, the The second air inlet part is connected to the soft robot and the air outlet of the external pilot-operated pressure reducing valve; it is used to control the flow of micro flow to the soft robot based on the blocking principle when the inner chamber pressure of the soft robot reaches the target pressure. Intake air. The pneumatic system of the present invention can drive the software robot to respond quickly and sensitively in the first operation mode; in the second operation mode, it can reliably maintain the full congestion flow state for a long time, and can control the driving software with higher precision in this mode. robot action.

Description

technical field [0001] The present invention relates to the technical field of pneumatic drive (abbreviated as "pneumatic"), in particular to a pneumatic system for soft robots based on the principle of congestion, which is mainly applied to pneumatic soft robots, especially pneumatic soft fingers or pneumatic artificial muscles. Background technique [0002] Soft robots are designed to imitate various soft organisms in nature, such as earthworms, octopuses, jellyfish, etc. They are made of soft materials (such as rubber), which can adapt to various unstructured environments and interact with humans more safely. The soft robot is driven by the pneumatic system to realize the action. The difference between it and the cylinder drive is that there is no two sealing friction between the cylinder piston and the piston rod, and there will be no "crawling" phenomenon when driven by small and micro flow. [0003] In order to perform operations quickly, the existing throttling for cy...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F15B11/028F15B11/06F15B11/08F15B13/04F15B13/12
CPCF15B11/028F15B11/06F15B11/08F15B13/04F15B13/12
Inventor 章军刘禹庞玮王震宇陈彦秋吕兵
Owner JIANGNAN UNIV