Double-layer double-air-chamber soft robot and air path control structure thereof

Abstract

The invention discloses a double-layer double-air-chamber soft robot and an air path control structure thereof, the output end of a control air path is respectively communicated with the input ends of two air chambers and two pressure sensors through a three-way joint, and the pressure sensors are used for monitoring the pressure values of the air chambers in real time; a branch, close to the air pump, of the control air channel is connected with a pressure release valve. The air path structure is used for controlling the double-layer double-air-chamber soft robot, and the front air chamber and the rear air chamber are spherical, are of a central symmetry structure and are named as the air chamber 1 and the air chamber 2. According to the gas circuit structure, a traditional gas circuit is improved, a pressure release valve structure is additionally arranged on a main circuit, excessive expansion of a gas chamber is prevented, and explosion is avoided. Compared with a traditional gas circuit structure independently controlling the gas chambers, the improved gas circuit is connected with gas flow between the two gas chambers, each gas chamber is only provided with one port, input and output share one port, the gas circuit can achieve alternate enlargement and shrinkage of the front gas chamber and the rear gas chamber without a pressure release valve, the response time of the soft robot is shortened, and the service life of the soft robot is prolonged. Therefore, the quick response of the soft robot is realized.

Description

Technical Field

[0001] The invention relates to the field of intelligent pneumatic soft robots, and in particular to an air path structure for controlling a double-layer double-air chamber soft robot. Background Art

[0002] Intelligent pneumatic soft robots are highly flexible and deformable, and can adapt to a variety of complex and unstructured inspection environments. They can easily enter narrow spaces, fit irregularly shaped objects, and perform precise inspection operations. They are usually driven by air sources and do not require complex electrical or hydraulic systems, reducing the difficulty and cost of operation.

[0003] However, compared with electric drive, pneumatic soft robots may show lower working efficiency in some cases. This is mainly because the response speed of the pneumatic system may be affected by factors such as the filling and discharging speed, switching speed, air source pressure, and pipeline resistance. Summary of the invention

[0004] In order to provide a pneumatic soft robot with a simple structure and improve the response speed of its pneumatic system, the present invention proposes a double-layer double-air chamber soft robot and an air path structure for controlling the double-layer double-air chamber soft robot.

[0005] In the first aspect, the present invention provides a double-layer double-air chamber soft robot, which includes an upper and lower part, the upper part and the lower part are completely symmetrical, the upper part or the lower part includes a rectangular soft substrate, and two front and rear hemispherical air chambers are arranged on the substrate; when the upper part and the lower part are bonded together by the substrate, two independent and complete spherical air chambers are formed, and each spherical air chamber is provided with an independent vent; the air chambers and the substrate are both made of elastic soft materials, and the movement of the robot in a narrow space is achieved by independently controlling the inflation sequence or deflation sequence of each air chamber.

[0006] Furthermore, when the maximum pressures of the two air chambers are the same, when the robot's movement is controlled by an inflation sequence, the robot moves toward the air chamber that is inflated later; when the robot's movement is controlled by a deflation sequence, the robot moves toward the air chamber that is deflated later.

[0007] Furthermore, first, air chamber 1 is filled with 1 unit of air pressure, which is just used to fix air chamber 1. Then, air chamber 2 is filled with 2 units of air pressure and deflated at the same time, and the robot moves toward air chamber 1.

[0008] A gas path control structure for a double-layer double-air chamber soft robot, the control structure comprising: a single chip microcomputer (710), an air pump (110), two two-way solenoid valves, and two three-way solenoid valves; the three-way solenoid valve comprises three ports, port 1 is an air inlet port, and ports 2 and 3 are air outlet ports; the air outlet of the air pump is divided into three paths, the first path is connected to the air inlet of a first two-way solenoid valve (210), and the air outlet of the first two-way solenoid valve is vacant; the second path is connected to port 1 of the first three-way solenoid valve (320), and the first three-way solenoid valve (320) is connected to the air outlet of the first two-way solenoid valve (210). Port 2 of the two-way solenoid valve is left vacant; the third path is connected to port 1 of the second three-way solenoid valve (310); port 3 of the first three-way solenoid valve is connected to port 3 of the second three-way solenoid valve and then connected to air chamber 2 (620) and the second pressure sensor (520); port 2 of the second three-way solenoid valve (310) is divided into two paths, one path is connected to the air inlet of the second two-way solenoid valve (220), and the other path is connected to the first pressure sensor (510); the air outlet of the second two-way solenoid valve (220) is connected to air chamber 1;

[0009] The microcontroller controls all two-way solenoid valves and three-way solenoid valves and combines the data from two pressure sensors.

[0010] Furthermore, the air pump outlet is connected to port 1 of the first three-way joint (410), and port 2 of the first three-way joint is connected to the air inlet of the first two-way solenoid valve; port 3 of the first three-way joint is connected to port 1 of the second three-way joint, port 2 of the second three-way joint (420) is connected to port 1 of the first three-way solenoid valve, and port 3 of the second three-way joint is connected to port 1 of the second three-way solenoid valve.

[0011] Furthermore, port 3 of the first three-way solenoid valve and port 3 of the second three-way solenoid valve are respectively connected to two ports of the third three-way connector (440), the remaining port of the third three-way connector is connected to port 1 of the fourth three-way connector (450), and ports 2 and 3 of the fourth three-way connector are respectively connected to the air chamber 2 and the second pressure sensor.

[0012] Furthermore, port 2 of the second three-way solenoid valve is connected to port 1 of the fifth three-way connector (430), port 2 of the fifth three-way connector (430) is connected to the second two-way solenoid valve, and port 3 of the fifth three-way connector (430) is connected to the first pressure sensor.

[0013] Furthermore, when the pressure of the entire gas circuit or the gas chamber is too high, the pressure is released through the first two-way solenoid valve.

[0014] By adopting the above technical solution, the air pressure sensor monitors the air pressure of each air chamber to achieve independent monitoring of the air pressure in each air chamber. The air pressure sensor has a short response time, can quickly sense changes in gas pressure, and output corresponding signals in real time to control the opening and closing of the solenoid valve, thereby reducing the risk of explosion due to excessive air chamber pressure and enabling the soft robot to respond quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of a double-layer, double-air-chamber soft robot of the present invention.

[0016] Figure 2 The present invention is a schematic diagram of an air path structure for controlling a double-layer double-air chamber soft robot. Specific implementation methods

[0017] The following is a further detailed description of the present application in conjunction with the accompanying drawings.

[0018] The embodiment of the invention discloses a double-layer double-air chamber soft robot.

[0019] Hint Figure 1 The robot includes front and rear air chambers 1 (610) and 2 (610), and the control air paths are connected to air chambers 1 (610) and 2 (610), and are used to regulate the inflation and deflation states of air chambers 1 (610) and 2 (610), so that air chambers 1 (610) and 2 (610) are both within a preset air pressure threshold range.

[0020] By adopting the above technical solution, the gas circuit is controlled to achieve inflation, pressurization or pressure relief of the air chamber. When the internal pressure of the air chamber is too high, the pressure relief valve can effectively reduce the pressure of the device, prevent the device from exploding or being damaged, and protect personal safety and equipment integrity. The pressure relief valve automatically starts according to the set pressure threshold without manual intervention, thus avoiding accidents caused by human negligence or delay, saving time and energy for manual monitoring and operation, reducing the burden on the overall device, and extending the service life of the overall device.

[0021] Optionally, the control air circuit includes a solenoid valve and an air pump, the output end of the air pump is connected to the input end of the solenoid valve, and the solenoid valve is connected to the air chamber.

[0022] By adopting the above technical solution, when the air chamber 1 (610) of the soft robot needs to be inflated, the air pump is turned on and the first two-way solenoid valve (210) is closed. The first two-way solenoid valve is recorded as a pressure relief solenoid valve, that is, the pressure relief solenoid valve is closed with the external opening, and the air flow generated by the air pump flows into the air chamber 1 (610) of the soft robot to inflate and pressurize the air chamber 1 (610) of the soft robot; when the air chamber 1 (610) of the soft robot needs to be deflated, the air pump is still turned on, the pressure relief solenoid valve is opened, the three-way solenoid valve (320) is connected to ports 1 and 3, a part of the air flow of the soft robot air chamber 1 (610) is depressurized through the pressure relief solenoid valve, and a part of the air flow enters the soft robot air chamber 2 (620) through the three-way solenoid valve (320), and the single-chip microcomputer controlling the pressure relief solenoid valve can quickly respond to the control signal to achieve rapid opening and closing, thereby achieving timely regulation of the gas flow.

[0023] By adopting the above technical solution, the separately controlled solenoid valve can realize the individual control of each air chamber. Take one of them as an example. Before the experiment, all the solenoid valves and air pumps are not powered on. When one of the air chambers 1 (610) needs to be pressurized, the air pump is turned on, and the three-way solenoid valve (310) and the two-way solenoid valve (220) connected in series with it are first opened to realize the individual inflation and pressurization of the air chamber; when the other air chamber 2 (620) needs to be inflated, there is no need to turn off the air pump, close the two-way solenoid valve (220), and open the three-way solenoid valve (320) connected in series with air chamber 2 (620) to realize the isolation of air chamber 1 (610) and the accelerated pressurization of air chamber 2 (620). At the same time, the indication of the pressure sensor is monitored. When the air pressure value of air chamber 2 (620) is greater than twice the air pressure value of air chamber 1 (610), the pressure relief valve (210) and the two-way solenoid valve (220) are immediately opened, and the pressure of air chamber 1 (610) and air chamber 2 (620) are reduced at the same time. The robot moves forward along the horizontal axis of symmetry between air chamber 1 and air chamber 2 toward air chamber 1. During the whole process, the air pump is always turned on, realizing the flow air pressure control of the dual air chambers.

[0024] Optionally, the control air circuit also includes a plurality of three-way connectors, which connect various solenoid valves, air pumps, air chambers of the soft robot and pressure sensors.

[0025] Figure 1 The principle is:

[0026] The robot can move at various speeds by utilizing the different expansion degrees of the front and rear air chambers.

[0027] It is worth noting that air chamber 1 (610) and air chamber 2 (610) have only one opening, that is, the output end and the input end of air chamber 1 (610) and air chamber 2 (610) are the same opening. When air chamber 1 (610) and air chamber 2 (610) need to be deflated and depressurized, air flows out of air chamber 1 (610) and air chamber 2 (610) from the opening through three-way solenoid valves (310) and (320). When air chamber 1 (610) and air chamber 2 (610) need to be inflated and pressurized, the air flow is filled into air chamber 1 (610) and air chamber 2 (610) through the openings of air chamber 1 (610) and air chamber 2 (610).

[0028] Hint Figure 2A gas path structure for controlling a double-layer double-air chamber soft robot, wherein the control gas path comprises a single chip microcomputer (710), an air pump (110), two two-way solenoid valves (210), (220), two three-way solenoid valves (310), (320), and a plurality of air pipe joints. The output end of the control gas path is respectively connected to the input ends of two air chambers 1 and 2 ((610), (620)) and two pressure sensors ((510), (520)), and a plurality of three-way joints ((410) to (450)) are connected between the control gas path and the two air chambers ((610), (620)), and the plurality of three-way joints ((410) to (450)) are used to control the direction of the gas paths in the plurality of gas path structures. A three-way connector (410) is provided between the air pump (110) and the pressure relief solenoid valve (120); the output end of the air pump (110) and the input ends of the three-way solenoid valves (310) and (320) are connected via the three-way connectors (410) and (420); the air pump (110) serves as a gas source and outputs gas toward the two air chambers 1 and 2 (610 and (620)) via the three-way connectors ((410) to (450)) and the solenoid valves ((210), (220), (310), and (320)).

[0029] The specific connection method is as follows: the control air circuit includes a pressure relief solenoid valve (210) and an air pump (110); the output end of the air pump (110) is connected to the input end of the pressure relief solenoid valve (210) via a three-way air pipe (410) joint; the pressure relief solenoid valve (120) is controlled by a single chip microcomputer (710) and is a two-way solenoid valve. Port No. 1 of the three-way solenoid valve (310) is connected to one end of the three-way connector (420), port No. 2 of the three-way solenoid valve (310) is connected to one end of the three-way connector (430), and port No. 3 of the three-way solenoid valve (310) is connected to one end of the three-way connector (440); port No. 1 of the three-way solenoid valve (320) is connected to one end of the remaining two ends of the three-way connector (420), port No. 2 of the three-way solenoid valve (320) is vacant, and port No. 3 of the three-way solenoid valve (320) is connected to one end of the remaining two ends of the three-way connector (440). The control gas circuit also includes a two-way solenoid valve (220), port No. 1 of the two-way solenoid valve (220) is connected to one end of the remaining two ends of the three-way connector (430), and port No. 2 of the two-way solenoid valve (220) is connected to the air chamber 1 (610) of the soft robot. The control air circuit also includes four terminal devices, namely two robot air chambers ((610), (620)) and two pressure sensors ((510), (520)). The input and output of the soft robot air chamber 1 (610) share a port, and there is only one port, which is connected to the No. 2 port of the two-way solenoid valve (220); the input and output of the soft robot air chamber 2 (620) share a port, and there is only one port, which is connected to one end of the three-way connector (450); the input end of the pressure sensor 1 (510) is connected to the remaining end of the three-way connector (430), and the pressure sensor 1 (510) is controlled by a single-chip microcomputer. The input end of the pressure sensor 2 (520) is connected to the other end of the three-way connector (450), and the pressure sensor 2 (520) is controlled by a single-chip microcomputer. One end of the three-way connector (410) is connected to the air pump (110), one end is connected to port 1 of the pressure relief solenoid valve (210), and one end is connected to one end of the three-way connector (420); one end of the three-way connector (420) is connected to one end of the three-way connector (410), one end is connected to port No. 1 of the three-way solenoid valve (320), and one end is connected to port No. 1 of the three-way solenoid valve (310); one end of the three-way connector (430) is connected to port No. 2 of the three-way solenoid valve (310), and one end is connected to port No. 2 of the two-way solenoid valve (22 0), one end of which is connected to port No. 1 of pressure sensor 1 (510), one end of which is connected to port No. 3 of three-way solenoid valve (310), one end of which is connected to port No. 3 of three-way solenoid valve (320), and one end of which is connected to one end of three-way connector (450); one end of three-way connector (450) is connected to one end of three-way connector (440), one end of which is connected to the input end of pressure sensor 2 (520), and one end of which is connected to the input and output end of air chamber 2 (620) of the soft robot.

[0030] The pressure sensor 1 (510) is connected to the sub-control air pipe of the three-way joint (430), and the pressure sensor 1 (510) detects the air pressure of the air chamber 1 (610). The pressure sensor 1 (510) and the pressure sensor 1 (510) are electrically connected to the electromagnetic valve (310) connected in series with the three-way joint (430); the pressure sensor 2 (520) is connected to the sub-control air pipe of the three-way joint (450), and the pressure sensor 2 (520) detects the air pressure of the air chamber 2 (620). The pressure sensor 2 (520) and the pressure sensor 2 (520) are electrically connected to the electromagnetic valve (320) connected in series with the three-way joint (450). The robot's movement behavior can be analyzed by the change in air pressure. For example, when the air pressure in the air chamber 1 increases instantly, it can be determined whether the robot moves to a narrow place.

[0031] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A double-layer double-air chamber soft robot, the robot includes an upper and lower part, the upper part and the lower part are completely symmetrical, the upper part or the lower part includes a rectangular soft substrate, and two front and rear hemispherical air chambers are arranged on the substrate; when the upper part and the lower part are bonded together through the substrate, two independent and complete spherical air chambers are formed, and each spherical air chamber is provided with an independent vent; the air chamber and the substrate are both made of elastic soft materials, and the movement of the robot in a narrow space is achieved by independently controlling the inflation sequence or deflation sequence of each air chamber.

2. A double-layer double-air chamber soft robot as claimed in claim 1, characterized in that: When the maximum pressures of the two air chambers are the same, when the robot's movement is controlled by the inflation sequence, the robot moves toward the air chamber that is inflated later; when the robot's movement is controlled by the deflation sequence, the robot moves toward the air chamber that is deflated later.

3. A double-layer double-air chamber soft robot as claimed in claim 1, characterized in that: First, air chamber 1 is filled with 1 unit of air pressure, which is just used to fix air chamber 1. Then air chamber 2 is filled with 2 units of air pressure and deflated at the same time, and the robot moves toward the direction of air chamber 1.

4. A gas path control structure for controlling a double-layer double-air chamber soft robot as claimed in claim 1, the control structure comprising: A single chip computer (710), an air pump (110), two two-way solenoid valves, and two three-way solenoid valves; the three-way solenoid valve comprises three ports, port 1 being an air inlet port, and ports 2 and 3 being air outlet ports; the air outlet of the air pump is divided into three paths, the first path being connected to the air inlet of the first two-way solenoid valve (210), and the air outlet of the first two-way solenoid valve is left vacant; the second path being connected to port 1 of the first three-way solenoid valve (320), and port 2 of the first three-way solenoid valve is left vacant; the third path being connected to port 1 of the second three-way solenoid valve (310), and port 3 of the first three-way solenoid valve being connected to port 3 of the second three-way solenoid valve, and then connected to air chamber 2 (620) and a second pressure sensor (520); port 2 of the second three-way solenoid valve (310) is divided into two paths, one path being connected to the air inlet of the second two-way solenoid valve (220), and the other path being connected to the first pressure sensor (510), and the air outlet of the second two-way solenoid valve (220) being connected to air chamber 1; The microcontroller controls all two-way solenoid valves and three-way solenoid valves and combines the data from two pressure sensors.

5. The gas path control structure according to claim 4, characterized in that: The air pump outlet is connected to port 1 of the first three-way joint (410), and port 2 of the first three-way joint is connected to the air inlet of the first two-way solenoid valve; port 3 of the first three-way joint is connected to port 1 of the second three-way joint, port 2 of the second three-way joint (420) is connected to port 1 of the first three-way solenoid valve, and port 3 of the second three-way joint is connected to port 1 of the second three-way solenoid valve.

6. The gas path control structure according to claim 4, characterized in that: Port 3 of the first three-way solenoid valve and port 3 of the second three-way solenoid valve are respectively connected to two ports of the third three-way connector (440), the remaining port of the third three-way connector is connected to port 1 of the fourth three-way connector (450), and ports 2 and 3 of the fourth three-way connector are respectively connected to the air chamber 2 and the second pressure sensor.

7. The gas path control structure according to claim 4, characterized in that: Port 2 of the second three-way solenoid valve is connected to port 1 of the fifth three-way connector (430), port 2 of the fifth three-way connector (430) is connected to the second two-way solenoid valve, and port 3 of the fifth three-way connector (430) is connected to the first pressure sensor.

8. The gas path control structure according to claim 4, characterized in that: When the pressure in the entire gas circuit or gas chamber is too high, the pressure is released through the first two-way solenoid valve.

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