Integrated air inlet device for pneumatic soft robot

Abstract

The utility model relates to an integrated air inlet device used for a pneumatic soft robot, the air inlet device comprises a valve seat, an electromagnetic valve unit and a pressure detection unit, the valve seat is provided with a positive pressure air inlet channel and a negative pressure air exhaust channel, the valve seat is provided with five independent positive pressure air outlets and five independent negative pressure air outlets, and the valve seat is provided with a positive pressure air outlet and a negative pressure air outlet. The electromagnetic valve unit is detachably installed on the valve seat and communicates with the positive pressure air inlet channel and the positive pressure air outlet or communicates with the negative pressure air exhaust channel and the negative pressure air outlet, and the pressure detection unit is fixed to the valve seat and used for detecting the pressure at the positive pressure air outlet and the negative pressure air outlet. All the electromagnetic valves and the sensors are integrated on the valve seat, the structure is compact, the space is saved by more than 60%, product stacking design is facilitated, wiring is reduced, and therefore the purposes of reducing the size and saving the cost are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and in particular to an integrated air intake device for a pneumatic soft robot. Background Art

[0002] Research has found that for limb motor dysfunction caused by stroke and other reasons, early rehabilitation training through external drive can help the damaged part to establish new neural pathways and regain lost motor function. Soft rehabilitation robots are being chosen by more and more patients due to their high comfort, simple structure and low cost.

[0003] Pneumatic soft rehabilitation gloves, also known as pneumatic soft robots, are now available on the market. Each finger contains a corresponding drive device, and each drive device corresponds to a set of air intake devices. This leads to confusing wiring, large size, and high cost. Utility Model Content

[0004] The purpose of the utility model is to provide an integrated air intake device for a pneumatic soft robot in order to overcome the defects of the prior art.

[0005] In order to achieve the purpose of the utility model, the present application provides the following technical solutions.

[0006] In the first aspect, the present application provides an integrated air intake device for a pneumatic soft robot, the air intake device comprising a valve seat, a solenoid valve unit and a pressure detection unit, the valve seat being provided with a positive-pressure air intake channel and a negative-pressure air exhaust channel, the valve seat being provided with five independent positive-pressure air outlets and five independent negative-pressure air outlets, the solenoid valve unit being detachably mounted on the valve seat and connecting the positive-pressure air intake channel and the positive-pressure air outlet or connecting the negative-pressure air exhaust channel and the negative-pressure air outlet, the pressure detection unit being fixed on the valve seat and being used to detect the pressure at the positive-pressure air outlet and the negative-pressure air outlet.

[0007] In one embodiment of the first aspect, the solenoid valve unit includes 5 positive-pressure solenoid valves and 5 negative-pressure solenoid valves, the air inlet of the positive-pressure solenoid valve is connected to a positive-pressure air inlet channel, the air outlet of the positive-pressure solenoid valve is connected to a positive-pressure air outlet, the air inlet of the negative-pressure solenoid valve is connected to a negative-pressure air exhaust channel, and the air outlet of the negative-pressure solenoid valve is connected to a negative-pressure air outlet.

[0008] In one embodiment of the first aspect, five pairs of positive-pressure connecting channels and five pairs of negative-pressure connecting channels are opened on the side wall of the valve seat, and each pair of positive-pressure connecting channels includes a first upper channel and a first lower channel, wherein one end of the first upper channel is connected to the positive-pressure air outlet, and the other end is connected to the air outlet of the positive-pressure solenoid valve, one end of the first lower channel is connected to the positive-pressure air inlet channel, and the other end is connected to the air inlet of the positive-pressure solenoid valve; each pair of negative-pressure connecting channels includes a second upper channel and a second lower channel, wherein one end of the second upper channel is connected to the negative-pressure air outlet, and the other end is connected to the air outlet of the negative-pressure solenoid valve, and one end of the second lower channel is connected to the negative-pressure air exhaust channel, and the other end is connected to the air inlet of the negative-pressure solenoid valve.

[0009] In one implementation of the first aspect, the positive-pressure air intake channel is connected to an air compressor, and the negative-pressure air exhaust channel is connected to an air exhauster.

[0010] In one embodiment of the first aspect, the pressure detection unit includes a mounting plate and 10 pressure sensors fixed on the mounting plate, the mounting plate is fixed to the bottom of the valve seat by screws, 5 positive pressure detection channels and 5 negative pressure detection channels are provided in the valve seat, one end of the positive pressure detection channel is connected to the positive pressure outlet, one end of the negative pressure detection channel is connected to the negative pressure outlet, the other ends of the positive pressure detection channel and the negative pressure detection channel are grounded to the mounting plate, and each of the pressure sensors is located in a positive pressure detection channel or a negative pressure detection channel.

[0011] In an implementation manner of the first aspect, 10 blocking blocks are fixed on the mounting plate, the pressure sensor is mounted on the blocking blocks, and the blocking blocks are interference-mounted at the other end of the positive pressure detection channel or the negative pressure detection channel.

[0012] In one embodiment of the first aspect, the air intake device includes a base plate, the valve seat is fixedly mounted on the base plate, and a sensor signal connector and a solenoid valve signal connector are mounted on the base plate, the solenoid valve signal connector is connected to the solenoid valve unit via a line, and the sensor signal connector is connected to the pressure detection unit via a line.

[0013] In an implementation manner of the first aspect, the air intake device includes a base plate, the valve seat is fixedly mounted on the base plate, and a control unit is mounted on the base plate, and the control unit is connected to the solenoid valve unit and the pressure detection unit through lines.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] (1) All solenoid valves and sensors are integrated on the valve seat, which has a compact structure, saves more than 60% of space, and facilitates product stacking design;

[0016] (2) Through the setting of positive pressure solenoid valve and negative pressure solenoid valve, positive pressure drive and negative pressure drive are integrated, and each air pressure is independently controlled;

[0017] (3) Simplify cables. One cable can be used to control all solenoid valves and one cable can be used to obtain all sensor signals. No additional cables are even needed, which greatly reduces wiring, reduces volume, and saves costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the air intake device in Example 1;

[0019] Figure 2 Schematic diagram of the cross-sectional structure of the valve seat;

[0020] Figure 3 is a structural schematic diagram of a sensor unit;

[0021] Figure 4 This is a schematic diagram of the structure of the air intake device in Example 2.

[0022] In the accompanying drawings, 1 is a base plate, 2 is a valve seat, 3 is a positive pressure air inlet channel, 4 is a negative pressure air exhaust channel, 5 is a positive pressure solenoid valve, 6 is a negative pressure solenoid valve, 7 is a positive pressure air outlet, 8 is a negative pressure air outlet, 9 is a first upper channel, 10 is a first lower channel, 11 is a mounting hole, 12 is a screw, 13 is a pressure detection unit, 14 is a sensor signal connector, 15 is a solenoid valve signal connector, 16 is a second upper channel, 17 is a second lower channel, 18 is a positive pressure detection channel, 19 is a negative pressure detection channel, 20 is a mounting plate, 21 is a plug, 22 is a pressure sensor, 23 is a screw, 24 is a serial port connector, and 25 is a control unit. DETAILED DESCRIPTION

[0023] Unless otherwise defined, the technical terms or scientific terms used in this specification and claims shall have the ordinary meanings understood by persons with ordinary skills in the technical field to which the utility model belongs. All the values ​​from the lowest value to the highest value listed in this article refer to all the values ​​obtained by incrementing one unit between the lowest value and the highest value when the difference between the lowest value and the highest value is more than two units.

[0024] The following will describe the specific implementation of the utility model. It should be noted that in the specific description of these implementations, in order to provide a concise description, this specification cannot provide a detailed description of all the features of the actual implementation. Without departing from the spirit and scope of the utility model, those skilled in the art may modify and replace the implementation of the utility model, and the resulting implementation is also within the scope of protection of the utility model.

[0025] The traditional pneumatic soft robot has five separate units, which are large in size, complex in wiring, and high in cost. The purpose of this application is to provide an integrated air intake device for a pneumatic soft robot with low cost and simpler structure.

[0026] In a specific embodiment, the present application provides an integrated air intake device for a pneumatic soft robot, the air intake device includes a valve seat, a solenoid valve unit and a pressure detection unit, the valve seat is provided with a positive pressure air intake channel and a negative pressure air extraction channel, the valve seat is provided with five independent positive pressure air outlets and five independent negative pressure air outlets, the solenoid valve unit is detachably mounted on the valve seat, and connects the positive pressure air intake channel and the positive pressure air outlet or connects the negative pressure air extraction channel and the negative pressure air outlet, the pressure detection unit is fixed on the valve seat, and is used to detect the pressure at the positive pressure air outlet and the negative pressure air outlet. The present application integrates all solenoid valves and pressure sensors on the valve seat, realizes integrated installation, has a compact structure, saves more than 60% of space, and facilitates product stacking design.

[0027] In a specific embodiment, the solenoid valve unit includes 5 positive pressure solenoid valves and 5 negative pressure solenoid valves, the air inlet of the positive pressure solenoid valve is connected to the positive pressure air inlet channel, the air outlet of the positive pressure solenoid valve is connected to a positive pressure air outlet, the air inlet of the negative pressure solenoid valve is connected to the negative pressure air extraction channel, and the air outlet of the negative pressure solenoid valve is connected to a negative pressure air outlet. All positive pressure solenoid valves share a positive pressure air inlet channel, and all negative pressure solenoid valves share a negative pressure air extraction channel. Then, different positive pressure air outlets and negative pressure air outlets correspond to independent drive units of each finger, so as to realize positive bending drive and reverse bending drive of the finger.

[0028] In a specific embodiment, 5 pairs of positive pressure connection channels and 5 pairs of negative pressure connection channels are provided on the side wall of the valve seat, and each pair of positive pressure connection channels includes a first upper channel and a first lower channel, wherein one end of the first upper channel is connected to the positive pressure outlet, and the other end is connected to the outlet of the positive pressure solenoid valve, and one end of the first lower channel is connected to the positive pressure inlet channel, and the other end is connected to the inlet of the positive pressure solenoid valve; each pair of negative pressure connection channels includes a second upper channel and a second lower channel, wherein one end of the second upper channel is connected to the negative pressure outlet, and the other end is connected to the outlet of the negative pressure solenoid valve, and one end of the second lower channel is connected to the negative pressure exhaust channel, and the other end is connected to the inlet of the negative pressure solenoid valve. In the present application, the positive pressure solenoid valve and the negative pressure solenoid valve are detachably installed on the valve seat, which is convenient for installation and replacement. Moreover, they can be opened or closed according to the rehabilitation needs of the patient. For example, if the patient's index finger needs to undergo positive bending rehabilitation training and does not need reverse bending training, then it is sufficient to open the positive pressure solenoid valve corresponding to the index finger, and the negative pressure solenoid valve is always in a closed state. Similarly, if the patient's middle finger requires both positive rehabilitation training and reverse rehabilitation training, the positive pressure solenoid valve and the negative pressure solenoid valve corresponding to the middle finger can be opened and closed in sequence.

[0029] In a specific embodiment, the positive pressure air intake channel is connected to an air compressor, and the negative pressure air exhaust channel is connected to an air exhauster.

[0030] In a specific embodiment, the pressure detection unit includes a mounting plate and 10 pressure sensors fixed on the mounting plate, the mounting plate is fixed to the bottom of the valve seat by screws, 5 positive pressure detection channels and 5 negative pressure detection channels are provided in the valve seat, one end of the positive pressure detection channel is connected to the positive pressure outlet, one end of the negative pressure detection channel is connected to the negative pressure outlet, the other ends of the positive pressure detection channel and the negative pressure detection channel are grounded to the mounting plate, and each of the pressure sensors is located in a positive pressure detection channel or a negative pressure detection channel. The present application first integrates all the pressure sensors on the mounting plate, and then installs them in one piece on the valve seat to realize pressure detection of the positive pressure outlet and the negative pressure outlet, with a high degree of integration.

[0031] In a specific embodiment, 10 blocking blocks are fixed on the mounting plate, the pressure sensor is mounted on the blocking blocks, and the blocking blocks are interference-mounted at the other end of the positive pressure detection channel or the negative pressure detection channel. The blocking blocks are provided to prevent gas leakage from the positive pressure detection channel or the detection channel.

[0032] In a specific embodiment, the air intake device includes a base plate, the valve seat is fixedly mounted on the base plate, and a sensor signal connector and a solenoid valve signal connector are mounted on the base plate, the solenoid valve signal connector is connected to the solenoid valve unit through a line, and the sensor signal connector is connected to the pressure detection unit through a line. In this embodiment, the entire air intake device includes two cables, one cable is connected to the solenoid valve signal connector, used to power the solenoid valve and transmit the signal to the solenoid valve to control the opening of the solenoid valve, thereby controlling the air pressure; the other cable is connected to the sensor signal connector, used to transmit the pressure signal to an external data processing unit. In this way, the entire air intake device has only two cables, which greatly reduces the wiring.

[0033] In a specific embodiment, the air intake device includes a base plate, the valve seat is fixedly mounted on the base plate, and a control unit is mounted on the base plate, and the control unit is connected to the solenoid valve unit and the pressure detection unit through a line. In this embodiment, the control unit (such as a PLC controller, etc.) is directly integrated on the base plate, and it is only necessary to power on the air intake device, thereby further increasing the degree of integration. Example

[0034] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented based on the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment. Example

[0035] An integrated air intake device for a pneumatic soft robot, the structure of which is as follows Figure 1 , Figure 2As shown, it includes a valve seat 2, a solenoid valve unit and a pressure detection unit 13. The valve seat 2 is provided with a positive pressure air inlet channel 3 and a negative pressure air extraction channel 4. One end of the positive pressure air inlet channel 3 is open and connected to the air compressor, and the other end is closed; one end of the negative pressure air extraction channel 4 is open and connected to the air extractor, and the other end is closed. Five independent positive pressure air outlets 7 and five independent negative pressure air outlets 8 are provided on the top of the valve seat 2. A pair of positive pressure connecting channels and a pair of negative pressure connecting channels are also provided on the valve seat 2. Each pair of positive pressure connecting channels includes a first upper channel 9 and a first lower channel 10, wherein the first upper channel 9 is connected to the positive pressure air outlet 7, and the first lower channel 10 is connected to the positive pressure air inlet channel 3; each pair of negative pressure connecting channels includes a second upper channel 16 and a second lower channel 17, wherein the second upper channel 16 is connected to the negative pressure air outlet 8, and the second lower channel 17 is connected to the negative pressure air extraction channel 4. A pair of mounting holes 11 are provided on the valve seat 2. A vertical positive pressure detection channel 18 and a negative pressure detection channel 19 are also provided inside the valve seat 2. The upper end of the positive pressure detection channel 18 is connected to the first upper channel 9, and the lower end passes through the valve seat 2; the upper end of the negative pressure detection channel 19 is connected to the second upper channel 16, and the lower end passes through the valve seat 2. A solenoid valve signal connector 15 and a sensor signal connector 14 are provided on the bottom plate 1. The solenoid valve signal connector 15 is connected to the positive pressure solenoid valve 5 and the negative pressure solenoid valve 6 through a line, and the sensor signal connector 14 is connected to the pressure detection unit 13 through a line. The air intake device includes two cables (not shown in the figure), one cable is connected to the solenoid valve signal connector 15, and is used to power the solenoid valve and transmit the signal to the solenoid valve to control the opening of the solenoid valve, thereby controlling the air pressure; the other cable is connected to the sensor signal connector 14, and is used to transmit the pressure signal to an external data processing unit.

[0036] The solenoid valve unit includes five positive pressure solenoid valves 5 and five negative pressure solenoid valves 6 ( Figure 1 In order to expose the structures such as the mounting hole 11, only three positive pressure solenoid valves 5 are installed as an example. Theoretically, five should be installed). The air inlet of the positive pressure solenoid valve 5 is connected to the positive pressure air inlet channel 3, the air outlet of the positive pressure solenoid valve 5 is connected to the first upper channel 9, the air inlet of the negative pressure solenoid valve 6 is connected to the negative pressure exhaust channel 4, and the air outlet of the negative pressure solenoid valve 6 is connected to the second upper channel 16. The positive pressure solenoid valve 5 and the negative pressure solenoid valve 6 are fixed to the mounting hole 11 of the valve seat 2 by screws 12.

[0037] The structure of the pressure detection unit 13 is as follows: Figure 3 As shown, it includes a mounting plate 20, 10 plugs 21 fixed on the mounting plate 20, and a pressure sensor 22 installed on each plug 21. The mounting plate 20 is fixed to the bottom of the valve seat 2 by screws 23. The plug is interference-mounted at the other end of the positive pressure detection channel 18 or the negative pressure detection channel 19, and the pressure sensor 22 is located inside the positive pressure detection channel 18 or the negative pressure detection channel 19. Example

[0038] The valve seat 2, pressure detection unit 13 and electromagnetic valve unit similar to those in Embodiment 1 are used, except that:

[0039] In this embodiment, a control unit 25 and a serial port connector 24 are fixed on the bottom plate 1. The control unit 25 is connected to the electromagnetic valve unit and the pressure detection unit 13 through a line, receives the pressure signal from the pressure detection unit 13, and controls the opening of the electromagnetic valve after data processing. The serial port connector 24 is connected to a power source to supply power to the control unit 25, the electromagnetic valve unit and the pressure detection unit 13.

[0040] The above description of the embodiments is to facilitate those of ordinary skill in the art to understand and apply the present application. It is obvious that those familiar with the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without having to pay creative labor. Therefore, the present application is not limited to the embodiments herein, and improvements and modifications made by those skilled in the art based on the contents disclosed in the present application without departing from the scope and spirit of the present application are within the scope of the present application.

Claims

1. An integrated air intake device for a pneumatic soft robot, characterized in that: The air intake device includes a valve seat, a solenoid valve unit and a pressure detection unit. The valve seat is provided with a positive-pressure air intake channel and a negative-pressure air exhaust channel. The valve seat is provided with five independent positive-pressure air outlets and five independent negative-pressure air outlets. The solenoid valve unit is detachably mounted on the valve seat and connects the positive-pressure air intake channel and the positive-pressure air outlet or connects the negative-pressure air exhaust channel and the negative-pressure air outlet. The pressure detection unit is fixed on the valve seat and is used to detect the pressure at the positive-pressure air outlet and the negative-pressure air outlet.

2. The integrated air intake device for a pneumatic soft robot according to claim 1, characterized in that: The solenoid valve unit includes 5 positive-pressure solenoid valves and 5 negative-pressure solenoid valves, the air inlet of the positive-pressure solenoid valve is connected to a positive-pressure air inlet channel, the air outlet of the positive-pressure solenoid valve is connected to a positive-pressure air outlet, the air inlet of the negative-pressure solenoid valve is connected to a negative-pressure air exhaust channel, and the air outlet of the negative-pressure solenoid valve is connected to a negative-pressure air outlet.

3. The integrated air intake device for a pneumatic soft robot according to claim 2, characterized in that: Five pairs of positive pressure connection channels and five pairs of negative pressure connection channels are provided on the side wall of the valve seat, and each pair of positive pressure connection channels includes a first upper channel and a first lower channel, wherein one end of the first upper channel is connected to the positive pressure air outlet, and the other end is connected to the air outlet of the positive pressure solenoid valve, and one end of the first lower channel is connected to the positive pressure air inlet channel, and the other end is connected to the air inlet of the positive pressure solenoid valve; Each pair of negative pressure connecting channels includes a second upper channel and a second lower channel, wherein one end of the second upper channel is connected to the negative pressure air outlet, and the other end is connected to the air outlet of the negative pressure solenoid valve, and one end of the second lower channel is connected to the negative pressure exhaust channel, and the other end is connected to the air inlet of the negative pressure solenoid valve.

4. The integrated air intake device for a pneumatic soft robot according to claim 1, characterized in that: The positive pressure air intake channel is connected to an air compressor, and the negative pressure air exhaust channel is connected to an air exhauster.

5. The integrated air intake device for a pneumatic soft robot according to claim 1, characterized in that: The pressure detection unit includes a mounting plate and 10 pressure sensors fixed on the mounting plate, the mounting plate is fixed to the bottom of the valve seat by screws, 5 positive pressure detection channels and 5 negative pressure detection channels are provided in the valve seat, one end of the positive pressure detection channel is connected to the positive pressure air outlet, one end of the negative pressure detection channel is connected to the negative pressure air outlet, the other ends of the positive pressure detection channel and the negative pressure detection channel are grounded to the mounting plate, and each of the pressure sensors is located in a positive pressure detection channel or a negative pressure detection channel.

6. The integrated air intake device for a pneumatic soft robot according to claim 5, characterized in that: Ten blocking blocks are fixed on the mounting plate, the pressure sensor is mounted on the blocking blocks, and the blocking blocks are interference-mounted at the other end of the positive pressure detection channel or the negative pressure detection channel.

7. The integrated air intake device for a pneumatic soft robot according to claim 1, characterized in that: The air intake device includes a base plate, the valve seat is fixedly mounted on the base plate, and a sensor signal connector and a solenoid valve signal connector are mounted on the base plate. The solenoid valve signal connector is connected to the solenoid valve unit via a line, and the sensor signal connector is connected to the pressure detection unit via a line.

8. The integrated air intake device for a pneumatic soft robot according to claim 1, characterized in that: The air intake device comprises a base plate, the valve seat is fixedly mounted on the base plate, and a control unit is mounted on the base plate. The control unit is connected to the electromagnetic valve unit and the pressure detection unit through lines.

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