阅读说明：本技术 一种带折纸结构的软体气动阀及其控制方法 (Soft pneumatic valve with paper folding structure and control method thereof ) 是由 胡俊峰 董栋 张俊 连威 张宁 于 2021-08-05 设计创作，主要内容包括：本发明公开了一种带折纸结构的软体气动阀及其控制方法,具体来说是提供一种结构简单、操作便捷,单气动阀控制多个软体机构运动且能够提高气动阀应用率的软体气动阀,本装置包括阀体、保护套、折纸驱动器、阻塞棒、软体机构、保护盖和气动泵；气压泵的出气口分别与气控通道的控制端和通孔的连接,通过气压泵的气压输入的大小控制折纸驱动器轴变形的程度,实现与其相连的阻塞棒进入阀体的深度,进而控制两个或多个软体机构运动形式的改变；本发明还公开了相应控制方法；涉及到软体气动阀领域,该发明产品主要涉及一种带折纸结构的软体气动阀及其控制方法。(The invention discloses a soft pneumatic valve with a paper folding structure and a control method thereof, and particularly provides a soft pneumatic valve which has a simple structure and is convenient to operate, wherein a single pneumatic valve controls a plurality of soft mechanisms to move and can improve the application rate of the pneumatic valve; the air outlet of the pneumatic pump is respectively connected with the control end of the pneumatic control channel and the through hole, the degree of deformation of the paper folding driver shaft is controlled through the size of air pressure input of the pneumatic pump, the depth of the blocking rod connected with the pneumatic pump into the valve body is realized, and the change of the motion forms of two or more soft mechanisms is further controlled; the invention also discloses a corresponding control method; the invention relates to the field of soft pneumatic valves, in particular to a soft pneumatic valve with a paper folding structure and a control method thereof.)

1. The utility model provides a take soft pneumatic valve of paper folding structure which characterized in that includes:

a valve body (1); the side wall of the valve body (1) is provided with a through air hole channel (11), and the two ends of the air hole channel (11) are respectively a control end and a working end; the end of the valve body (1) is provided with a main control channel (12); the main control channel (12) penetrates through the air hole channel (11) and is vertically communicated with the air hole channel;

a protective sleeve (2); the protective sleeve (2) is of a cylinder structure with openings at two ends; one end of the protective sleeve (2) is connected with the end of the valve body (1) with the main control channel (12), the other end of the protective sleeve (2) is fixed with a protective cover (6) in a sealing mode, and the protective cover (6) is provided with a through hole (61);

a paper folding drive (3); the paper folding driver (3) is a pipeline paper folding structure with a cavity inside; the paper folding driver (3) is coaxially arranged in the protective sleeve (2), one end of the paper folding driver is fixed with the protective cover (6), and the inner cavity of the paper folding driver (3) is communicated with the through hole (61);

a stopper rod (4); one end of the blocking rod (4) is fixedly connected to one end, far away from the protective cover (6), of the paper folding driver (3), and the other end of the blocking rod is connected with the main control channel (12) in a sliding mode;

a software mechanism (5); the soft body mechanism (5) is connected with the working end of the air hole channel (11) through an air vent pipeline (51);

a pneumatic pump (7); and the air outlet of the air pressure pump (7) is respectively connected with the control end of the air hole channel (11) and the through hole (61).

2. A soft pneumatic valve with origami structure according to claim 1, characterised in that said number of air vent channels (11) is at least 2.

3. The soft pneumatic valve with the paper folding structure according to claim 1, wherein a base (31) is fixed to one end of the paper folding driver (3) facing the protective sleeve (2), and an air inlet (311) communicated with an inner cavity of the paper folding driver (3) is formed in the base (31); the base (31) is fixedly embedded on the protective sleeve (2) and communicated with the through hole (61).

4. The soft pneumatic valve with the paper folding structure according to claim 1, wherein the diameter ratio of the air hole channel (11) to the main control channel (12) is not less than 1: 2.

5. The soft pneumatic valve with the paper folding structure according to claim 1, wherein the valve body (1) is cylindrical and is formed by pouring silica gel; the paper folding driver (3) is made of silica gel.

6. A soft pneumatic valve with a origami structure according to claim 5, characterised in that the external diameter of the stopper rod (4) is the same size as the internal diameter of the main control channel (12).

7. The soft pneumatic valve with the paper folding structure according to claim 1, wherein the protective sleeve (2) is made of silica gel, and the thickness of the protective sleeve is 1 mm.

8. The soft pneumatic valve with the paper folding structure according to claim 1, wherein the stopper rod (4) is cylindrical and made of PLA material.

9. A control method of the soft pneumatic valve with the paper folding structure according to any one of claims 1 to 8, characterized in that: the pressure of the pneumatic pump (7) is increased in a graded manner from small to large so as to realize the extension control of the paper folding driver (3), and further realize the opening and closing of the air hole channel (11) by the blocking rod (4).

10. The control method of the soft pneumatic valve with the paper folding structure according to claim 9, wherein when the number of the air vent channels (11) is two, the control method comprises the following steps:

s1, in order to realize the bending movement of the two soft bodies (5): the pressure of the pneumatic pump (7) is adjusted to be in a low-pressure mode, the paper folding driver (3) deforms axially, the blocking rod (4) is blocked at the inlet of the main control channel (12), and at the moment, the two air hole channels (11) are both in a communicated state;

s2, in order to realize the motion that one soft body (5) bends and the other soft body (5) stretches: the pressure of the pneumatic pump (7) is adjusted to be in a medium pressure mode, the axial deformation of the paper folding driver (3) is increased, the end of the blocking rod (4) is located between the two air hole channels (11), at the moment, one air hole channel (11) is in a connected state, and the other air hole channel (11) is in a disconnected state;

s3, in order to realize the stretching movement of the two soft bodies (5): the pressure of the pneumatic pump (7) is adjusted to be in a high-pressure mode, the axial deformation of the paper folding driver (3) continues to increase, the blocking rod (4) moves to the tail end of the main control channel (12), and at the moment, the two air hole channels (11) are in a disconnected state.

Technical Field

The invention relates to the field of soft pneumatic valves, in particular to a soft pneumatic valve with a paper folding structure and a control method thereof.

Background

Most of existing soft mechanisms adopt a pneumatic control mode to realize the change of a motion state, wherein a pneumatic valve is a key part for realizing the pneumatic control, and the pneumatic valve is used as a device for controlling the direction and the pressure of fluid and has the functions of stopping, adjusting, guiding, stabilizing pressure, shunting or overflowing and relieving pressure and the like. Compared with the traditional electric valve, the pneumatic valve has good effect on gas medium and liquid with small pipe diameter, low cost and more convenient maintenance. However, most of the existing pneumatic valves utilize compressed air to push a plurality of groups of combined pneumatic pistons in an actuator to move, and meanwhile, in order to ensure the smooth flow of fluid, the strength of air pressure and the rigidity of the whole valve body are enhanced by increasing the number of the cylinder combinations so as to ensure the flow of various types of fluid; the above-described method is relatively complex in design and increases the production cost and operational complexity. In addition, various pneumatic valves on the market can only control the movement of one soft body mechanism through one pneumatic valve, and the movement of a plurality of soft body mechanisms needs to be controlled through the connection of a plurality of pneumatic valves, so that the control of the whole equipment is complex, and the cost is increased.

Therefore, it is an urgent need in the art to provide a soft pneumatic valve that has a simple structure and is easy and convenient to operate, and a single pneumatic valve controls a plurality of soft mechanisms to move, thereby improving the application rate of the pneumatic valve and saving the cost.

Disclosure of Invention

In view of the above, the present invention provides a soft pneumatic valve with a paper folding structure and a control method thereof, and aims to solve the above technical problems.

In order to achieve the purpose, the invention adopts the following technical scheme:

a soft pneumatic valve with a paper folding structure comprises:

a valve body; the side wall of the valve body is provided with a through air hole channel, and the two ends of the air hole channel are respectively a control end and a working end; the end head of the valve body is provided with a main control channel; the main control channel penetrates through the air hole channel and is vertically communicated with the air hole channel;

a protective sleeve; the protective sleeve is of a cylinder structure with openings at two ends; one end of the protective sleeve is connected with the end of the valve body with the main control channel, the other end of the protective sleeve is fixed with a protective cover in a sealing manner, and the protective cover is provided with a through hole;

a paper folding driver; the paper folding driver is of a pipeline paper folding structure with a cavity inside; the paper folding driver is coaxially arranged in the protective sleeve, one end of the paper folding driver is fixed with the protective cover, and the inner cavity of the paper folding driver is communicated with the through hole;

a stopper rod; one end of the blocking rod is fixedly connected with one end, far away from the protective cover, of the paper folding driver, and the other end of the blocking rod is connected with the main control channel in a sliding mode;

a software mechanism; the soft mechanism is connected with the working end of the air hole channel through an air vent pipeline;

a pneumatic pump; and the air outlet of the pneumatic pump is respectively connected with the control end of the air hole channel and the through hole.

According to the technical scheme, in the device provided by the invention, the air outlet of the air pressure pump is respectively connected with the control end and the through hole of the air control channel, the paper folding driver is axially deformed through air pressure input of the air pressure pump, the degree of axial deformation of the paper folding driver is controlled through controlling the input air pressure, the depth of the blocking rod connected with the paper folding driver into the valve body is realized, and the change of the motion forms of two or more soft mechanisms is further controlled through controlling the depth of the blocking rod into the valve body; the movement of a plurality of soft mechanisms is controlled by the single air pressure pump, so that the integrity of the device is ensured, the control complexity is simplified, and the cost is saved; meanwhile, all the mechanisms are made of flexible materials, so that the pneumatic pressure control device has strong adaptability, can ensure smooth flowing of the pneumatic pressure and has high universality.

Preferably, in the above soft pneumatic valve device with a paper folding structure, the number of the air vent channels is at least 2. The structure is simple, and the operation is convenient; the number of the air hole channels is determined according to actual needs, a single air pressure pump is used for controlling a plurality of software mechanisms, the integrity of the whole device is guaranteed, and the control difficulty is simplified.

Preferably, in the soft pneumatic valve device with the paper folding structure, a base is fixed at one end of the paper folding driver facing the protective sleeve, and an air inlet communicated with an inner cavity of the paper folding driver is formed in the base; the base is fixedly embedded on the protective sleeve and is communicated with the through hole. Simple structure is stable, and the setting of protective sheath and base can effectively prevent the radial and axial deformation of paper folding driver, makes whole device can not receive the influence of paper folding driver reverse action power, better assurance device stability in service.

Preferably, in the above soft pneumatic valve device with a paper folding structure, the diameter ratio of the air hole channel to the main control channel is not less than 1: 2. Simple structure, the setting of its proportion is in order to guarantee that the stopper stick can be smooth and easy when recovering to initial condition, can not cause the hindrance.

Preferably, in the soft pneumatic valve device with the paper folding structure, the valve body is cylindrical and is formed by pouring silica gel; the paper folding driver is made of silica gel. The silica gel material is flexible material, has better adaptability, can guarantee that atmospheric pressure flows smoothly.

Preferably, in the above soft pneumatic valve device with a paper folding structure, the outer diameter of the stopper rod is the same as the inner diameter of the main control channel. The valve body is made of silica gel, perfect entering of the blocking rod can be achieved by means of flexibility of the silica gel, and air tightness of the device is guaranteed.

Preferably, in the above soft pneumatic valve device with a paper folding structure, the protective sleeve is made of a silica gel material, and the thickness of the protective sleeve is 1 mm. Can guarantee that paper folding driver can not take place radial deformation, guarantee the intensity and the stability of whole structure.

Preferably, in the soft pneumatic valve device with a paper folding structure, the stopper rod is cylindrical and is made of PLA material. The paper folding device can be pushed into the main control channel of the valve body by the paper folding driver, and is used for blocking gas circulation.

The invention also provides a control method of the soft pneumatic valve with the paper folding structure, which increases the pressure of the pneumatic pump from small to large in a grading way to realize the extension control of the paper folding driver and further realize the opening and closing of the air hole channel by the blocking rod; when the number of the air hole channels is two, the method comprises the following steps:

s1, in order to realize the bending motion of the two soft mechanisms: the pressure of the air pump is adjusted to be in a low-pressure mode, the paper folding driver deforms axially, the blocking rod blocks the inlet of the main control channel, and at the moment, the two air hole channels are both in a communicated state;

s2, in order to realize the motion that one soft body bends and the other soft body stretches: adjusting the pressure of the air pump to be in a medium pressure mode, increasing the axial deformation of the paper folding driver, and enabling the end of the blocking rod to be located between the two air hole channels, wherein one air hole channel is in a connected state and the other air hole channel is in a disconnected state;

s3, in order to realize the stretching movement of the two software mechanisms: and adjusting the pressure of the air pump to be in a high-pressure mode, continuously increasing the axial deformation of the paper folding driver, moving the blocking rod to the tail end of the main control channel, and at the moment, keeping the two air hole channels in a disconnected state.

Through the technical scheme, the main idea of the buffer control method is to control the axial deformation degree of the paper folding driver by adjusting the pressure of the pneumatic pump, further drive the blocking rod to enter the depth of a main control channel of the valve body, realize the connection and disconnection of air hole channels of two or more soft mechanisms, further realize the change of the motion form of the paper folding driver, finally adjust the pressure of the pneumatic pump to 0, axially compress the paper folding driver, drive the blocking rod to retract, recover to the initial state, and complete the whole motion control and process of the device.

It should be noted that the paper folding driver provided by the present invention is a prior art solution, for example, application number 201811305802.8, which is named as an invention patent of a pulse jet type underwater robot based on a tubular paper folding structure, and is not described herein again.

Compared with the prior art, the soft pneumatic valve with the paper folding structure and the control method thereof provided by the invention have the following beneficial effects:

1. the invention has simple structure and convenient operation.

2. The degree of deformation of the paper folding driver shaft is controlled by the size of air pressure input by the air pressure pump, so that the depth of the blocking rod connected with the air pressure pump entering the valve body is realized; and the change of the motion forms of the two or more soft mechanisms is further controlled, the motion forms of the soft mechanisms of the two or more air hole channels controlled by the single air pressure pump are realized, the integrity of the whole device is ensured, the control difficulty is simplified, and the cost is saved.

3. The flexible material of the pneumatic valve has strong adaptability, can ensure the smooth flow of air pressure, has high universality and improves the application rate of the pneumatic valve.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic view of a bending structure of two soft mechanisms of a soft pneumatic valve with a paper folding structure provided by the invention;

FIG. 2 is a schematic view of a soft body bending mechanism and another soft body stretching mechanism of the soft body pneumatic valve with a paper folding mechanism according to the present invention;

FIG. 3 is a schematic diagram showing the two soft body stretching mechanisms of the soft body pneumatic valve with a paper folding mechanism according to the present invention;

FIG. 4 is a schematic structural diagram of a valve body provided by the present invention;

FIG. 5 is a schematic view of a protective sheath according to the present invention;

FIG. 6 is a schematic structural diagram of a paper folding driver provided by the present invention;

FIG. 7 is a schematic view of the stopper rod of the present invention;

FIG. 8 is a schematic structural diagram of a protective cover according to the present invention;

FIG. 9 is a flow chart of a method for controlling a soft pneumatic valve with a paper folding structure according to the present invention.

Wherein:

1-a valve body; 11-air vent channel; 12-a master control channel;

2-protective sleeve;

3-a paper folding drive; 31-a base; 311-an air inlet;

4-a stopper rod;

5-a software mechanism; 51-a vent line;

6-a protective cover; 61-through hole.

7-pneumatic pump.

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.

Referring to the attached drawings 1 to 8, the embodiment of the invention discloses a soft pneumatic valve with a paper folding structure, which comprises:

a valve body 1; the side wall of the valve body 1 is provided with a through air hole channel 11, and two ends of the air hole channel 11 are respectively a control end and a working end; the end of the valve body 1 is provided with a main control channel 12; the main control channel 12 penetrates through the air hole channel 11 and is vertically communicated with the air hole channel;

a protective sleeve 2; the protective sleeve 2 is a cylinder structure with two open ends; one end of the protective sleeve 2 is connected with the end head of the valve body 1 with the main control channel 12, the other end of the protective sleeve 2 is fixed with a protective cover 6 in a sealing way, and the protective cover 6 is provided with a through hole 61;

a paper folding driver 3; the paper folding driver 3 is a pipeline paper folding structure with a cavity inside; the paper folding driver 3 is coaxially arranged in the protective cover 2, one end of the paper folding driver is fixed with the protective cover 6, and the inner cavity of the paper folding driver 3 is communicated with the through hole 61;

a stopper rod 4; one end of the blocking rod 4 is fixedly connected with one end of the paper folding driver 3 far away from the protective cover 6, and the other end of the blocking rod is connected with the main control channel 12 in a sliding manner;

a software mechanism 5; the soft body mechanism 5 is connected with the working end of the air hole channel 11 through an air duct 51;

a pneumatic pump 7; the air outlet of the air pressure pump 7 is respectively connected with the control end of the air hole channel 11 and the through hole 61.

In order to further optimize the above solution, the number of air vent channels 11 is at least 2.

In order to further optimize the technical scheme, a base 31 is fixed at one end of the paper folding driver 3 facing the protective sleeve 2, and an air inlet 311 communicated with the inner cavity of the paper folding driver 3 is formed in the base 31; the base 31 is fixedly embedded on the protective cover 2 and is communicated with the through hole 61.

In order to further optimize the technical scheme, the diameter ratio of the air hole channel 11 to the main control channel 12 is not less than 1: 2.

In order to further optimize the technical scheme, the valve body 1 is cylindrical and is formed by pouring silica gel; the paper folding driver 3 is made of silica gel.

In order to further optimize the above solution, the outer diameter of the stopper rod 4 is the same size as the inner diameter of the main control channel 12.

In order to further optimize the technical scheme, the protective sleeve 2 is made of silica gel, and the wall thickness is 1 mm.

In order to further optimize the technical scheme, the blocking rod 4 is cylindrical and is made of PLA material.

Referring to fig. 9, the control method of the present apparatus is applied: the pressure of the pneumatic pump 7 is increased in a graded manner from small to large so as to realize the extension control of the paper folding driver 3 and further realize the opening and closing of the air hole channel 11 by the blocking rod 4; when the number of the air vent passages 11 is two, the following steps are included:

s1, in order to realize the bending motion of the two soft bodies 5: the pressure of the pneumatic pump 7 is adjusted to be in a low-pressure mode, the paper folding driver 3 deforms axially, the blocking rod 4 is blocked at the inlet of the main control channel 12, and at the moment, the two air hole channels 11 are both in a communicated state;

s2, in order to realize the motion that one soft body 5 bends and the other soft body 5 stretches: the pressure of the pneumatic pump 7 is adjusted to be in a medium pressure mode, the axial deformation of the paper folding driver 3 is increased, the end of the blocking rod 4 is positioned between the two air hole channels 11, and at the moment, one air hole channel 11 is in a communicated state, and the other air hole channel 11 is in a disconnected state;

s3, in order to realize the stretching movement of the two soft bodies 5: the pressure of the pneumatic pump 7 is adjusted to be in a high-pressure mode, the axial deformation of the paper folding driver 3 continues to increase, the blocking rod 4 moves to the tail end of the main control channel 12, at the moment, the two air hole channels 11 are both in a disconnected state, finally, the pressure of the pneumatic pump is adjusted to be 0kpa, the paper folding driver compresses axially to drive the blocking rod to retract, the blocking rod is restored to an initial state, and the whole motion control and process of the device are completed.

The specific implementation mode of the invention is as follows: the air outlet of the air pressure pump 7 is respectively connected with the control end of the air control channel 11 and the through hole 61, in order to realize the bending movement of the two soft mechanisms 5, when the pressure of the air pressure pump 7 is adjusted to be in a low pressure mode of 10kpa, the paper folding driver 5 is axially deformed, the blocking rod 4 is blocked at the inlet of the main control channel 12, and at the moment, the two air hole channels 11 are both in a communicated state; in order to realize the bending of one soft mechanism 5 and the stretching movement of the other soft mechanism 5, when the pressure of the pneumatic pump 7 is adjusted to be in a medium pressure mode of 30kpa, the axial deformation of the paper folding driver 3 is increased, the end of the blocking rod 4 is positioned between the two air hole channels 11, at the moment, one air hole channel 11 is in a connected state, and the other air hole channel 11 is in a disconnected state; in order to realize the stretching movement of the two soft mechanisms 5, when the pressure of the pneumatic pump 7 is adjusted to be in a high-pressure mode of 60kpa, the axial deformation of the paper folding driver 3 is continuously increased, the blocking rod 4 moves to the tail end of the main control channel 12, and at the moment, the two air hole channels 11 are in a disconnected state; finally, the pressure of the pneumatic pump 7 is adjusted to be 0, the paper folding driver 3 compresses axially to drive the blocking 4 rod to retract, and the blocking 4 rod is restored to the initial state, so that the whole motion control and the process of the device are completed.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.