Air inlet device for multifunctional pneumatic soft robot

Abstract

The utility model relates to an air inlet device for a multifunctional pneumatic soft robot, which comprises a valve seat, the valve seat is provided with a positive pressure air inlet channel and a negative pressure air exhaust channel, and the valve seat is provided with five independent positive pressure air outlets and five independent negative pressure air outlets. A plurality of positive-pressure electromagnetic valves and a plurality of negative-pressure electromagnetic valves are detachably installed on the valve seat, air inlets of the positive-pressure electromagnetic valves are communicated with a positive-pressure air inlet channel, air outlets of the positive-pressure electromagnetic valves are communicated with a positive-pressure air outlet, air inlets of the negative-pressure electromagnetic valves are communicated with a negative-pressure air exhaust channel, and air outlets of the negative-pressure electromagnetic valves are communicated with a negative-pressure air exhaust channel. And an air outlet of the negative pressure electromagnetic valve is communicated with a negative pressure air outlet. All the electromagnetic valves are integrated on the valve seat, the structure is compact, the space is saved by more than 50%, the stacking design of products is facilitated, all the positive pressure electromagnetic valves and the negative pressure electromagnetic valves can be detached, gas circuits can be blocked by plugs after the positive pressure electromagnetic valves and the negative pressure electromagnetic valves are detached, and the flexibility is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation equipment, in particular to an air intake device for a multifunctional 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] Some of the five fingers of existing rehabilitation robots can indeed achieve individual drive control, but this requires five separate air intake devices, which increases the cost of the entire pneumatic soft robot. Utility Model Content

[0004] The purpose of the utility model is to overcome the defects of the above-mentioned prior art and to provide an air intake device with high integration and multifunctionality for a gas soft robot.

[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 air intake device for a multifunctional pneumatic soft robot, the air intake device including a valve seat, 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, a plurality of positive pressure solenoid valves and a plurality of negative pressure solenoid valves being detachably mounted on the valve seat, the air inlet of the positive pressure solenoid valve being connected to the positive pressure air intake channel, the air outlet of the positive pressure solenoid valve being connected to a positive pressure air outlet, the air inlet of the negative pressure solenoid valve being connected to the negative pressure air exhaust channel, and the air outlet of the negative pressure solenoid valve being connected to a negative pressure air outlet.

[0007] In one embodiment of the first aspect, five pairs of positive-pressure connecting channels and five pairs of positive-pressure and 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 the first upper channel is connected to the positive-pressure air outlet, and the first lower channel is connected to the positive-pressure air inlet channel; each pair of negative-pressure connecting channels includes a second upper channel and a second lower channel, wherein the second upper channel is connected to the negative-pressure air outlet, and the second lower channel is connected to the negative-pressure air exhaust channel.

[0008] In one embodiment of the first aspect, a plurality of pairs of mounting holes are provided on the valve seat, and the positive-pressure solenoid valve and the negative-pressure solenoid valve are fixed in the mounting holes by screws; the air inlet of the positive-pressure solenoid valve is connected to the first lower channel, and a sealing ring is provided between the two; the air outlet of the positive-pressure solenoid valve is connected to the first upper channel, and a sealing ring is provided between the two; the air inlet of the negative-pressure solenoid valve is connected to the second lower channel, and a sealing ring is provided between the two; the air outlet of the negative-pressure solenoid valve is connected to the second upper channel, and a sealing ring is provided between the two.

[0009] In one embodiment of the first aspect, the air intake device is provided with a plug, which includes a mounting plate and an upper plug rod and a lower plug rod integrally fixed on the mounting plate, the upper plug rod matches the first upper channel or the second upper channel, and the lower plug rod matches the first lower channel or the second lower channel; a screw hole is provided on the mounting plate, the position of the screw hole corresponds to the position of the mounting hole, and the plug is fixed to the valve seat by screws.

[0010] 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.

[0011] In one implementation of the first aspect, the air intake device is provided with a base plate, the valve seat is fixed on the base plate, a solenoid valve signal connector is provided on the base plate, and the solenoid valve signal connector is connected to the positive pressure solenoid valve and the negative pressure solenoid valve through a line.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] (1) All solenoid valves are integrated on the valve seat, which has a compact structure, saves more than 50% of space, and facilitates product stacking design;

[0014] (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;

[0015] (3) All positive pressure solenoid valves and negative pressure solenoid valves can be disassembled. After disassembly, the gas path can be blocked with a plug, which is more flexible;

[0016] (4) Simplify the cables. One cable can control all solenoid valves, which is easy to install and convenient for wiring. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the air intake device of this application;

[0018] Figure 2 Schematic diagram of the cross-sectional structure of the valve seat;

[0019] Figure 3It is a schematic diagram of the top view structure of the plug.

[0020] 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 solenoid valve signal connector, 13 is a second upper channel, 14 is a second lower channel, 15 is a plug, 16 is an upper plug rod, 17 is a lower plug rod, 18 is a screw hole, and 19 is a mounting plate. DETAILED DESCRIPTION

[0021] 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.

[0022] 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.

[0023] In traditional rehabilitation gloves, each finger needs to be equipped with an independent air intake device, which results in a relatively large volume, a relatively complex structure, and a high cost. The purpose of this application is to provide an integrated and customized air intake device.

[0024] In a specific embodiment, the present application provides an air intake device for a multifunctional pneumatic soft robot, the air intake device includes a valve seat, 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, a plurality of positive pressure solenoid valves and a plurality of negative pressure solenoid valves are detachably mounted on the valve seat, the air inlet of the positive pressure solenoid valve is connected to the positive pressure air intake 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 exhaust channel, and the air outlet of the negative pressure solenoid valve is connected to a negative pressure air outlet. In the present application, all solenoid valves (including positive-pressure solenoid valves and negative-pressure solenoid valves) are integrated into the valve seat, and all positive-pressure solenoid valves share a positive-pressure air inlet channel, and all negative-pressure solenoid valves share a negative-pressure air exhaust channel. Then, different positive-pressure air outlets and negative-pressure air outlets are used to correspond to independent drive units for each finger to realize forward bending drive and reverse bending drive of the finger. That is, all solenoid valves are installed in an integrated manner, with a compact structure, saving more than 50% of space, and facilitating product stacking design.

[0025] In a specific embodiment, 5 pairs of positive pressure connecting channels and 5 pairs of positive pressure and 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 the first upper channel is connected to the positive pressure air outlet, and the first lower channel is connected to the positive pressure air inlet channel; each pair of negative pressure connecting channels includes a second upper channel and a second lower channel, wherein the second upper channel is connected to the negative pressure air outlet, and the second lower channel is connected to the negative pressure exhaust channel.

[0026] In one embodiment of the first aspect, the valve seat is provided with a plurality of pairs of mounting holes, and the positive pressure solenoid valve and the negative pressure solenoid valve are fixed in the mounting holes by screws; the air inlet of the positive pressure solenoid valve is connected to the first lower channel, and a sealing ring is provided between the two; the air outlet of the positive pressure solenoid valve is connected to the first upper channel, and a sealing ring is provided between the two; the air inlet of the negative pressure solenoid valve is connected to the second lower channel, and a sealing ring is provided between the two; the air outlet of the negative pressure solenoid valve is connected to the second upper channel, and a sealing ring is provided between the two. In the present application, the positive pressure solenoid valve and the negative pressure solenoid valve are detachably installed on the valve seat, and can be installed according to the patient's rehabilitation needs. For example, if the patient's index finger needs to undergo forward bending rehabilitation training but does not need to undergo reverse bending training, then only the positive pressure solenoid valve corresponding to the index finger needs to be installed, and the negative pressure solenoid valve does not need to be installed. Similarly, if the patient's middle finger needs both forward rehabilitation training and reverse rehabilitation training, then all the positive pressure solenoid valve and negative pressure solenoid valve corresponding to the middle finger need to be installed on the valve seat.

[0027] In a specific embodiment, the air intake device is provided with a plug, and the plug includes a mounting plate and an upper plug rod and a lower plug rod integrally fixed on the mounting plate, the upper plug rod matches the first upper channel or the second upper channel, and the lower plug rod matches the first lower channel or the second lower channel; the mounting plate is provided with a screw hole, the position of the screw hole corresponds to the position of the mounting hole, and the plug is fixed to the valve seat by a screw. Since all positive pressure solenoid valves share a positive pressure air intake channel, when a certain finger or several fingers (less than 5 fingers) need positive bending rehabilitation training, only one or several positive pressure solenoid valves need to be installed. At this time, the positive pressure connection channel without a positive pressure solenoid valve installed needs to be sealed with a plug to prevent the positive pressure air intake channel from being connected to the atmosphere and causing leakage, affecting the input air pressure of the remaining positive pressure solenoid valves. The principle of the negative pressure solenoid valve is similar and will not be repeated.

[0028] 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.

[0029] In a specific embodiment, the air intake device is provided with a bottom plate, the valve seat is fixed on the bottom plate, the bottom plate is provided with a solenoid valve signal connector, and the solenoid valve signal connector is connected to the positive pressure solenoid valve and the negative pressure solenoid valve through a line. The present application can integrate all solenoid valve control cables into the solenoid valve signal connector, thereby simplifying the cables, reducing 90% of the connecting wires, and controlling all the solenoid valves with one cable, which is convenient for installation and wiring.

[0030] Example

[0031] 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.

[0032] Example 1

[0033] An air intake device for a multifunctional pneumatic soft robot, the structure of which is as follows Figure 1 , Figure 2As shown, it includes a base plate 1 and a valve seat 2 fixed on the base plate 1. The valve seat 2 is provided with a positive pressure air inlet channel 3 and a negative pressure air extraction channel. 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 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. Five pairs of positive pressure connecting channels and five pairs of positive pressure and 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 13 and a second lower channel 14, wherein the second upper channel 13 is connected to the negative pressure air outlet 8, and the second lower channel 14 is connected to the negative pressure air extraction channel 4. There are 10 pairs of mounting holes 11 on the valve seat 2. A solenoid valve signal connector 12 is provided on the bottom plate 1 , and the solenoid valve signal connector 12 is connected to the positive pressure solenoid valve 5 and the negative pressure solenoid valve 6 through a line.

[0034] In this embodiment, according to the patient's rehabilitation needs, three positive pressure solenoid valves 5 and five negative pressure solenoid valves 6 are detachably mounted on the valve seat 2, and the positive pressure solenoid valves 5 and the negative pressure solenoid valves 6 are fixed in the mounting hole 11 by screws. The air inlet of the positive pressure solenoid valve 5 is connected to the first lower channel 10, and a sealing ring is provided between the two; the air outlet of the positive pressure solenoid valve 5 is connected to the first upper channel 9, and a sealing ring is provided between the two; the air inlet of the negative pressure solenoid valve 6 is connected to the second lower channel 14, and a sealing ring is provided between the two; the air outlet of the negative pressure solenoid valve 6 is connected to the second upper channel 13, and a sealing ring is provided between the two (the sealing ring is not shown in the figure).

[0035] On the two positive pressure connection channels where the positive pressure solenoid valve 5 is not installed, a plug 15 ( Figure 1 , Figure 2 (not shown), the structure of the plug 15 is as follows Figure 3 As shown, it includes a mounting plate 19 and an upper plug rod 16 and a lower plug rod 17 integrally fixed on the mounting plate 19, the upper plug rod 16 matches the first upper channel 9, and the lower plug rod 17 matches the first lower channel 10; a screw hole 18 is provided on the mounting plate 19, the position of the screw hole 18 corresponds to the position of the mounting hole 11, and the plug 15 is fixed to the valve seat 2 by screws.

[0036] 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 air intake device for a multifunctional pneumatic soft robot, characterized in that: The air intake device includes a valve seat, on which a positive-pressure air intake channel and a negative-pressure air exhaust channel are provided, on which five independent positive-pressure air outlets and five independent negative-pressure air outlets are provided, and on which a plurality of positive-pressure solenoid valves and a plurality of negative-pressure solenoid valves are detachably mounted, the air intake of the positive-pressure solenoid valve being connected to the positive-pressure air intake channel, the air outlet of the positive-pressure solenoid valve being connected to a positive-pressure air outlet, the air intake of the negative-pressure solenoid valve being connected to the negative-pressure air exhaust channel, and the air outlet of the negative-pressure solenoid valve being connected to a negative-pressure air outlet.

2. The air intake device for a multifunctional pneumatic soft robot according to claim 1, characterized in that: The side wall of the valve seat is provided with 5 pairs of positive pressure connection channels and 5 pairs of positive pressure and negative pressure connection channels, each pair of positive pressure connection channels comprises a first upper channel and a first lower channel, wherein the first upper channel is communicated with the positive pressure air outlet, and the first lower channel is communicated with the positive pressure air inlet channel; Each pair of the negative pressure connecting channels comprises a second upper channel and a second lower channel, wherein the second upper channel is communicated with the negative pressure air outlet, and the second lower channel is communicated with the negative pressure exhaust channel.

3. The air intake device for a multifunctional pneumatic soft robot according to claim 2, characterized in that: The valve seat is provided with a plurality of pairs of mounting holes, and the positive pressure solenoid valve and the negative pressure solenoid valve are fixed in the mounting holes by screws; The air inlet of the positive pressure solenoid valve is connected to the first lower channel, and a sealing ring is provided between the two; the air outlet of the positive pressure solenoid valve is connected to the first upper channel, and a sealing ring is provided between the two; The air inlet of the negative pressure solenoid valve is connected to the second lower channel, and a sealing ring is provided between the two; the air outlet of the negative pressure solenoid valve is connected to the second upper channel, and a sealing ring is provided between the two.

4. The air intake device for a multifunctional pneumatic soft robot according to claim 3, characterized in that: The air intake device is provided with a plug, which includes a mounting plate and an upper plug rod and a lower plug rod integrally fixed on the mounting plate, the upper plug rod matches the first upper channel or the second upper channel, and the lower plug rod matches the first lower channel or the second lower channel; the mounting plate is provided with a screw hole, the position of the screw hole corresponds to the position of the mounting hole, and the plug is fixed to the valve seat by screws.

5. The air intake device for a multifunctional 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.

6. The air intake device for a multifunctional pneumatic soft robot according to claim 1, characterized in that: The air intake device is provided with a bottom plate, the valve seat is fixed on the bottom plate, a solenoid valve signal connector is provided on the bottom plate, and the solenoid valve signal connector is connected to the positive pressure solenoid valve and the negative pressure solenoid valve through a line.

Images