A detectable multi-type air pressure output device and method

Abstract

The present application provides a detectable multi-type air pressure output device and method, including a high-pressure air source mechanism, provided with a positive high-pressure air source component and a negative high-pressure air source component; a plurality of air pressure output mechanisms, all connected to the high-pressure air source mechanism; a plurality of air pressure drive modules, each connected one-to-one with the plurality of air pressure output mechanisms; a plurality of air pressure sensors, each provided one-to-one with the plurality of air pressure drive modules; a control mechanism, electrically connected to the high-pressure air source mechanism, the plurality of air pressure output mechanisms, and the plurality of air pressure sensors; the air pressure output mechanism is provided with a connected three-way solenoid valve and a two-way solenoid valve, the two-way solenoid valve is connected between the air pressure drive module and the first port of the three-way solenoid valve, the second port of the three-way solenoid valve is connected to the positive high-pressure air source component, and the third port of the three-way solenoid valve is connected to the negative high-pressure air source component. The control mechanism simultaneously controls the positive / negative high-pressure air supply of multiple groups of air pressure drive modules and detects working pressure and environmental parameters.

Description

Technical Field

[0001] The present application relates to the field of soft robotics technology, and in particular to a detectable multi-type air pressure output device and method. Background Art

[0002] At present, in the field of soft robots, for the positive and negative pressure control systems in the same air pressure-driven scenario, the common method is to use the positive pressure control system and the negative pressure control system separately. This will result in the overall structure of the positive and negative pressure control system being large in size, high in cost, and single in control. At the same time, the existing integrated positive and negative pressure control system can only perform positive pressure control or negative pressure control separately at the same time, and cannot perform positive and negative pressure control at the same time. In addition, the existing air pressure control technology has low adjustment accuracy and cannot effectively meet the needs.

[0003] It should be pointed out that in current soft robots, environmental detection and feedback are particularly important, which can analyze and adjust the robot's motion state. Most traditional soft robots use pressure sensors, metal strain gauges, etc. that are directly assembled on the surface of the soft robot, and corresponding circuit modules need to be built. They have poor safety and limited usage scenarios. They cannot be used in humid environments or underwater environments, and cannot meet the detection needs of different environments.

[0004] Therefore, the existing technology has defects and deficiencies and needs further improvement and development. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this application is to provide a detectable multi-type air pressure output device and method, aiming to solve the problem that the air pressure control system of the soft robot in the existing technology cannot simultaneously control multiple groups of air pressure drives and simultaneously control the output of positive and negative pressure outputs.

[0006] The technical solution adopted by this application to solve the technical problem is as follows: a detectable multi-type air pressure output device for a soft robot, comprising:

[0007] A high-pressure gas source mechanism, wherein the high-pressure gas source mechanism is provided with a positive high-pressure gas source component and a negative high-pressure gas source component;

[0008] a plurality of air pressure output mechanisms, each of which is connected to the high-pressure air source mechanism;

[0009] A plurality of air pressure drive modules, each of which is connected to the plurality of air pressure output mechanisms in a one-to-one correspondence;

[0010] A plurality of air pressure sensors, each of which is provided in a one-to-one correspondence with a plurality of air pressure drive modules;

[0011] a control mechanism, the control mechanism being electrically connected to the high-pressure gas source mechanism, the plurality of gas pressure output mechanisms, and the plurality of gas pressure sensors;

[0012] In which, the air pressure output mechanism is provided with a connected three-way solenoid valve and a two-way solenoid valve, the two-way solenoid valve is connected between the air pressure driving module and the first port of the three-way solenoid valve, the second port of the three-way solenoid valve is connected to the positive high-pressure air source component, and the third port of the three-way solenoid valve is connected to the negative high-pressure air source component.

[0013] Through the above embodiment, by connecting the high-pressure air source mechanism to several groups of air pressure output mechanisms, each group of air pressure output mechanisms is equipped with a positive high-pressure air source and a negative high-pressure air source. By arranging a three-way solenoid valve on the air pressure output mechanism, the air pressure output mechanism has a structure for switching the output of the positive high-pressure air source and the negative high-pressure air source. By arranging a control mechanism and electrically connecting it to several air pressure output mechanisms, the three-way solenoid valve can be controlled, and the switching of the positive high-pressure air source and the negative high-pressure air source is guaranteed. Therefore, a single group of control mechanisms can control several groups of air pressure output mechanisms at the same time, and can also control different air pressure output mechanisms to output positive high-pressure air sources and / or negative high-pressure air sources at the same time. By arranging a two-way solenoid valve between the three-way solenoid valve and the air pressure drive mechanism and connecting it to the control mechanism, the two-way solenoid valve can be controlled to close the air pressure drive mechanism. By arranging an air pressure sensor electrically connected to the control mechanism at one end of the air pressure drive mechanism, the air pressure value of the air pressure drive mechanism can be detected, and the environmental parameters of the soft robot can be indirectly known from the change in the air pressure value of the air pressure drive mechanism.

[0014] Optionally, the air pressure output mechanism further includes:

[0015] A positive proportional valve, wherein the air inlet of the positive proportional valve is connected to the positive high-pressure air source component, and the air outlet of the positive proportional valve is connected to the second port of the three-way solenoid valve;

[0016] A negative proportional valve, wherein the air inlet of the negative proportional valve is connected to the negative high-pressure air source component, and the air outlet of the negative proportional valve is connected to the third port of the three-way solenoid valve;

[0017] Wherein, the positive proportional valve, the negative proportional valve, the three-way solenoid valve and the two-way solenoid valve are all electrically connected to the control mechanism.

[0018] In the above embodiment, by setting a positive proportional valve and a negative proportional valve, the air pressure output mechanism is stably connected to the positive high-pressure air source and the negative high-pressure air source of the high-pressure air source mechanism, so that the air pressure output mechanism can output both the positive high-pressure air source and the negative high-pressure air source.

[0019] Optionally, the second port of the three-way solenoid valve is set as a normally closed end, and the third port of the three-way solenoid valve is set as a normally open end.

[0020] In the above embodiment, by setting the second port of the three-way solenoid valve of the positive high-pressure air source component to the normally closed end, the air tightness of the detectable multi-type air pressure output device is effectively guaranteed; by setting the third port of the three-way solenoid valve of the negative high-pressure air source component to the normally open end, it is beneficial to maintain the air pressure balance in the air pressure drive module.

[0021] Optionally, the control mechanism includes:

[0022] A controller electrically connected to the positive proportional valve, the negative proportional valve, the three-way solenoid valve, the two-way solenoid valve, the positive high-pressure gas source component, and the negative high-pressure gas source component;

[0023] A power supply is electrically connected to the controller.

[0024] In the above embodiment, by setting up a controller and a power supply, the power supply of the controller can be guaranteed; by electrically connecting the controller to the positive proportional valve, negative proportional valve, three-way solenoid valve, two-way solenoid valve, positive high-pressure air source component and negative high-pressure air source component respectively, the controller can simultaneously control different air pressure output mechanisms to output positive high-pressure air source and / or negative high-pressure air source.

[0025] Optionally, the controller includes:

[0026] I / O ports;

[0027] A PLC control board, one end of the PLC control board is electrically connected to the I / O port, and the other end of the PLC control board is electrically connected to the three-way solenoid valve and the two-way solenoid valve respectively;

[0028] A D / A converter, wherein the D / A converter is electrically connected to the positive proportional valve and the negative proportional valve respectively;

[0029] A / D converters are electrically connected to the air pressure sensors respectively.

[0030] In the above embodiment, the well-known controller includes a CPU. By configuring an I / O port, a D / A converter and an A / D converter on the CPU, the controller is effectively ensured to be electrically connected to the three-way solenoid valve and the two-way solenoid valve, and the three-way solenoid valve and the two-way solenoid valve are electrically connected, as well as the air pressure sensor, thereby effectively controlling the operation of the air pressure output mechanism, the air pressure drive module and the air pressure sensor.

[0031] Optionally, the control mechanism further includes: a host computer electrically connected to the controller; the host computer includes:

[0032] A host computer body, wherein a control window is provided on the host computer body;

[0033] A connection control module, which is arranged at the control window and is used to control the electrical connection between the host computer body and the controller;

[0034] an air pressure control module, which is disposed at the control window and electrically connected to the controller and is used to set the working air pressure at the air pressure drive module;

[0035] A real-time air pressure feedback module, which is arranged at the control window and electrically connected to the controller, and includes a real-time air pressure feedback curve display component and an air pressure feedback value display component;

[0036] A two-way solenoid valve control switch is provided at the control window and is electrically connected to the controller.

[0037] In the above embodiment, by setting up a connection control module, the connection between the host computer and the controller can be effectively controlled; by setting up an air pressure control module, the operating pressure of the air pressure drive module can be controlled; by setting up a real-time air pressure feedback module, the operating pressure and environmental parameters of the air pressure drive module detected by the air pressure sensor can be displayed in real time; by setting up a two-way solenoid valve control switch, the on and off of the two-way solenoid valve can be controlled, thereby switching the air pressure drive mode or the detection mode.

[0038] Optionally, the control mechanism further includes:

[0039] An instruction sending control module, one end of which is electrically connected to the controller, and one end of which is electrically connected to the connection control module, the air pressure control module, the real-time air pressure feedback module and the two-way solenoid valve control switch.

[0040] In the above embodiment, by setting the instruction sending control module, the correctness of the host computer operation can be guaranteed. After setting various parameters, the instruction sending control module is triggered to send instructions to the controller, thereby avoiding misoperation.

[0041] The technical solution adopted by the present application to solve the technical problem is as follows: a method for detecting multiple types of air pressure output based on the above-mentioned detectable multiple types of air pressure output device, comprising:

[0042] The control mechanism controls the opening of a plurality of the two-way solenoid valves, and connects the air pressure drive module corresponding to each two-way solenoid valve to the first port of the three-way solenoid valve;

[0043] The control mechanism receives a plurality of air pressure control instructions inputted, and controls the corresponding second port or third port of the three-way solenoid valve to open according to each air pressure control instruction;

[0044] The high-pressure air source mechanism sequentially outputs positive air pressure or negative air pressure to the corresponding air pressure driving module through the air pressure output mechanism and the two-way solenoid valve; at the same time, the plurality of air pressure sensors detect the real-time air pressure value of the air pressure driving module one by one and send it to the control mechanism;

[0045] The control mechanism controls the closing of the two-way solenoid valves, and the air pressure sensors detect the real-time environmental parameters of the air pressure driving module in a one-to-one correspondence and send them to the control mechanism.

[0046] In the above embodiment, the control mechanism controls the opening of several of the two-way solenoid valves, and connects the air pressure drive module corresponding to each two-way solenoid valve and the first port of the three-way solenoid valve; then, the control mechanism controls the opening of the second port or the third port of each three-way solenoid valve, thereby controlling different high-pressure air source mechanisms and outputting positive high-pressure air sources or negative high-pressure air sources at the same time; at the same time, the working pressure of the air pressure drive module is detected by the air pressure sensor, and by controlling the two-way solenoid valve, the air pressure sensor can detect the environmental parameters of the air pressure drive module.

[0047] Optionally, the control mechanism includes an electrically connected host computer and a controller; the host computer is provided with an air pressure control module, and the controller is provided with an I / O port and a PLC control board connected in sequence;

[0048] The control mechanism receives a plurality of air pressure control instructions inputted, and controls the corresponding second port or third port of the three-way solenoid valve to open according to each air pressure control instruction, specifically including:

[0049] The air pressure control module receives a plurality of set air pressure value control instructions and sends them to the controller through the air pressure control module;

[0050] The controller receives the air pressure control instructions and determines whether the control air pressure value corresponding to each air pressure control instruction is a positive air pressure value or a negative air pressure value;

[0051] When all the control air pressure values ​​are positive air pressure values, the controller drives the PLC control board through the I / O port to open the second port of all three-way solenoid valves; when all the control air pressure values ​​are negative air pressure values, the controller drives the PLC control board through the I / O port to open the third port of all three-way solenoid valves; when part of the control air pressure values ​​are positive air pressure values ​​and part of them are negative air pressure values, the controller drives the PLC control board through the I / O port to open the second port of the three-way solenoid valve corresponding to the positive air pressure value, and open the third port of the three-way solenoid valve corresponding to the negative air pressure value.

[0052] In the above embodiment, it can be seen that the control mechanism receives the air pressure value control instruction set by the user, and then controls different air pressure output mechanisms to output positive high-pressure air source or negative high-pressure air source of corresponding air pressure value to different air pressure driving modules according to the air pressure value control instruction.

[0053] Optionally, the control mechanism controls a plurality of the two-way solenoid valves to open, and connects the air pressure drive module corresponding to each two-way solenoid valve to the first port of the three-way solenoid valve, specifically including:

[0054] The host computer receives a plurality of two-way solenoid valve opening instructions and sends them to the controller; the controller receives the plurality of two-way solenoid valve opening instructions and drives the PLC control board through the I / O port to open the plurality of two-way solenoid valves, thereby connecting each corresponding air pressure drive module with the three-way solenoid valve;

[0055] And / or, the high-pressure air source mechanism sequentially outputs positive air pressure or negative air pressure to the corresponding air pressure driving module through the air pressure output mechanism and the two-way solenoid valve; at the same time, the plurality of air pressure sensors detect the real-time air pressure value of the air pressure driving module one by one and send it to the control mechanism, specifically including:

[0056] The high-pressure air source mechanism sequentially outputs positive air pressure to the air pressure driving module through the air pressure output mechanism, the second port of the three-way solenoid valve, the first port of the three-way valve and the two-way solenoid valve; the high-pressure air source mechanism sequentially outputs negative air pressure to the air pressure driving module through the air pressure output mechanism, the third port of the three-way solenoid valve, the first port of the three-way valve and the two-way solenoid valve; the plurality of air pressure sensors detect the real-time air pressure value of each air pressure driving module one by one and send it to the control mechanism;

[0057] And / or, the control mechanism controls the plurality of two-way solenoid valves to be closed, and the plurality of air pressure sensors detect the real-time environmental parameters of the air pressure drive module in a one-to-one correspondence manner and send the real-time environmental parameters to the control mechanism, specifically including:

[0058] The host computer receives several two-way solenoid valve closing instructions and sends them to the controller; the controller receives several two-way solenoid valve closing instructions and closes the corresponding two-way solenoid valves one by one through the I / O port and the PLC control board; several air pressure sensors detect the pressure of the air pressure drive module one by one and feedback the value to the controller.

[0059] In the above embodiment, the two-way solenoid valve is used to switch the air pressure driving mode and the detection mode of the air pressure driving module. By setting the air pressure sensor, the working pressure of the air pressure driving module can be detected, and the ambient pressure of the air pressure driving module can be detected. Therefore, the positive pressure drive or negative pressure drive of different air pressure driving modules can be controlled at the same time, and the working pressure and ambient pressure of the air pressure driving module can be detected.

[0060] Beneficial effects:

[0061] The present application provides a detectable multi-type air pressure output device and method, a detectable multi-type air pressure output device, which is configured by connecting a high-pressure air source mechanism to several groups of air pressure output mechanisms, each group of air pressure output mechanisms is connected to a group of air pressure drive modules, and each group of air pressure drive modules is configured with an air pressure sensor; so that each group of air pressure output mechanisms is configured with a positive high-pressure air source and a negative high-pressure air source, and by arranging a three-way solenoid valve on the air pressure output mechanism, the air pressure output mechanism has a structure for switching the output of a positive high-pressure air source and a negative high-pressure air source; by arranging a control mechanism and electrically connecting it to several air pressure output mechanisms, the three-way solenoid valve can be controlled, and the positive and negative high-pressure air sources can be switched. High-pressure air source and negative high-pressure air source provide protection; a single set of control mechanisms can simultaneously control several sets of air pressure output mechanisms, and can also simultaneously control different air pressure output mechanisms to output positive high-pressure air source and / or negative high-pressure air source; by arranging a two-way solenoid valve between the three-way solenoid valve and the air pressure drive mechanism, and connecting it to the control mechanism, the two-way solenoid valve can be controlled to close the air pressure drive mechanism, and by arranging an air pressure sensor electrically connected to the control mechanism at one end of the air pressure drive mechanism, the air pressure value of the air pressure drive mechanism can be detected, and the environmental parameters of the soft robot can be indirectly known from the change in the air pressure value of the air pressure drive mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 and Figure 2 All of them are functional principle schematic block diagrams of the detectable multi-type air pressure output device provided in this application;

[0063] Figure 3 It is a partial main view schematic diagram of the host computer of the control mechanism of the detectable multi-type air pressure output device provided in this application;

[0064] Figure 4This is a schematic block diagram of the operating principle of the control mechanism of the detectable multi-type air pressure output device provided in this application;

[0065] Figure 5 It is a flowchart of the detectable multi-type air pressure output method provided in this application;

[0066] Description of reference numerals:

[0067] 100. Detectable multiple types of air pressure output devices; 1. Positive high-pressure air source; 2. Negative high-pressure air source; 3. Positive proportional valve; 4. Negative proportional valve; 5. Three-way solenoid valve; 6. Two-way solenoid valve; 7. Air pressure drive module; 8. Air pressure sensor; 9. Controller; 10. D / A converter; 11. I / O port; 12. PLC control board; 13. A / D converter; 14. Power supply; 15. Host computer; 16. Air pressure output mechanism; 17. High-pressure air source mechanism; 151. Connection control module; 152. Air pressure control module; 153. Air pressure feedback curve display component; 154. Two-way solenoid valve control switch; 155. Air pressure feedback value display component; 156. Command sending control module; 157. Host computer body; 158. Real-time air pressure feedback module. DETAILED DESCRIPTION

[0068] To make the purpose, technical solutions and advantages of this application clearer and more explicit, the following further describes this application in detail with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are only used to explain this application and are not intended to limit this application.

[0069] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, "several" means two or more.

[0070] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0071] Please refer to Figures 1 to 2 In the first embodiment of the present application, a detectable multi-type air pressure output device 100 is provided, and the detectable multi-type air pressure output device 100 is used for a soft robot; specifically, the detectable multi-type air pressure output device 100 includes: a high-pressure air source mechanism 17, a control mechanism 18, a plurality of air pressure output mechanisms 16, a plurality of air pressure drive modules 7 and a plurality of air pressure sensors 8; the high-pressure air source mechanism 17 is provided with a positive high-pressure air source 1 and a negative high-pressure air source 2; a plurality of the air pressure output mechanisms 16 are connected to the high-pressure air source mechanism 17; a plurality of the air pressure drive modules 7 are respectively connected to a plurality of the air pressure sensors 8 The output mechanisms 16 are connected one-to-one; several of the air pressure sensors 8 are respectively arranged in one-to-one correspondence with several air pressure drive modules 7; the control mechanism 18 is electrically connected to the high-pressure air source mechanism 17, several air pressure output mechanisms 16 and several air pressure sensors 8; wherein, the air pressure output mechanism 16 is provided with a connected three-way solenoid valve 5 and a two-way solenoid valve 6, the two-way solenoid valve 6 is connected between the air pressure drive module 7 and the first port of the three-way solenoid valve 5, the second port of the three-way solenoid valve 5 is connected to the positive high-pressure air source 1, and the third port of the three-way solenoid valve 5 is connected to the negative high-pressure air source 2.

[0072] When the soft robot is running, the high-pressure air source mechanism 17 is used to provide a positive high-pressure air source 1 and a negative high-pressure air source 2, which provides a guarantee for the air pressure output mechanism 16 to output the positive high-pressure air source 1 and the negative high-pressure air source 2. Then the air pressure output mechanism 16 outputs the positive high-pressure air source 1 or the negative high-pressure air source 2 to the air pressure output mechanism 16. The air pressure sensor 8 is used to detect the working pressure or environmental parameters of the air pressure drive module 7. Specifically, the high-pressure air source mechanism 17 is connected to a plurality of air pressure output mechanisms 16, and the control mechanism 18 is connected to a plurality of air pressure output mechanisms 16; that is, the air pressure output mechanisms 16 are all connected to a positive high-pressure air source 1 (such as a compressor) and a negative high-pressure air source 2 (such as a vacuum pump), and are all capable of outputting a positive high-pressure air source 1 and a negative high-pressure air source 2; by electrically connecting all the air pressure output mechanisms 16 to the control mechanism 18, the control mechanism 18 can simultaneously control all the air pressure output mechanisms 16, and simultaneously control different air pressure output mechanisms 16 to simultaneously output a positive high-pressure air source 1 and / or a negative high-pressure air source 2, thereby driving the air pressure drive module 7 corresponding to each air pressure output mechanism 16 to operate; in this process, the corresponding two-way solenoid valves 6 are all in the open state, and the first port and the second port of the three-way solenoid valve 5 of the air pressure output mechanism 16 that outputs the positive high-pressure air source 1 are open. , the first port and the third port of the three-way solenoid valve 5 of the air pressure output mechanism 16 that outputs the negative high-pressure air source 2 are opened; at the same time, the air pressure sensor 8 corresponding to each air pressure driving module 7 synchronously detects the real-time working pressure of the air pressure driving module 7, and feeds back to the control mechanism 18, thereby realizing the detectability of the output air pressure of the air pressure output mechanism 16; at the same time, when the air pressure driving module 7 does not need to be driven, the control mechanism 18 controls the two-way solenoid valve 6 to close, so that the air pressure driving module 7 is in a sealed state. At this time, the air pressure sensor 8 can detect the real-time pressure changes of the closed air pressure driving module 7, and thus indirectly obtain the environmental parameters of the air pressure driving module 7, such as the ambient air pressure. When the ambient air pressure increases, the air pressure driving module 7 is compressed, and the internal pressure increases synchronously, otherwise it decreases synchronously; for example, the ambient temperature and the external temperature change will also cause the pressure inside the air pressure driving module 7 to change.

[0073] That is, by connecting the high-pressure gas source mechanism 17 to a plurality of groups of gas pressure output mechanisms 16, each group of gas pressure output mechanisms 16 is equipped with a positive high-pressure gas source 1 and a negative high-pressure gas source 2, and by providing a three-way solenoid valve 5 on the gas pressure output mechanism 16, the gas pressure output mechanism 16 has a structure for switching the output of the positive high-pressure gas source 1 and the negative high-pressure gas source 2. By providing a control mechanism 18 and electrically connecting it to the plurality of gas pressure output mechanisms 16, the three-way solenoid valve 5 can be controlled; thus, a single group of control mechanisms 18 can simultaneously control a plurality of groups of gas pressure output mechanisms 16. , and can simultaneously control different air pressure output mechanisms 16 to simultaneously output positive high-pressure air source 1 and / or negative high-pressure air source 2; by arranging a two-way solenoid valve 6 between the three-way solenoid valve 5 and the air pressure drive mechanism, and connecting it to the control mechanism 18, the two-way solenoid valve 6 can be controlled to close the air pressure drive mechanism, and by arranging an air pressure sensor 8 electrically connected to the control mechanism 18 at one end of the air pressure drive mechanism, the air pressure value of the air pressure drive mechanism can be detected, and the environmental parameters of the soft robot can be indirectly known from the change in the air pressure value of the air pressure drive mechanism.

[0074] Please refer to further Figure 2 In other embodiments, the air pressure output mechanism 16 further includes: a positive proportional valve 3 and a negative proportional valve 4, the air inlet end of the positive proportional valve 3 is connected to the positive high-pressure air source 1, and the air outlet end of the positive proportional valve 3 is connected to the second port of the three-way solenoid valve 5; the air inlet end of the negative proportional valve 4 is connected to the negative high-pressure air source 2, and the air outlet end of the negative proportional valve 4 is connected to the third port of the three-way solenoid valve 5; wherein the positive proportional valve 3, the negative proportional valve 4, the three-way solenoid valve 5 and the two-way solenoid valve 6 are all electrically connected to the control mechanism 18.

[0075] It can be understood that by providing the positive proportional valve 3 and the negative proportional valve 4, the air pressure output mechanism 16 is stably and controllably connected to the positive high-pressure air source 1 and the negative high-pressure air source 2 of the high-pressure air source mechanism 17, so that the air pressure output mechanism 16 can output both the positive high-pressure air source 1 and the negative high-pressure air source 2. The positive proportional valve 3, the negative proportional valve 4, the three-way solenoid valve 5, and the two-way solenoid valve 6 are all electrically connected to the control mechanism 18, thereby facilitating the control of the operation of the positive proportional valve 3, the negative proportional valve 4, the three-way solenoid valve 5, and the two-way solenoid valve 6 by the control mechanism 18.

[0076] In other embodiments, the second port of the three-way solenoid valve 5 is set as a normally closed end, and the third port of the three-way solenoid valve 5 is set as a normally open end.

[0077] It can be understood that by setting the second port of the three-way solenoid valve 5 connected to the positive high-pressure air source 1 to the normally closed end, the air tightness of the detectable multi-type air pressure output device 100 is effectively guaranteed; by setting the third port of the three-way solenoid valve 5 connected to the negative high-pressure air source 2 to the normally open end, it is beneficial to maintain the air pressure balance in the air pressure drive module 7.

[0078] Please refer to further Figures 2 to 4 In other embodiments, the control mechanism 18 includes: a controller 9 and a power supply 14; the controller 9 is electrically connected to the positive proportional valve 3, the negative proportional valve 4, the three-way solenoid valve 5, the two-way solenoid valve 6, the positive high-pressure gas source 1 and the negative high-pressure gas source 2 respectively; the power supply 14 is electrically connected to the controller 9.

[0079] In the above embodiment, by providing a controller 9 and a power supply 14, the power supply of the controller 9 can be guaranteed; by electrically connecting the controller 9 to the positive proportional valve 3, the negative proportional valve 4, the three-way solenoid valve 5, the two-way solenoid valve 6, the positive high-pressure gas source 1 and the negative high-pressure gas source 2 respectively, the controller 9 can simultaneously control different air pressure output mechanisms 16 to output the positive high-pressure gas source 1 and / or the negative high-pressure gas source 2.

[0080] In other embodiments, the controller 9 includes: an I / O port 11, a PLC control board 12, a D / A converter 10 and an A / D converter 13; one end of the PLC control board 12 is electrically connected to the I / O port 11, and the other end of the PLC control board 12 is electrically connected to the three-way solenoid valve 5 and the two-way solenoid valve 6 respectively; the D / A converter 10 is electrically connected to the positive proportional valve 3 and the negative proportional valve 4 respectively; and the A / D converter 13 is electrically connected to the air pressure sensor 8 respectively.

[0081] In the above embodiment, the well-known controller 9 includes a single-chip microcomputer, and by configuring an I / O port 11, a D / A converter 10 and an A / D converter 13 on the single-chip microcomputer (such as STM32), the controller 9 is effectively guaranteed to be electrically connected to the three-way solenoid valve 5 and the two-way solenoid valve 6, and the three-way solenoid valve 5 and the two-way solenoid valve 6 are electrically connected, and the air pressure sensor 8 is electrically connected, thereby effectively controlling the operation of the air pressure output mechanism 16, the air pressure drive module 7 and the air pressure sensor 8; during operation, the I / O port 11 and the PLC control board 12 are electrically connected to the air pressure output mechanism 16, the air pressure drive module 7 and the air pressure sensor 8. The three-way solenoid valve 5 and the two-way solenoid valve 6 are electrically connected, and can thereby control whether the air pressure drive module 7 is in ventilation operation by controlling the two-way solenoid valve 6, and control the air pressure output mechanism 16 to output the positive high-pressure air source 1 and the negative high-pressure air source 2 through the three-way solenoid valve 5; the D / A converter 10 is electrically connected to the positive proportional valve 3 and the negative proportional valve 4 respectively, and the A / D converter 13 is electrically connected to the air pressure sensor 8 respectively, and can recover the data detected by the air pressure sensor 8, thereby providing a guarantee for real-time monitoring of the operating air pressure and environmental parameters of the air pressure output mechanism 16.

[0082] In other embodiments, the control mechanism 18 also includes: a host computer 15, which is electrically connected to the controller 9; the host computer 15 includes: a host computer body 157, a connection control module 151, an air pressure control module 152, a real-time air pressure feedback module 158 and a two-way solenoid valve control switch 154, and a control window is provided on the host computer body 157; the connection control module 151 is provided at the control window, for controlling the electrical connection between the host computer body 157 and the controller 9; the air pressure control module 152 is provided at the control window, and is electrically connected to the controller 9, for setting the working air pressure at the air pressure drive module 7; the real-time air pressure feedback module 158 is provided at the control window, and is electrically connected to the controller 9, and includes a real-time air pressure feedback curve display component 153 and an air pressure feedback value display component 155; the two-way solenoid valve control switch 154 is provided at the control window, and is electrically connected to the controller 9.

[0083] It can be understood that the host computer 15 serves as a human-computer interaction platform for the detectable multi-type air pressure output device 100, and the user can control the operation of the detectable multi-type air pressure output device 100 through the host computer 15; specifically, the control window is set on the host computer body 157, and the connection control module 151, the air pressure control module 152, the real-time air pressure feedback module 158 and the two-way solenoid valve control switch 154 are all set on the control window. The user operates the connection control module 151, the air pressure control module 152, the real-time air pressure feedback module 158 and the two-way solenoid valve control switch 154 in the control window to control the operation of the detectable multi-type air pressure output device 100; specifically, the connection control module 151 is set as a connection control button or a connection control touch key; The air pressure control module 152 is a plurality of air pressure control knobs; the plurality of air pressure sensors 8 transmit the detected air pressure data to the controller, and the controller transmits the air pressure data to the real-time air pressure feedback module 158, and the real-time air pressure feedback module 158 is configured as a real-time air pressure feedback curve display component 153 and an air pressure feedback value display component 155, and the real-time air pressure feedback curve display component 153 is configured as a real-time air pressure feedback value display window, and the real-time air pressure feedback value display window displays the real-time air pressure feedback value of the plurality of air pressure data; the real-time air pressure feedback curve display component 153 is configured as a real-time air pressure feedback value window, and the real-time air pressure feedback value display window displays the air pressure feedback value curve of the plurality of air pressure data; the two-way solenoid valve control switch 154 is also configured in plurality.

[0084] It can be understood that by setting the connection control module 151, the connection between the host computer 15 and the controller 9 can be effectively controlled; by setting the air pressure control module 152, the operating pressure of the air pressure drive module 7 can be controlled; by setting the real-time air pressure feedback module 158, the operating pressure and environmental parameters of the air pressure drive module 7 detected by the air pressure sensor 8 can be displayed in real time; by setting the two-way solenoid valve control switch 154, the on and off of the two-way solenoid valve 6 can be controlled, thereby switching the air pressure drive mode or the detection mode.

[0085] In some embodiments, the control mechanism 18 also includes: an instruction sending control module 156; one end of the instruction sending control module 156 is electrically connected to the controller 9, and one end of the instruction sending control module 156 is electrically connected to the connection control module 151, the air pressure control module 152, the real-time air pressure feedback module 158 and the two-way solenoid valve control switch 154 respectively.

[0086] It can be understood that by setting the instruction sending control module 156 (such as the instruction start control button), the correctness of the operation of the host computer 15 can be guaranteed. After setting various parameters, the instruction sending control module 156 will be triggered to send instructions to the controller 9, thereby avoiding misoperation.

[0087] Please refer to Figure 5 In the second embodiment of the present application, a detectable multi-type air pressure output method is also provided. The detectable multi-type air pressure output method is completed based on the detectable multi-type air pressure output device in the above embodiment of the present application, and is used to simultaneously control multiple groups of air pressure output mechanisms of the soft robot through a set of control mechanisms to output positive high-pressure air source or negative high-pressure air source to the corresponding air pressure driving module, and detect the working pressure of the air pressure driving module and monitor environmental parameters (such as pressure or temperature).

[0088] Specifically, the detectable multiple types of air pressure output methods include:

[0089] Step S100 : The control mechanism controls a plurality of the two-way solenoid valves to open, and connects the air pressure drive module corresponding to each two-way solenoid valve to the first port of the three-way solenoid valve.

[0090] It can be seen that when the detectable multi-type air pressure output device is in operation, the control mechanism first controls the opening of a plurality of two-way solenoid valves to connect the air pressure drive module with the air pressure output mechanism, thereby providing a guarantee for driving the air pressure drive module; specifically, the step S100 includes:

[0091] The host computer receives a plurality of two-way solenoid valve opening instructions and sends them to the controller;

[0092] The controller receives several two-way solenoid valve opening instructions, and drives the PLC control board through the I / O port to open several corresponding two-way solenoid valves, connecting each corresponding pneumatic drive module with the three-way solenoid valve.

[0093] It can be seen that the user controls the opening and closing of the corresponding two-way solenoid valve control switch of the corresponding pneumatic drive module by operating the two-way solenoid valve control switch of the upper computer, so that the pneumatic drive module and the pneumatic output mechanism are connected; it should be pointed out that the upper computer can also automatically generate the required two-way valve solenoid valve opening or closing instructions by the two-way solenoid valve control switch and transmit them to the controller.

[0094] Step S200: The control mechanism receives a plurality of air pressure control instructions as input, and controls the corresponding second port or third port of the three-way solenoid valve to open according to each air pressure control instruction.

[0095] It can be seen that the control mechanism controls the opening of the second port or the third port of the corresponding three-way valve solenoid valve according to the air pressure values ​​corresponding to the air pressure value control instructions; and then the control mechanism simultaneously controls different air pressure output mechanisms to output positive high-pressure air source and / or negative high-pressure air source to the corresponding air pressure drive module. Specifically, the step S200 includes:

[0096] The air pressure control module receives a plurality of set air pressure value control instructions and sends them to the controller through the air pressure control module;

[0097] The controller receives the air pressure control instructions and determines whether the control air pressure value corresponding to each air pressure control instruction is a positive air pressure value or a negative air pressure value;

[0098] When all the control air pressure values ​​are positive air pressure values, the controller drives the PLC control board through the I / O port to open the second port of all three-way solenoid valves; when all the control air pressure values ​​are negative air pressure values, the controller drives the PLC control board through the I / O port to open the third port of all three-way solenoid valves; when part of the control air pressure values ​​are positive air pressure values ​​and part of them are negative air pressure values, the controller drives the PLC control board through the I / O port to open the second port of the three-way solenoid valve corresponding to the positive air pressure value, and open the third port of the three-way solenoid valve corresponding to the negative air pressure value.

[0099] It can be seen that the user can set several air pressure value control instructions through the air pressure control module of the upper computer. It should be noted that the upper computer can also automatically generate several air pressure value control instructions through the air pressure control module; then, all the air pressure value control instructions are sent to the controller, and the controller receives several air pressure value control instructions corresponding to the air pressure values ​​of the positive high-pressure air source or the negative high-pressure air source; the second port of the three-way valve solenoid valve of the air pressure output mechanism corresponding to the air pressure value control instruction of the positive high-pressure air source is opened, and the positive high-pressure air source is output to the air pressure drive module; the third port of the three-way valve solenoid valve of the air pressure output mechanism corresponding to the air pressure value control instruction of the negative high-pressure air source is opened, and the negative high-pressure air source is output to the air pressure drive module; thereby realizing the simultaneous control of multiple groups of air pressure output mechanisms to output positive high-pressure air sources and / or negative high-pressure air sources.

[0100] In step S300, the high-pressure air source mechanism outputs positive air pressure or negative air pressure to the corresponding air pressure driving module through the air pressure output mechanism and the two-way solenoid valve in sequence; at the same time, several of the air pressure sensors detect the real-time air pressure value of the air pressure driving module one by one and send it to the control mechanism.

[0101] It can be seen that in the detectable multi-type air pressure output method, a group of high-pressure air source mechanisms are connected to all air pressure output mechanisms, and each air pressure driving module is equipped with a two-way solenoid valve, a three-way valve solenoid valve, a positive proportional valve or a negative proportional valve and a positive high-pressure air source component or a negative high-pressure air source component; at the same time, while outputting the air source to the air pressure driving module; synchronously, the air pressure sensor detects the working pressure of the air pressure driving module in real time one by one, and feeds back to the controller and the host computer, and the real-time air pressure feedback module displays the air pressure feedback curve and the air pressure feedback value, thereby realizing real-time detection of the air pressure driving module and real-time detection of the air pressure output by the air pressure output mechanism.

[0102] In step S400 , the control mechanism controls the two-way solenoid valves to be closed, and the air pressure sensors detect the real-time environmental parameters of the air pressure driving module in a one-to-one correspondence manner and send the detected parameters to the control mechanism.

[0103] It can be seen that the control mechanism receives or generates several two-way valve solenoid valve closing instructions, and closes the corresponding two-way valve solenoid valve, so that the pneumatic drive module (such as the airbag structure) is in a sealed state; at this time, the pressure inside the pneumatic drive module can be affected by the environmental parameters of the soft robot (such as ambient pressure or ambient temperature), and then the pressure in the pneumatic drive module can be detected by the pneumatic pressure sensor, and the environmental parameters of the soft robot can be indirectly known, and it is not affected by the scene and has high safety.

[0104] It should be understood that the application of this application is not limited to the above examples. For ordinary technicians in this field, they can make improvements or changes based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to this application.

Claims

1. A detectable multi-type air pressure output device for a soft robot, characterized in that: include: A high-pressure gas source mechanism, wherein the high-pressure gas source mechanism is provided with a positive high-pressure gas source component and a negative high-pressure gas source component; a plurality of air pressure output mechanisms, each of which is connected to the high-pressure air source mechanism; A plurality of air pressure drive modules, each of which is connected to the plurality of air pressure output mechanisms in a one-to-one correspondence; A plurality of air pressure sensors, each of which is provided in a one-to-one correspondence with a plurality of air pressure drive modules; A control mechanism, wherein the control mechanism is electrically connected to the high-pressure air source mechanism, a plurality of air pressure output mechanisms and a plurality of air pressure sensors, the air pressure sensor corresponding to each air pressure drive module synchronously detects the air pressure data of the air pressure drive module and feeds back to the control mechanism, the control mechanism transmits the plurality of air pressure data to a real-time air pressure feedback module, the real-time air pressure feedback module is configured as a real-time air pressure feedback curve display component and an air pressure feedback value display component, the real-time air pressure feedback curve display component is configured as a real-time air pressure feedback value display window, the real-time air pressure feedback value display window displays a plurality of air pressure data as a real-time air pressure feedback value; the air pressure feedback value display component is configured as a real-time air pressure feedback value window, and the real-time air pressure feedback value display window displays a plurality of air pressure data as an air pressure feedback value curve; The air pressure output mechanism is provided with a connected three-way solenoid valve and a two-way solenoid valve, the two-way solenoid valve is connected between the air pressure driving module and the first port of the three-way solenoid valve, the second port of the three-way solenoid valve is connected to the positive high-pressure air source component, and the third port of the three-way solenoid valve is connected to the negative high-pressure air source component; Based on the detectable multi-type air pressure output device, the following detectable multi-type air pressure output method is implemented: The control mechanism controls the opening of a plurality of the two-way solenoid valves, and connects the air pressure drive module corresponding to each two-way solenoid valve to the first port of the three-way solenoid valve; The control mechanism receives a plurality of air pressure control instructions input, and the control mechanism includes an electrically connected host computer and a controller; the host computer is provided with an air pressure control module, and the controller is provided with an I / O port and a PLC control board connected in sequence; the controller determines the control air pressure value corresponding to each of the air pressure control instructions; When the control air pressure values ​​are all positive air pressure values, the controller drives the PLC control board through the I / O port to open the second port of all three-way solenoid valves; when the control air pressure values ​​are all negative air pressure values, the controller drives the PLC control board through the I / O port to open the third port of all three-way solenoid valves; when the control air pressure values ​​are partially positive air pressure values ​​and partially negative air pressure values, the controller drives the PLC control board through the I / O port to open the second port of the three-way solenoid valve corresponding to the positive air pressure value, and open the third port of the three-way solenoid valve corresponding to the negative air pressure value; The high-pressure air source mechanism sequentially outputs positive air pressure or negative air pressure to the corresponding air pressure driving module through the air pressure output mechanism and the two-way solenoid valve; at the same time, the plurality of air pressure sensors detect the real-time air pressure value of the air pressure driving module one by one and send it to the control mechanism; The control mechanism controls the closing of the two-way solenoid valves, and the air pressure sensors detect the real-time environmental parameters of the air pressure driving module in a one-to-one correspondence and send them to the control mechanism.

2. The detectable multi-type air pressure output device according to claim 1, characterized in that: The air pressure output mechanism also includes: A positive proportional valve, wherein the air inlet of the positive proportional valve is connected to the positive high-pressure air source component, and the air outlet of the positive proportional valve is connected to the second port of the three-way solenoid valve; A negative proportional valve, wherein the air inlet of the negative proportional valve is connected to the negative high-pressure air source component, and the air outlet of the negative proportional valve is connected to the third port of the three-way solenoid valve; Wherein, the positive proportional valve, the negative proportional valve, the three-way solenoid valve and the two-way solenoid valve are all electrically connected to the control mechanism.

3. The detectable multi-type air pressure output device according to claim 2, characterized in that: The second port of the three-way solenoid valve is set as a normally closed end, and the third port of the three-way solenoid valve is set as a normally open end.

4. The detectable multi-type air pressure output device according to claim 2, characterized in that: The control mechanism includes: A controller, wherein the controller is electrically connected to the positive proportional valve, the negative proportional valve, the three-way solenoid valve, the two-way solenoid valve, the positive high-pressure gas source component, and the negative high-pressure gas source component respectively; A power supply is electrically connected to the controller.

5. The detectable multi-type air pressure output device according to claim 4, characterized in that: The controller includes: I / O ports; A PLC control board, one end of the PLC control board is electrically connected to the I / O port, and the other end of the PLC control board is electrically connected to the three-way solenoid valve and the two-way solenoid valve respectively; A D / A converter, wherein the D / A converter is electrically connected to the positive proportional valve and the negative proportional valve respectively; A / D converters are electrically connected to the air pressure sensors respectively.

6. The detectable multi-type air pressure output device according to claim 5, characterized in that: The control mechanism further includes: a host computer electrically connected to the controller; the host computer includes: A host computer body, wherein a control window is provided on the host computer body; A connection control module, which is arranged at the control window and is used to control the electrical connection between the host computer body and the controller; an air pressure control module, which is disposed at the control window and electrically connected to the controller and is used to set the working air pressure at the air pressure drive module; A real-time air pressure feedback module, which is arranged at the control window and electrically connected to the controller, and includes a real-time air pressure feedback curve display component and an air pressure feedback value display component; A two-way solenoid valve control switch is provided at the control window and is electrically connected to the controller.

7. The detectable multi-type air pressure output device according to claim 6, characterized in that: The control mechanism further comprises: An instruction sending control module, one end of which is electrically connected to the controller, and one end of which is electrically connected to the connection control module, the air pressure control module, the real-time air pressure feedback module and the two-way solenoid valve control switch.

8. The detectable multi-type air pressure output device according to claim 1, characterized in that: The control mechanism controls the opening of the two-way solenoid valves and connects the air pressure drive module corresponding to each two-way solenoid valve to the first port of the three-way solenoid valve, specifically including: The host computer receives a plurality of two-way solenoid valve opening instructions and sends them to the controller; the controller receives the plurality of two-way solenoid valve opening instructions and drives the PLC control board through the I / O port to open a plurality of corresponding two-way solenoid valves, thereby connecting each corresponding air pressure drive module with the three-way solenoid valve; And / or, the high-pressure air source mechanism sequentially outputs positive air pressure or negative air pressure to the corresponding air pressure driving module through the air pressure output mechanism and the two-way solenoid valve; at the same time, the plurality of air pressure sensors detect the real-time air pressure value of the air pressure driving module one by one and send it to the control mechanism, specifically including: The high-pressure air source mechanism sequentially outputs positive air pressure to the air pressure driving module through the air pressure output mechanism, the second port of the three-way solenoid valve, the first port of the three-way valve and the two-way solenoid valve; the high-pressure air source mechanism sequentially outputs negative air pressure to the air pressure driving module through the air pressure output mechanism, the third port of the three-way solenoid valve, the first port of the three-way valve and the two-way solenoid valve; the plurality of air pressure sensors detect the real-time air pressure value of each air pressure driving module one by one and send it to the control mechanism; And / or, the control mechanism controls the plurality of two-way solenoid valves to be closed, and the plurality of air pressure sensors detect the real-time environmental parameters of the air pressure drive module in a one-to-one correspondence manner and send the real-time environmental parameters to the control mechanism, specifically including: The host computer receives several two-way solenoid valve closing instructions and sends them to the controller; the controller receives several two-way solenoid valve closing instructions and closes the corresponding two-way solenoid valves one by one through the I / O port and the PLC control board; several air pressure sensors detect the pressure of the air pressure drive module one by one and feed back to the controller.

Images