阅读说明：本技术 利用磁控、光控单输入多输出的可控软体阀及其控制方法 (Controllable soft valve using magnetic control and light control single input and multiple output and control method thereof ) 是由 杨扬 赵润禾 杨毅 邵文韫 钟宋义 彭艳 蒲华燕 于 2020-04-30 设计创作，主要内容包括：本发明公开了一种利用磁控、光控单输入多输出的可控软体阀及其控制方法,涉及软体机器人执行器领域,包括硅胶管和多个相同的软体阀；其中,多个软体阀并排设置且共同连接在硅胶管上,软体阀的阀门片为磁性SMP薄膜；通过磁场和光场对磁性SMP薄膜进行控制使磁性SMP薄膜发生形变,实现不同软体阀的开关状态的切换,从而实现单输入多输出的功能。且本发明提供的可控软体阀的结构简单,并将软体阀的阀门片设置为磁性SMP薄膜,因此还具有体积小巧,防水浸,结构简单,可靠性高,成本低等特点。(The invention discloses a controllable soft valve utilizing magnetic control and light control single input and multiple output and a control method thereof, which relate to the field of soft robot actuators and comprise a silicone tube and a plurality of same soft valves; wherein, a plurality of soft valves are arranged side by side and are connected to the silicone tube together, and valve plates of the soft valves are magnetic SMP films; the magnetic SMP film is controlled by the magnetic field and the optical field to deform the magnetic SMP film, so that the switching of the switching states of different soft valves is realized, and the single-input multi-output function is realized. The controllable soft valve provided by the invention has a simple structure, and the valve sheet of the soft valve is set to be the magnetic SMP film, so the controllable soft valve also has the characteristics of small volume, water immersion resistance, simple structure, high reliability, low cost and the like.)

1. A controllable soft valve using magnetic control and light control single input and multiple outputs is characterized by comprising a silicone tube and a plurality of same soft valves; the valves are arranged side by side and are connected to the silicone tube together, and valve plates of the valves are magnetic SMP films;

and controlling the magnetic SMP film through a magnetic field and an optical field to enable the magnetic SMP film to deform, so that switching of the switching states of different soft valves is realized.

2. The controllable soft valve with magnetic control and light control and single input and multiple output according to claim 1, wherein a magnetic field generating device and a light source generating device are further disposed above the soft valve.

3. The controllable soft valve with magnetic control and light control single input and multiple output according to claim 1, wherein a gap is provided between adjacent soft valves.

4. The controllable soft valve with magnetic control and light control single input and multiple output according to claim 1, wherein each soft valve comprises a lower substrate, a magnetic SMP film, a protective port, an upper baffle, an upper chamber and a lower chamber; carrying out a concave treatment on the upper surface of the lower substrate to form a semi-arc lower chamber, wherein the magnetic SMP film is arranged on the outer surface of the lower chamber; the magnetic SMP film is provided with the protection port; and the lower substrate is provided with a frame structure matched with the lower substrate, and the upper baffle is arranged on the upper surface of the frame structure to form the upper cavity.

5. The controllable soft valve with single input and multiple outputs by means of magnetic control and light control as claimed in claim 4, wherein the frame structure is a hollow structure, and an air inlet is provided at one side of the frame structure, and an air outlet is provided at the side of the frame structure opposite to the air inlet; and the air outlet of the silicone tube is connected with the air inlet of the soft valve.

6. The controllable soft valve with magnetic control and light control single input and multiple output according to claim 4, wherein the upper baffle is an upper baffle with a depressed area in the middle; wherein the recessed region is V-shaped.

7. The controllable soft valve with magnetic control and light control single input and multiple output according to claim 4, wherein the lower substrate, the upper baffle and the frame structure are made of elastic silica gel.

8. The controllable soft valve using magnetic control and light control single input multiple output according to claim 1, wherein the magnetic SMP film is a thermoplastic polyurethane polymer by solvent casting.

9. The controllable soft valve with magnetic control and light control single input and multiple output according to claim 1, wherein the magnetic SMP film has an upward bending shape and a downward bending shape.

10. A control method of a controllable soft valve using magnetic control and light control single input and multiple output is applied to the claim 4, and is characterized by comprising the following steps:

when the air flow enters the air inlet of the soft valve from the silicone tube and the soft valve is in an open state, the magnetic SMP film bends downwards, and the air flow directly passes through the upper chamber to reach the air outlet of the soft valve;

when a magnetic field generating device and a light source generating device which are additionally arranged above the soft valve are opened, the magnetic SMP film is stressed to bend upwards and is extruded with the upper baffle plate, air flow enters from the air inlet, is blocked by the magnetic SMP film to circulate, enters the lower cavity from the protective opening, and maintains the state of the magnetic SMP film, so that the soft valve is in a closed state;

when the magnetic field generating device is turned off and the light source generating device is turned on, the magnetic SMP film is restored and is bent downwards, so that the soft valve is turned on again.

Technical Field

The invention relates to the field of soft robot actuators, in particular to a controllable soft valve utilizing magnetic control and light control single input and multiple outputs and a control method thereof.

Background

The field of soft robots is rapidly expanding, and the application range is wider and wider, such as biomedicine, surgical tools, auxiliary health care equipment, aerospace and the like. These soft robots and their actuators need to be very compliant and capable of moving in a manner that is difficult or impossible to achieve using hard parts. The existing soft robot actuator is mostly controlled by a hard valve and an electronic element, has a complex structure and high cost, is not suitable for the application field of the soft robot, and is limited to be used in severe environment. In addition, some existing soft valves can only carry out single input and output control, the control process is complicated, and non-contact control cannot be realized. Therefore, a controllable soft valve is indispensable for a soft robot.

Disclosure of Invention

In view of the defects and the current situation of the existing soft robot actuator, the invention provides a controllable soft valve utilizing magnetic control and light control single input and multiple output and a control method thereof, and the controllable soft valve has the characteristics of small volume, water immersion resistance, simple structure, high reliability, low cost and the like.

In order to achieve the purpose, the invention provides the following scheme:

a controllable soft valve using magnetic control and light control single input and multiple outputs comprises a silicone tube and a plurality of same soft valves; the valves are arranged side by side and are connected to the silicone tube together, and valve plates of the valves are magnetic SMP films;

and controlling the magnetic SMP film through a magnetic field and an optical field to enable the magnetic SMP film to deform, so that switching of the switching states of different soft valves is realized.

Optionally, a magnetic field generating device and a light source generating device are further arranged above the soft valve.

Optionally, a gap is arranged between adjacent software valves.

Optionally, each soft body valve comprises a lower substrate, a magnetic SMP film, a protective port, an upper baffle, an upper chamber and a lower chamber; carrying out a concave treatment on the upper surface of the lower substrate to form a semi-arc lower chamber, wherein the magnetic SMP film is arranged on the outer surface of the lower chamber; the magnetic SMP film is provided with the protection port; and the lower substrate is provided with a frame structure matched with the lower substrate, and the upper baffle is arranged on the upper surface of the frame structure to form the upper cavity.

Optionally, the lower substrate, the upper baffle and the frame structure are made of elastic silica gel.

Optionally, the frame structure is a hollow structure, an air inlet is arranged at one side of the frame structure, and an air outlet is arranged at the side of the frame structure opposite to the air inlet; and the air outlet of the silicone tube is connected with the air inlet of the soft valve.

Optionally, the upper baffle is an upper baffle with a concave area in the middle; wherein the recessed region is V-shaped.

Alternatively, the magnetic SMP film is a thermoplastic polyurethane polymer that is solvent cast.

Optionally, the magnetic SMP film has an upwardly curved configuration and a downwardly curved configuration.

A control method of a controllable soft valve utilizing magnetic control and light control single input and multiple output comprises the following steps:

when the air flow enters the air inlet of the soft valve from the silicone tube and the soft valve is in an open state, the magnetic SMP film bends downwards, and the air flow directly passes through the upper chamber to reach the air outlet of the soft valve;

when a magnetic field generating device and a light source generating device which are additionally arranged above the soft valve are opened, the magnetic SMP film is stressed to bend upwards and is extruded with the upper baffle plate, air flow enters from the air inlet, is blocked by the magnetic SMP film to circulate, enters the lower cavity from the protective opening, and maintains the state of the magnetic SMP film, so that the soft valve is in a closed state;

when the magnetic field generating device is turned off and the light source generating device is turned on, the magnetic SMP film is restored and is bent downwards, so that the soft valve is turned on again.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

the invention provides a controllable soft valve with single input and multiple outputs by utilizing magnetic control and light control and a control method thereof. The controllable soft valve provided by the invention has a simple structure, and the valve sheet of the soft valve is set to be the magnetic SMP film, so the controllable soft valve also has the characteristics of small volume, water immersion resistance, simple structure, high reliability, low cost and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a schematic view of the structure of the controllable soft valve of the present invention;

FIG. 2 is a schematic diagram illustrating the structure of the single soft valve according to the present invention in an open/close state; FIG. 2(a) is a schematic diagram of the open state of a single soft valve according to the present invention; FIG. 2(b) is a schematic diagram of the closed state of a single soft valve according to the present invention;

FIG. 3 is a schematic diagram of the gas flow in the open/close state of a single soft valve according to the present invention; FIG. 3(a) is a schematic diagram of the gas flow in the open state of a single software valve of the present invention; fig. 3(b) is a schematic view of gas flow in the closed state.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a controllable soft valve utilizing magnetic control and light control single input and multiple output and a control method thereof, and the controllable soft valve has the characteristics of small volume, water immersion resistance, simple structure, high reliability, low cost and the like.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

The invention conception of the invention is as follows: in order to realize the characteristics of simple structure, high reliability, simple operation, easy control, full softness, no toxicity and harmlessness and the aim of realizing the light control through magnetic control, the invention selects the magnetic SMP film as the valve sheet of the controllable soft valve, selects the elastic silica gel as other materials, designs a mold by utilizing a 3D printer, puts the magnetic SMP film into the mold, fixes the position, pours the elastic silica gel into the mold, takes out the elastic silica gel after molding, and assembles the elastic SMP film with a conduit, a front end actuator, a rear end actuator and the like.

According to the inventive concept, the invention designs the technical scheme of the embodiment 1.