Time delay based multi-channel mixed gas pressure output device and control method thereof

Abstract

The application discloses a time-delay-based multi-channel mixed gas pressure output device and a control method thereof. The device comprises a gas source, at least one gas conveying channel, and a control driving module. The gas source is used for outputting positive and negative gas pressures. Each gas conveying channel comprises at least a first electromagnetic valve, a second electromagnetic valve and a gas pressure sensor. The first electromagnetic valve is connected to the gas source and used for switching the communication of the positive and negative gas pressures. The input end of the second electromagnetic valve is connected to the output end of the first electromagnetic valve, the output end is used for communicating the gas pressure sensor and an external soft robot, and the control driving module is electrically connected to the gas pressure sensor, the first electromagnetic valve and the second electromagnetic valve. In the manual mode or the automatic mode, the control driving module sends a control signal with a continuous delay time to the first electromagnetic valve and the second electromagnetic valve according to the detection signal of the gas pressure sensor. The device solves the problems of complex structure and large volume of the control device of the soft robot in the prior art.

Description

Technical Field

[0001] This application relates to the field of soft robot technology, and in particular to a time-delay-based multi-channel hybrid pneumatic output device and its control method. Background Technology

[0002] With the rise of robotics technology, it has been increasingly applied in fields such as intelligent manufacturing and medicine, making the characteristics and functions of robots more and more diversified. Among them, the demand for robots to perform various tasks in different and uncertain environments is increasing. Therefore, higher requirements are placed on the structural adaptability of robots, and soft robots can meet the higher requirements for structural adaptability.

[0003] The control of soft robots involves multiple pneumatic output controls. Current control devices mainly use the coupling and adjustment of multiple components such as proportional valves, air sources and solenoid valves to achieve single-channel control. The output air pressure is singular, and multiple sets of equipment are required to drive soft robots, resulting in a complex overall structure and large size.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this application is to provide a multi-channel hybrid air pressure output device based on time delay and its control method, so as to solve the problem of complex structure and large size of the control device for soft robots in the prior art.

[0006] The technical solution of this application is as follows: On the one hand, this application proposes a multi-channel mixed gas pressure output device based on time delay, including: Air source, used to output positive and negative air pressure; At least one air supply channel, each air supply channel including at least: a first solenoid valve, a second solenoid valve and a pressure sensor; the first solenoid valve is connected to an air source and is used to switch between positive and negative air pressure; the input end of the second solenoid valve is connected to the output end of the first solenoid valve, and the output end is used to connect the pressure sensor and an external soft robot. The control and drive module is electrically connected to the air pressure sensor, the first solenoid valve, and the second solenoid valve. In manual or automatic mode, the control drive module sends control signals with a continuous delay time to the first and second solenoid valves based on the detection signal from the air pressure sensor.

[0007] Optionally, the gas source includes: a positive pressure gas source, used to provide positive pressure gas; and Negative pressure air source; a negative pressure air source is used to provide negative pressure air. The first solenoid valve is a three-way solenoid valve. The two input terminals of the three-way solenoid valve are connected to the positive pressure air source and the negative pressure air source respectively. The output terminal of the three-way solenoid valve is connected to the second solenoid valve. The second solenoid valve is a two-way solenoid valve, and its output is connected to both the air pressure sensor and an external soft robot.

[0008] Optionally, the control drive module includes: a processing controller, which is electrically connected to the barometric pressure sensor and is used to output a control signal with a duration of delay based on the input signal; The driver is electrically connected to the processing controller, the first solenoid valve, and the second solenoid valve, and is used to receive control signals from the processing controller and to perform level conversion on the control signals in order to control the first solenoid valve and / or the second solenoid valve.

[0009] Optionally, the processing controller includes: a manual controller for receiving external manual control signals; The data processor is electrically connected to the manual controller, the barometric sensor, and the driver. The data processor outputs control signals to the driver based on the manual control signals output by the manual controller; or The data processor outputs control signals to the driver based on the detection signals output by the barometric pressure sensor.

[0010] Optionally, the multi-channel mixed pressure output device also includes a power supply module for providing operating voltage; The power supply module includes: a power supply and a voltage conditioning circuit, the power supply and the voltage conditioning circuit are electrically connected, and the voltage conditioning circuit is electrically connected to the control drive module.

[0011] On the other hand, this application also proposes a control method for a time-delay-based multi-channel mixed pressure output device, which is used in the multi-channel mixed pressure output device as described above, including the following steps: Pre-set the target air pressure value and error threshold; Select the control mode based on the received control command, which includes manual mode and automatic mode; If the control mode is automatic, the feedback air pressure value in the detection signal of the air pressure sensor is obtained. Based on the comparison result of the feedback air pressure value and the target air pressure value and the relationship with the error threshold, a control signal with a continuous delay time is sent to the first solenoid valve and the second solenoid valve.

[0012] Optionally, in the step of sending a control signal with a duration delay to the first and second solenoid valves based on the relationship between the comparison result of the feedback air pressure value and the target air pressure value and the error threshold: Calculate the difference between the feedback air pressure value and the target air pressure value; Based on the relationship between the feedback air pressure value and the target air pressure value, and the relationship between the difference and the error threshold, control signals with a continuous delay time are sent to the first solenoid valve and the second solenoid valve. Among them, when the absolute value of the difference between the feedback air pressure value and the target air pressure value is less than the error threshold, the control signal is a hold signal; When the feedback air pressure value is less than the target air pressure value, and the absolute value of the difference is greater than the error threshold, the control signal is a positive pressure output signal. When the feedback air pressure value is greater than the target air pressure value, and the absolute value of the difference is greater than the error threshold, the control signal is a negative pressure output signal.

[0013] Optionally, in the step of sending a control signal with a duration delay to the first solenoid valve and the second solenoid valve: Based on the feedback air pressure value, calculate the difference between it and the target load air pressure value. Calculate the delay time based on the relationship between the difference and the gas pressure coefficient; Control signals are sent to the first and second solenoid valves, and the duration of the control signals is the delay time.

[0014] Optionally, in the step of calculating the delay time based on the relationship between the difference and the gas pressure coefficient: The calculation formula is: Where P0 is the current value of the load air pressure, and P is the target value of the load air pressure. is the output delay, and k is the gas pressure coefficient.

[0015] Optionally, in the step of calculating the delay time based on the relationship between the difference and the gas pressure coefficient: The formula for calculating the gas pressure coefficient is: in, P1 is the volumetric flow rate of the gas delivery channel, P2 is the output gas pressure of the gas delivery channel, and V is the load volume of the gas delivery channel.

[0016] Optionally, the step of selecting the control mode based on the received control command further includes: If the control mode is manual mode, the feedback air pressure value in the detection signal of the air pressure sensor is obtained and fed back to the user. It receives user operation signals and sends control signals with a continuous delay time to the first and second solenoid valves.

[0017] Beneficial Effects: Compared with existing technologies, the multi-channel hybrid air pressure output device and its control method based on time delay proposed in this application acquire feedback air pressure values ​​from air pressure sensors in multiple air delivery channels through a control drive module, and output control signals based on the air pressure sensors to control the output air pressure values ​​in multiple air delivery channels accordingly. Since the control signals are based on time delay, each air delivery channel can be controlled to output positive pressure, negative pressure, or maintain multiple output states, enabling the externally controlled soft robot to reach the target air pressure and achieving automatic adjustment of the target air pressure. This achieves the advantages of controlling multiple air delivery channels and a compact structural design, overcoming the problems of limited air pressure channels, lack of scalability, and large footprint. Furthermore, it can perform high-precision automatic closed-loop control of air delivery channels based on the detection signals of air pressure sensors; it has versatility and practicality. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the circuit and air path of the time-delay-based multi-channel hybrid air pressure output device according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a soft robot controlled by a time-delay-based multi-channel hybrid air pressure output device according to an embodiment of this application. Figure 3 This is a flowchart illustrating the main steps of the control method for a time-delay-based multi-channel hybrid air pressure output device according to an embodiment of this application. Figure 4 This is a flowchart detailing the steps of step 220 in the control method of the time-delay-based multi-channel hybrid air pressure output device according to an embodiment of this application. Figure 5 This is a detailed flowchart of the control method for a time-delay-based multi-channel hybrid air pressure output device according to an embodiment of this application; Figure 6 This is a schematic diagram illustrating the control of the first and second solenoid valves of the time-delay-based multi-channel mixed air pressure output device according to an embodiment of this application, and the change in the current load value.

[0019] The following are the labels in the diagram: 100, Power supply module; 110, Power supply; 120, Voltage conditioning circuit; 200, Control drive module; 210, Processing controller; 211, Manual controller; 212, Data processor; 220, Driver; 400, Air source; 410, Positive pressure air source; 420, Negative pressure air source; 510, Air delivery channel; 511, First solenoid valve; 512, Second solenoid valve; 513, Air pressure sensor; 600, Soft robot; 610, Side module drive component; 620, Corner module drive component. Detailed Implementation

[0020] This application provides a multi-channel mixed gas pressure output device and its control method based on time delay. To make the objectives, technical solutions, and effects of this application clearer and more explicit, the following describes the application in optional detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application.

[0021] In existing technologies, if the control device for a soft robot involves multiple pneumatic output controls, it requires multiple sets of equipment to control each pneumatic path individually, resulting in a complex overall structure, large size, and high cost. Furthermore, the control method is singular, unable to flexibly switch between real-time large-amplitude control and high-precision closed-loop control modes. Therefore, this application proposes the following embodiments to solve the above problems.

[0022] Example 1 like Figure 1 As shown, this embodiment proposes a multi-channel hybrid air pressure output device based on time delay, mainly including an air source 400, at least one air delivery channel 510, and a control drive module 200. The air source 400 is used to output positive and negative air pressure, and the two air pressures are output through different output terminals. Multiple air delivery channels 510 can be provided, and multiple air delivery channels 510 form a multi-channel structure. Each air delivery channel 510 includes at least: a first solenoid valve 511, a second solenoid valve 512, and an air pressure sensor 513; the first solenoid valve 511 is connected to the air source 400 and is used to switch between connecting positive and negative air pressure; the input terminal of the second solenoid valve 512 is connected to the output terminal of the first solenoid valve 511, and the output terminal is used to connect the air pressure sensor 513 and an external soft robot 600. By controlling the opening and closing of the first solenoid valve 511, the air supply channel 510 can be selectively supplied with positive or negative air pressure. Controlling the opening and closing of the second solenoid valve 512 allows the air supply channel 510 to open for air supply or close to stop air supply. When air is output from the output end of the second solenoid valve 512, one path is detected by the air pressure sensor 513 to monitor the air pressure output from the air supply channel 510 in real time, while the other path is connected to an external soft robot 600 for drive control. The control drive module 200 is electrically connected to the air pressure sensor 513, the first solenoid valve 511, and the second solenoid valve 512. In manual or automatic mode, the control drive module 200 sends control signals with a continuous delay time to the first solenoid valve 511 and the second solenoid valve 512 based on the detection signal from the air pressure sensor 513.

[0023] In this embodiment, the gas pressure of multiple gas delivery channels 510 can be controlled by a single gas source 400 and a control drive module 200. During control, the command signal from the control drive module 200 can be manually issued or automatically issued based on preset parameters. When the control drive module 200 performs control, it acquires the feedback pressure values ​​from the pressure sensors 513 in the multiple gas delivery channels 510 and outputs control signals based on these feedback pressure values, thereby controlling the multiple gas delivery channels 510 accordingly. The output air pressure value in the air supply channel 510 can be controlled by a control signal. This signal can control the first solenoid valve 511 in each air supply channel 510 to switch between positive and negative pressure, and control the second solenoid valve 512 to open and close. This allows for individual control of each air supply channel 510 to achieve multiple output states, including positive pressure output, negative pressure output, and closed / open output. During the control process, the control signal is based on a time delay. Within this delay, the positive or negative pressure output is increased to a sufficient level to allow the externally controlled soft robot 600 to reach the target air pressure, thus achieving automatic adjustment of the target air pressure. Therefore, by using a single air source 400 and a control drive module 200, the air pressure of multiple air supply channels 510 can be controlled, resulting in a compact and optimized structure that overcomes the problems of limited air pressure channels, lack of expandability, and large footprint. It can also select between manual and automatic modes. In manual mode, based on the detection signal of the pressure sensor 513, it receives manual control commands and performs real-time large-scale control on the gas delivery channel 510. In automatic mode, based on the detection signal of the pressure sensor 513, it performs high-precision automatic closed-loop control on the gas delivery channel 510. The selection and switching between the two modes is flexible and versatile, further improving the versatility and practicality of this multi-channel mixed pressure output device.

[0024] Furthermore, such as Figure 1As shown, the air source 400 in this embodiment specifically includes a positive pressure air source 410 and a negative pressure air source 420. The positive pressure air source 410 is used to provide positive pressure air (high pressure), and the negative pressure air source 420 is used to provide negative pressure air (high pressure). In this embodiment, the first solenoid valve 511 is a three-way solenoid valve. The two input terminals of the three-way solenoid valve are respectively connected to the positive pressure air source 410 and the negative pressure air source 420, and the output terminal of the three-way solenoid valve is connected to the second solenoid valve 512. The second solenoid valve 512 is a two-way solenoid valve. The output terminal of the two-way solenoid valve is respectively connected to the air pressure sensor 513 and the external soft robot 600. In the specific structure, the first end of the first solenoid valve 511 is normally open and is connected to the positive pressure air source 410. The second end of the first solenoid valve 511 is normally closed and is connected to the negative pressure air source 420. The third end (output end) of the first solenoid valve 511 is connected to the first end of the second solenoid valve 512. The second end (output end) of the second solenoid valve 512 is divided into two paths, one of which is connected to the air pressure sensor 513, and the other is connected to the external soft robot 600.

[0025] In the specific control method, if the gas delivery channel 510 needs to output positive pressure, the first solenoid valve 511 is not activated, connecting its first and third ends. The second solenoid valve 512 is activated, connecting its first and second ends, thus connecting the gas delivery channel 510 to the positive pressure gas source 410, and positive pressure gas can be output through the gas delivery channel 510. If the gas delivery channel 510 needs to output negative pressure, the first solenoid valve 511 is activated, connecting its second and third ends. The second solenoid valve 512 is activated, connecting its first and second ends, thus connecting the gas delivery channel 510 to the negative pressure gas source 420, and negative pressure gas can be output through the gas delivery channel 510. If the air supply channel 510 is closed and the air pressure output to the soft robot 600 is maintained, then the second solenoid valve 512 closes, cutting off the air supply channel 510.

[0026] Furthermore, such as Figure 1As shown, the control drive module 200 in this embodiment includes a processing controller 210 and a driver 220. The processing controller 210 is electrically connected to the barometric pressure sensor 513 and is used to output a control signal with a continuous delay time based on the input signal. The driver 220 is electrically connected to the processing controller 210, a first solenoid valve 511, and a second solenoid valve 512, and is used to receive the control signal from the processing controller 210 and perform level conversion on the control signal to control the first solenoid valve 511 and / or the second solenoid valve 512. The processing controller 210 can send a corresponding input signal to the driver 220 based on preset parameters and the detection signal sent by the barometric pressure sensor 513, or it can send a corresponding input signal to the driver 220 based on an operation command sent by an external operator and the detection signal sent by the barometric pressure sensor 513. The processing controller 210 processes the detection signal sent by the pressure sensor 513. In automatic control mode, it can issue a control signal with a corresponding duration delay. Upon receiving the control signal, the driver 220 can output a voltage level to the first solenoid valve 511 and / or the second solenoid valve 512, which can activate the first solenoid valve 511 and / or the second solenoid valve 512. This structure simplifies the control process and allows for the control of the first solenoid valve 511 and / or the second solenoid valve 512 on multiple gas delivery channels 510, thus optimizing the control structure.

[0027] Furthermore, the processing controller 210 in this embodiment specifically includes a manual controller 211 and a data processor 212. The manual controller 211 receives external manual control signals, and the data processor 212 is electrically connected to the manual controller 211, the pressure sensor 513, and the driver 220. During manual control, the manual controller 211 receives the manually input command and outputs a manual control signal. The data processor 212 outputs a control signal to the driver 220 based on the manual control signal output by the manual controller 211. During automatic control, the data processor 212 performs corresponding calculations based on the detection signal output by the pressure sensor 513 and outputs a control signal to the driver 220 based on the calculation results. The data processor 212 can control the switching between manual and automatic control. During manual control, the operator can refer to the detection signal of the pressure sensor 513 to perform real-time, large-amplitude control of the air supply in the air supply channel 510. When automatic control is performed, the data processor 212 performs high-precision automatic closed-loop control of the gas supply channel 510 based on the comparison results between the detection signal of the pressure sensor 513 and the preset relevant parameters.

[0028] Furthermore, in this embodiment, the multi-channel mixed air pressure output device also includes a power supply module 100, which provides the working voltage and supplies power to the control drive module 200.

[0029] The power supply module 100 specifically includes a power supply 110 and a voltage conditioning circuit 120. The power supply 110 is electrically connected to the voltage conditioning circuit 120, and the voltage conditioning circuit 120 is electrically connected to the control drive module 200. In its specific structure, the power supply 110 stores electrical energy, and the voltage conditioning circuit 120 supplies power to various electrical appliances. For example, the voltage conditioning circuit 120 is electrically connected to the data processor 212 and the driver 220, supplying power to both of them.

[0030] like Figure 1 , Figure 2As shown, the soft robot 600 is further equipped with a drive structure corresponding to this multi-channel mixed pneumatic output device. Specifically, the drive structure of the soft robot 600 may include: multiple side module drive components 610 and multiple corner module drive components 620. The multiple side module drive components 610 are respectively arranged to form a cubic frame along the vertical, horizontal, and front-back directions, and the multiple corner module drive components 620 are respectively located at the vertices of the cubic frame. One side module drive component 610 in the cubic frame is connected to one air supply channel 510; one corner module drive component 620 in the cubic frame is connected to one air supply channel 510. Therefore, the multi-channel mixed pneumatic output device in this embodiment has at least 20 air supply channels 510, so that each side module drive component 610 and each corner module drive component 620 on the cubic frame can be connected in a one-to-one correspondence, so that each side module drive component 610 and each corner module drive component 620 can be individually sensed and controlled. The side module driving assembly 610 includes a first flexible driving part that linearly expands and contracts along a preset direction, and a first magnetic suction member connected to the first flexible driving part. The first flexible driving part is connected to an air supply channel 510. The corner module driving assembly 620 includes a corner connector and a second flexible driving part that can spherically expand or contract connected to the corner connector. The second flexible driving part is connected to an air supply channel 510, and the corner connector is connected to the second magnetic suction member. The side module driving assembly 610 and the corner module driving assembly 620 are connected by magnetic attraction between the first magnetic suction member and the second magnetic suction member. The first flexible driving part specifically includes a flexible shell and a flexible support. An air cavity extending along a preset direction is provided inside the flexible shell. The flexible support is disposed inside the air cavity and extends along the preset direction. In this embodiment, the flexible support can be made of sponge. Sponge has a certain supporting strength and can be compressed and stretched, providing stable support for the flexible shell. Positive and negative air pressure is provided through an air supply channel 510 to allow the flexible shell to linearly expand and contract. Two first magnetic suction elements are respectively disposed within the flexible shell and located at both ends of the flexible support. In this embodiment, the second flexible driving unit specifically includes a driving airbag. The driving airbag is connected to an angle connector, and through the angle connector, it can magnetically engage with the first magnetic suction elements disposed on the first flexible driving unit. The driving airbag can be a circular latex balloon. Another air supply channel 510 connects to the driving airbag and, through a connection to an air source 400, provides positive and negative air pressure to cause the driving airbag to inflate or contract.

[0031] Example 2 like Figure 3 , Figure 5 As shown, this embodiment proposes a control method for a multi-channel mixed pressure output device based on time delay, used in the multi-channel mixed pressure output device described in Embodiment 1. The control method includes the following steps: Step S100: Preset the target air pressure value and error threshold.

[0032] In the specific process, the device is initialized by setting the target air pressure value and the error threshold through the control drive module.

[0033] Step S200: Select the control mode according to the received control command, wherein the control mode includes manual mode and automatic mode.

[0034] Control commands can be issued by the operator and are used to set the control mode to manual or automatic.

[0035] In step S200, the specific steps vary depending on the selected control mode: Step S210: If the control mode is automatic, then obtain the feedback air pressure value from the detection signal of the air pressure sensor; Step S220: Based on the comparison result between the feedback air pressure value and the target air pressure value and the error threshold, send a control signal with a continuous delay time to the first solenoid valve and the second solenoid valve.

[0036] In the specific process, the pre-set target air pressure value and error threshold are retrieved, and the feedback air pressure value detected by the air pressure sensor is obtained.

[0037] like Figure 4 As shown, step S220 specifically includes the following steps: Step S221: Calculate the difference between the feedback air pressure value and the target air pressure value.

[0038] Step S222: Based on the relationship between the feedback air pressure value and the target air pressure value, and the relationship between the difference and the error threshold, send control signals with a continuous delay time to the first and second solenoid valves, so that the air output in the air supply channel can enable the soft robot to reach the target air pressure value. Specifically, when the absolute value of the difference between the feedback air pressure value and the target air pressure value is less than the error threshold, the control signal is a hold signal; when the feedback air pressure value is less than the target air pressure value, and the absolute value of the difference is greater than the error threshold, the control signal is a positive pressure output signal; when the feedback air pressure value is greater than the target air pressure value, and the absolute value of the difference is greater than the error threshold, the control signal is a negative pressure output signal.

[0039] By adopting the above control method, high-precision automatic closed-loop control can be achieved.

[0040] Furthermore, in the step of sending a control signal with a duration of delay to the first solenoid valve and the second solenoid valve: the control drive module calculates the difference between the feedback air pressure value and the target load air pressure value, and then the control drive module calculates the delay time based on the relationship between the difference and the gas pressure coefficient; then the control drive module sends a control signal to the first solenoid valve and the second solenoid valve, and the duration of the control signal is the delay time.

[0041] In the step of calculating the delay time based on the relationship between the difference and the gas pressure coefficient: The calculation formula is: Where P0 is the current value of the load air pressure, and P is the target value of the load air pressure. It is the delay time, and k is the gas pressure coefficient.

[0042] In the step of calculating the delay time based on the relationship between the difference and the gas pressure coefficient: The formula for calculating the gas pressure coefficient is: in, P1 is the volumetric flow rate of the air supply channel, P2 is the output air pressure of the air supply channel, and V is the load volume of the air supply channel (the volume of the side module drive component or the corner module drive component of the soft robot).

[0043] like Figure 6 As shown, K1, K2, and K3 represent different gas pressure coefficients. The current load gas pressure P0 is increased by the gas pressure coefficient (K) multiplied by the delay time. This allows us to obtain the current load value after input. This enables precise determination of the delay time, thus allowing for high-precision automatic closed-loop control of the soft robot.

[0044] like Figure 3 , Figure 5 As shown, step S200 further includes the following specific steps depending on the selected control mode: Step S250: If the control mode is manual mode, the feedback air pressure value in the detection signal of the air pressure sensor is obtained and fed back to the user.

[0045] Step S260: Receive the user's operation signal and send a control signal with a continuous delay time to the first solenoid valve and the second solenoid valve.

[0046] The above process employs manual control. The operator can determine how to control the gas delivery channel based on the feedback pressure value detected by the pressure sensor and the relationship between the comparison result of the feedback pressure value and the target pressure value and the error threshold. Similarly, when the absolute value of the difference between the feedback pressure value and the target pressure value is less than the error threshold, the control signal is a hold signal; when the feedback pressure value is less than the target pressure value and the absolute value of the difference is greater than the error threshold, the control signal is a positive pressure output signal; when the feedback pressure value is greater than the target pressure value and the absolute value of the difference is greater than the error threshold, the control signal is a negative pressure output signal. However, when performing manual control, if the operator determines that the difference is relatively large, they can adjust the control significantly in real time to reach the target pressure value as quickly as possible.

[0047] In summary, this application proposes a time-delay-based multi-channel mixed gas pressure output device and its control method. This device achieves gas pressure control for multiple gas delivery channels using only one gas source and one control drive module, resulting in a compact and optimized structure that overcomes the problems of limited gas pressure channels, lack of scalability, and large footprint. It allows for flexible switching between manual and automatic control modes. In manual mode, real-time, large-amplitude control of the gas delivery channels is implemented; in automatic mode, high-precision automatic closed-loop control of the gas delivery channels is achieved. This further improves the versatility and practicality of this multi-channel mixed gas pressure output device.

[0048] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A multi-channel mixed air pressure output device based on time delay, characterized in that, include: A gas source, which is used to output positive and negative air pressure; At least one air supply channel, each air supply channel including at least: a first solenoid valve, a second solenoid valve, and a pressure sensor; the first solenoid valve is connected to the air source and is used to switch between positive and negative air pressure; the input end of the second solenoid valve is connected to the output end of the first solenoid valve, and the output end is used to connect the pressure sensor and an external soft robot; A control drive module is electrically connected to the pressure sensor, the first solenoid valve, and the second solenoid valve, respectively. The control drive module sends control signals with a continuous delay time to the first solenoid valve and the second solenoid valve based on the detection signal of the air pressure sensor in manual or automatic mode. The target air pressure value and error threshold are preset, and the feedback air pressure value in the detection signal of the air pressure sensor is obtained; Based on the comparison result between the feedback air pressure value and the target air pressure value and the error threshold, a control signal with a continuous delay time is sent to the first solenoid valve and the second solenoid valve. The difference between the feedback air pressure value and the target load air pressure value is calculated based on the feedback air pressure value, and the delay time is calculated based on the relationship between the difference and the gas pressure coefficient. The formula for calculating the delay time is: ； Where P0 is the current value of the load air pressure, and P is the target value of the load air pressure. This is the output delay, and k is the gas pressure coefficient; In the step of calculating the delay time based on the relationship between the difference and the gas pressure coefficient: The formula for calculating the gas pressure coefficient is: ； in, P1 is the volumetric flow rate of the air supply channel, P2 is the output air pressure of the air supply channel, and V is the load volume of the air supply channel. The load volume is the volume of the side module drive component or the corner module drive component of the soft robot. The driving structure of the soft robot includes: multiple edge module driving components and multiple corner module driving components. The multiple edge module driving components are respectively arranged to form a cube frame along the vertical, horizontal and forward and backward directions. The multiple corner module driving components are respectively located at the vertices of the cube frame. One of the edge module driving components in the cube frame is connected to an air supply channel. One of the corner module driving components in the cube frame is connected to an air supply channel. The side module driving component includes a first flexible driving part that extends and retracts linearly along a preset direction, and a first magnetic suction member connected to the first flexible driving part. The first flexible driving part is connected to one of the gas supply channels. The corner module driving assembly includes: a corner connector, and a second flexible driving part that can spherically expand or contract connected to the corner connector, the second flexible driving part being connected to one of the gas supply channels, and the corner connector being connected to a second magnetic suction member; The edge module driving component and the corner module driving component are connected by the magnetic attraction force of the first magnetic attractor and the second magnetic attractor; The first flexible drive unit includes: a flexible housing, wherein an air cavity extending in a preset direction is provided inside the flexible housing, the preset direction being a straight line, and positive and negative air pressure is provided through one of the air supply channels to make the flexible housing linearly expand and contract; The second flexible drive unit includes: a drive airbag, which is a circular latex balloon, and another air supply channel is connected to the drive airbag and provides positive and negative air pressure to inflate or contract the drive airbag by connecting to an air source.

2. The multi-channel mixed air pressure output device based on time delay according to claim 1, characterized in that, The gas source includes: a positive pressure gas source, which is used to provide positive pressure gas; and A negative pressure gas source, wherein the negative pressure gas source is used to provide negative pressure gas; The first solenoid valve is a three-way solenoid valve. The two input terminals of the three-way solenoid valve are respectively connected to the positive pressure air source and the negative pressure air source, and the output terminal of the three-way solenoid valve is connected to the second solenoid valve. The second solenoid valve is a two-way solenoid valve, and the output end of the two-way solenoid valve is connected to the air pressure sensor and the external soft robot respectively.

3. The multi-channel mixed air pressure output device based on time delay according to claim 2, characterized in that, The control drive module includes: a processing controller, which is electrically connected to the barometric pressure sensor and is used to output a control signal with a continuous delay time according to the input signal; A driver is electrically connected to the processing controller, the first solenoid valve, and the second solenoid valve, and is used to receive control signals from the processing controller and to perform level conversion on the control signals in order to control the first solenoid valve and / or the second solenoid valve.

4. The multi-channel mixed air pressure output device based on time delay according to claim 3, characterized in that, The processing controller includes: a manual controller, which is used to receive external manual control signals; A data processor electrically connected to the manual controller, the barometric sensor, and the driver; The data processor outputs control signals to the driver based on the manual control signals output by the manual controller; or The data processor outputs a control signal to the driver based on the detection signal output by the pressure sensor.

5. The multi-channel mixed gas pressure output device based on time delay according to any one of claims 1-4, characterized in that, The multi-channel mixed air pressure output device also includes a power supply module, which is used to provide operating voltage; The power supply module includes a power supply and a voltage conditioning circuit, wherein the power supply is electrically connected to the voltage conditioning circuit, and the voltage conditioning circuit is electrically connected to the control drive module.

6. A control method for a multi-channel mixed air pressure output device based on time delay, characterized in that, For a multi-channel mixed air pressure output device as described in any one of claims 1-5, the steps include: Pre-set the target air pressure value and error threshold; Select the control mode based on the received control command, which includes manual mode and automatic mode; If the control mode is automatic, the feedback air pressure value in the detection signal of the air pressure sensor is obtained; Based on the comparison result between the feedback air pressure value and the target air pressure value and the error threshold, a control signal with a continuous delay time is sent to the first solenoid valve and the second solenoid valve.

7. The control method for the multi-channel mixed gas pressure output device based on time delay according to claim 6, characterized in that, In the step of sending a control signal with a continuous delay time to the first and second solenoid valves based on the relationship between the comparison result of the feedback air pressure value and the target air pressure value and the error threshold: Calculate the difference between the feedback air pressure value and the target air pressure value; Based on the relationship between the feedback air pressure value and the target air pressure value, and the relationship between the difference and the error threshold, control signals with a continuous delay time are sent to the first solenoid valve and the second solenoid valve. Wherein, when the absolute value of the difference between the feedback air pressure value and the target air pressure value is less than the error threshold, the control signal is a hold signal; When the feedback air pressure value is less than the target air pressure value, and the absolute value of the difference is greater than the error threshold, the control signal is a positive pressure output signal; When the feedback air pressure value is greater than the target air pressure value, and the absolute value of the difference is greater than the error threshold, the control signal is a negative pressure output signal.

8. The control method for the multi-channel mixed gas pressure output device based on time delay according to claim 7, characterized in that, In the step of sending a control signal with a duration delay to the first and second solenoid valves: Calculate the difference between the feedback air pressure value and the target load air pressure value; The delay time is calculated based on the relationship between the difference and the gas pressure coefficient; Control signals are sent to the first solenoid valve and the second solenoid valve, and the duration of the control signals is a delay time.

9. The control method for the multi-channel mixed gas pressure output device based on time delay according to claim 6, characterized in that, The step of selecting the control mode based on the received control command further includes: If the control mode is manual mode, the feedback air pressure value in the detection signal of the air pressure sensor is obtained and the feedback air pressure value is fed back to the user. It receives user operation signals and sends control signals with a continuous delay time to the first and second solenoid valves.

Images