CN108078533A - A kind of pneumatic robot electric control system - Google Patents
A kind of pneumatic robot electric control system Download PDFInfo
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- CN108078533A CN108078533A CN201611022968.XA CN201611022968A CN108078533A CN 108078533 A CN108078533 A CN 108078533A CN 201611022968 A CN201611022968 A CN 201611022968A CN 108078533 A CN108078533 A CN 108078533A
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- robot
- control system
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- pneumatic
- electric control
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
A kind of pneumatic robot electric control system, according to robot housing construction and move mechanism, the active for controlling robot by the control system is moved, and completes the tasks such as environmental parameter monitoring and the diagnosis and treatment of human intracavity.The control system is easy to operate, stable, and the effective control moved to robot can be realized by the electric control system.
Description
Technical field
The present invention relates to a kind of pneumatic robot electric control system, suitable for machinery field.
Background technology
The development of micrometer-nanometer processing technology, micro-sensor technologies, microelectric technique and MEMS (MEMS) integrated technology
Advantage is provided for the flexible active endoscopy system of research and development, the indagation for developing few wound or noninvasive intervention is micro-
Robot system is also an important directions of Medical Robot's development.At present, medical robot is had by type of drive:Electromagnetism drives
Dynamic formula, driving type piezoelectric actuator, pneumatic type and by functional material marmem drive etc. it is several, can be divided by moving mechanism
Leg formula, the wheeled and modes such as mobile of wriggling, flexible contact, therefore flexible wiggle are required with the Medical Robot of direct body contact
Formula is the noninvasive minimally invasive preferred manner that robot is examined into body cavities.
The content of the invention
The present invention proposes a kind of pneumatic robot electric control system, according to robot housing construction and move mechanism,
The active for controlling robot by the control system is moved, and completes the tasks such as environmental parameter monitoring and the diagnosis and treatment of human intracavity.
The technical solution adopted in the present invention is：
The electric-gas control system mainly by PC computers, Data collecting conversion equipment, isolation amplification driving circuit, 10 after
Electric appliance, 10 solenoid valves, pressure sensor, high-pressure air source and pressure, flow tune valve group into.
It is described acquisition conversion equipment employ NI companies production USB-6008, the data collecting card have 8 passages, 12 or
14 simulation inputs, 2 simulation outputs, 12 road I/O and 1 timer, by the switching of 10 relays of card control,
So as to fulfill the open and close controlling of the solenoid valve to connection robot vent line and the control of robot treatment sensing mechanism, lead to
Cross the information gathering that the card realizes the sensor that ventilation pipe pressure sensor and robot carry.
The pneumatic power system is mainly adjusted by high-pressure air source, air accumulator, pressure, flow-rate adjustment and instruction device and
523 logical to promote blood circulation with 522 and rushes solenoid valve block into rushing 5 tunnel of solenoid valve control by 523 logical promote blood circulation with 522
Vent line, 3 gas chambers and front and rear clamper air bag for controlling robot driver realize qi of chong channel ascending adversely, holding and deflation.
The beneficial effects of the invention are as follows：The control system is easy to operate, stable, can by the electric-gas control system
Realize effective control to robot movement.
Description of the drawings
Fig. 1 is the control system architecture figure of the present invention.
Fig. 2 is the pneumatic power system figure of the present invention.
In figure：1. air compressor；2. pressure gauge；3. gas tank；4. flow indicator；5. exhaust pipe；6. pressure reducing valve；7. electricity
Magnet valve；8. driver；9. clamper air bag；10. flow control valve.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, former and later two support units are designed to the plastic cylinder structure of hollow ventilation, outer diameter 11mm, internal diameter
10mm, an end face medium design are the fan hole ventilation device of annulus, and middle circle is used for fixed drive, is cladded with plastic film
Air bag, and be divided into two parts, air bag largest outside diameter is up to 30mm during inflation, in air flue inner face in two about fan-shaped point of 45° angles
Cloth compresses lumen wall, realizes clamping action.
Driver shape is separated into 3 fan-shaped gas chambers for being mutually 120 ° in a tubular form, in pipe, and outer diameter is 6 mm, internal diameter 4
Mm, long 20 mm, inner cavity fan rubber thickness 1mm, with spiral fine fibre line in rubber tube rubber layer, when ventilation, limits its radial direction
Increase, makes elastomeric actuator extend in the axial direction.The driver one end is closed, and the other end is respectively communicated with ventilating return, is controlled
The pressure of each gas chamber air.When 3 gas chambers add equal pressure simultaneously, driver extends in the axial direction, when only a certain
When inner cavity is pressurizeed or when pressure is with another 2 air chambers pressure difference, driver will be bent, and be realized and turned to driving, by adjusting 3 gas
The pressure of room air makes the driver realize the driving in the 3 degree of freedom directions in space.Therefore, can machine be made by the driver
People realizes that the bending of the linear motion sum of intracavitary turns to.
Electric-gas control system mainly by PC computers, Data collecting conversion equipment, isolation amplification driving circuit, 10 after
Electric appliance, 10 solenoid valves, pressure sensor, high-pressure air source and pressure, flow tune valve group into.Acquisition conversion equipment employs NI public affairs
The USB-6008 of production is taken charge of, which has 8 passages, 12 or 14 simulation inputs, 2 simulation outputs, 12 road I/O,
And 1 timer, by the switching of 10 relays of card control, so as to fulfill the electricity to connection robot vent line
The control of open and close controlling and robot the treatment sensing mechanism of magnet valve, ventilation pipe pressure sensor and machine are realized by the card
The information gathering for the sensor that device people carries.
Such as Fig. 2, pneumatic power system is mainly adjusted by high-pressure air source, air accumulator, pressure, flow-rate adjustment and instruction device with
And 523 logical promote blood circulation with 522 rush solenoid valve block into logical and a 22 of S promotes blood circulation and rushes solenoid valve control 5 by 523
Road vent line, 3 gas chambers and front and rear clamper air bag for controlling robot driver realize qi of chong channel ascending adversely, holding and deflation.Each 2
3 three-way electromagnetic valves connect high-pressure air source all the way, lead to the ventilation pipe of robot in succession all the way, connect 22 three-way electromagnetic valves all the way, and 2
The 2 three-way electromagnetic valve other ends of position are together with air.Under normal conditions, 23 three-way electromagnetic valves connection high pressure gas sources are closed, and 22 logical
Solenoid valve is normal open.
From the move mechanism of robot, robot to be controlled to automatically move the air bag that must make back and front supporting unit
Ventilation with each gas chamber of elastomeric actuator and deflating carries out according to certain rules, in a moving period to front and rear support unit and
The gas chamber of driver says row inflation, the kind sequential of preceding gas.
Rear support unit is inflated first, is then controlled by computer, controls support single successively by the time sequencing of t1 ~ t7
Member and driver it is inflatable and deflatable, the pressure of 3 gas chambers of driver is kept equal during linear movement.Therefore, according to robot
The inflation/deflation sequential of mobile each gas chamber, has worked out the software control procedure based on LabVIEW, and robot movement is controlled.
Claims (3)
1. a kind of pneumatic robot electric control system, it is characterized in that：The electric-gas control system is mainly by PC computers, number
According to acquisition conversion equipment, isolation amplification driving circuit, 10 relays, 10 solenoid valves, pressure sensor, high-pressure air source and pressure
Power, flow tune valve group into.
2. a kind of pneumatic robot electric control system according to claim 1, it is characterized in that：The acquisition conversion equipment
The USB-6008 of NI companies production is employed, the data collecting card is defeated with 8 passages, 12 or 14 simulation inputs, 2 simulations
Go out, 12 road I/O and 1 timer, by the switching of 10 relays of card control, lead to so as to fulfill to connection robot
The control of open and close controlling and robot the treatment sensing mechanism of the solenoid valve of air pipe, ventilation pipe pressure is realized by the card
The information gathering for the sensor that sensor and robot carry.
3. a kind of pneumatic robot electric control system according to claim 1, it is characterized in that：The pneumatic power system
Mainly by high-pressure air source, air accumulator, pressure adjusting, flow-rate adjustment and instruction device and 523 logical and 522 punchings of promoting blood circulation
Solenoid valve block into, it is logical and 522 are promoted blood circulation and rush 5 road vent line of solenoid valve control by 523, control robot driver
3 gas chambers and front and rear clamper air bag realize qi of chong channel ascending adversely, holding and deflation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611022968.XA CN108078533A (en) | 2016-11-21 | 2016-11-21 | A kind of pneumatic robot electric control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611022968.XA CN108078533A (en) | 2016-11-21 | 2016-11-21 | A kind of pneumatic robot electric control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108078533A true CN108078533A (en) | 2018-05-29 |
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ID=62169485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611022968.XA Pending CN108078533A (en) | 2016-11-21 | 2016-11-21 | A kind of pneumatic robot electric control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109730773A (en) * | 2018-12-28 | 2019-05-10 | 北京信息科技大学 | Soft robot atmospheric control |
| CN111007787A (en) * | 2019-12-26 | 2020-04-14 | 北京海益同展信息科技有限公司 | Electrical control system and robot |
| CN113531285A (en) * | 2021-06-09 | 2021-10-22 | 宁波江北宏安市政设施养护有限公司 | Pipeline detection device and detection method thereof |
-
2016
- 2016-11-21 CN CN201611022968.XA patent/CN108078533A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109730773A (en) * | 2018-12-28 | 2019-05-10 | 北京信息科技大学 | Soft robot atmospheric control |
| CN111007787A (en) * | 2019-12-26 | 2020-04-14 | 北京海益同展信息科技有限公司 | Electrical control system and robot |
| CN111007787B (en) * | 2019-12-26 | 2021-05-04 | 北京海益同展信息科技有限公司 | Electrical control system and robot |
| CN113531285A (en) * | 2021-06-09 | 2021-10-22 | 宁波江北宏安市政设施养护有限公司 | Pipeline detection device and detection method thereof |
| CN113531285B (en) * | 2021-06-09 | 2022-10-25 | 宁波江北宏安市政设施养护有限公司 | Pipeline detection device and detection method thereof |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180529 |
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| WD01 | Invention patent application deemed withdrawn after publication |