CN109185555B

CN109185555B - Micro electric air valve of software robot based on 3D prints

Info

Publication number: CN109185555B
Application number: CN201811223737.4A
Authority: CN
Inventors: 栾广宇; 隋心
Original assignee: Harbin Institute of Technology; Heilongjiang Bayi Agricultural University
Current assignee: Harbin Institute of Technology; Heilongjiang Bayi Agricultural University
Priority date: 2018-10-19
Filing date: 2018-10-19
Publication date: 2020-07-03
Anticipated expiration: 2038-10-19
Also published as: CN109185555A

Abstract

A micro electric air valve of a soft robot based on 3D printing relates to a micro air valve, which comprises a sealing head, a hollow cylinder with internal threads, a connecting body with external threads, a shell and a motor; the motor and the hollow cylinder are arranged in the shell, one end of the hollow cylinder is fixedly connected with the sealing head, the other end of the hollow cylinder is in threaded connection with the connecting body, the connecting body is connected with an output shaft of the motor, and the hollow cylinder and the sealing head can reciprocate relative to the shell; the sealing head, the hollow cylinder, the connector and the housing are all made by 3D printing. The invention has compact structure, flexible and convenient use and good control reliability.

Description

Micro electric air valve of software robot based on 3D prints

Technical Field

The invention relates to a micro air valve, in particular to a soft robot micro electric air valve based on 3D printing.

Background

In order to realize basic motions such as stretching, bending, twisting and the like, soft robots are often designed to have a multi-cavity structure. The pneumatic driving is a driving method commonly used by a soft robot, each air cavity of the multi-cavity pneumatic soft robot needs a corresponding air valve to control the air cavity, but the existing air pressure control valves have large volumes, and when the number of the air cavities of the soft robot is large, a plurality of control valves are difficult to integrate into the soft robot. And the special air valve needs a corresponding external air passage, so that the air passage is complicated, and the movement of the soft robot is limited.

Disclosure of Invention

The invention provides a 3D printing-based micro electric air valve of a soft robot, which is flexible in structure and convenient to control and overcomes the defects of the prior art.

The technical scheme of the invention is as follows:

a micro electric air valve of a soft robot based on 3D printing comprises a sealing head, a hollow cylinder with internal threads, a connecting body with external threads, a shell and a motor;

the motor and the hollow cylinder are arranged in the shell, one end of the hollow cylinder is fixedly connected with the sealing head, the other end of the hollow cylinder is in threaded connection with the connecting body, the connecting body is connected with an output shaft of the motor, and the hollow cylinder and the sealing head can reciprocate relative to the shell; the sealing head, the hollow cylinder, the connector and the housing are all made by 3D printing.

Further, the motor is a micro direct current motor.

Further, the hollow cylinder is a hollow cylinder.

Further, the sealing head comprises a blocking plate and a blocking head; the plug plate and the plug are integrally manufactured, the plug plate is connected with one end of the hollow cylinder, the plug is a truncated cone, and the large end face of the plug is connected with the plug plate.

Compared with the prior art, the invention has the beneficial effects that:

according to the micro air path valve body based on the 3D printing technology, the on-off of the air valve is controlled through the micro direct current speed reducing motor. Overall structure is simple, and is small, light in weight, can integrate inside software robot well, and direct current motor's control is comparatively convenient. All parts are formed by 3D printing, the preparation method is simple, the cost is low, and the method is very suitable for being applied to a multi-cavity soft robot.

Drawings

FIG. 1 is a perspective view of a soft body robot micro electric air valve based on 3D printing according to the present invention;

FIG. 2 is a diagram of a soft body robot structure using the micro electric air valve of the soft body robot based on 3D printing according to the present invention;

FIG. 3 is an explosion diagram of a built-in gas circuit valve body formed by a soft robot micro electric gas valve based on 3D printing;

FIG. 4 is a schematic diagram of a reconfigurable soft body robot using the 3D printing-based micro electric air valve of the soft body robot of the present invention;

fig. 5 is a pneumatic feedback loop diagram of the multi-chamber pneumatic soft robot.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

Referring to fig. 1, the soft robot micro electric air valve based on 3D printing comprises a sealing head 5, a hollow cylinder 4 with internal threads, a connecting body 3 with external threads, a shell 2 and a motor 1;

the motor 1 and the hollow cylinder 4 are arranged in the shell 2, one end of the hollow cylinder 4 is fixedly connected with a sealing head 5, the other end of the hollow cylinder 4 is in threaded connection with the connector 3, the connector 3 is connected with an output shaft of the motor 1, and the hollow cylinder 4 and the sealing head 5 can reciprocate relative to the shell 2; the sealing head 5, the hollow cylinder 4, the connecting body 3 and the housing 2 are all made by 3D printing.

A software robot using the micro electric air valve is shown in fig. 2, and the method of using the valve body is described. And 6, a cavity for placing the wireless control chip and the motor driving chip is connected with the motor 1 through a DuPont wire, and receives a control instruction to control the forward and reverse rotation of the motor 1. And 5, a sealing head is tightly matched with the inlet of the air cavity, so that the air channel can be blocked. 7 is the main deformation body of the soft robot, when the gas is filled, the operation of bending, stretching, twisting and the like can be realized according to the difference of the internal structure, so the operation control of the soft robot can be realized by controlling the on-off of the micro electric gas valve. Meanwhile, the flow rate of the gas filled in the cavity can be controlled by adjusting the matching degree between the sealing head and the inlet of the air cavity, namely the opening degree of the valve port.

Preferably, the motor 1 is a micro dc motor.

Preferably, the hollow cylinder 4 is a hollow cylinder.

Preferably, the sealing head 5 comprises a blocking plate 5-1 and a blocking head 5-2; the plug plate 5-1 and the plug 5-2 are integrally manufactured, the plug plate 5-1 is connected with one end of the hollow cylinder 4, the plug 5-2 is a truncated cone, and the large end face of the plug 5-2 is connected with the plug plate 5-1. The large end face of the plug 5-2 is used for connecting and plugging the air passage joint K3.

Preferably, the housing 2 is a rectangular parallelepiped housing.

Fig. 3 and 4 show a reconfigurable soft robot obtained by using a micro electric air valve of the soft robot based on 3D printing, wherein K is a built-in air passage valve body formed by the micro electric air valve of the soft robot based on 3D printing, and the built-in air passage valve body is installed in a shell K1, and 8 is an azimuth connection air supply body.

The air channel joint K3 is hermetically connected and communicated with an air cavity of a main deformable body 7 of the soft robot, a middle air channel of the main deformable body 7 of the soft robot is communicated with a central channel K4, and the micro electric air valve for the 3D printing-based soft robot controls the connection and the closing of the air channel joint K3 and the central channel K4.

In the above manner, the main deformable body 7 realizes a plurality of combined motion postures,

in the above mode, the azimuth connection gas supply main body 8 plays the roles of connecting a gas source and communicating gas,

in the mode, the micro electric air valve control air channel joint K3 for the soft robot based on 3D printing is communicated with and closed to the central channel K4. A change of the different postures of the main deformable body 7 can be achieved, for example a linear extension and a bending movement.

A cavity 6 for placing a wireless control chip and a motor driving chip is also reserved between the sealing cover K6 and the sealing cover K5 of the shell and is used for controlling the starting and stopping of the motor.

Under the action of the structure, the following two structural changes can be realized: firstly, all the sealing heads 5 open the corresponding gas path joint K3, the gas path joint K3 is communicated with the central path K4, and when the gas cavity of each main deformable body 7 is filled with the same gas pressure, the main deformable body 7 realizes linear extension.

Secondly, when any single sealing head 5 opens the air passage joint K3 corresponding to the sealing head 5 and the remaining air passage joint K3 is closed by the sealing head 5, the main deformation body 7 realizes unidirectional bending.

For a multi-cavity pneumatic soft robot, closed-loop feedback control needs to be performed on air pressure inside a cavity, so that control over behavior and posture of a module unit is indirectly achieved. For this purpose, a pneumatic pressure feedback loop diagram as shown in fig. 5 is designed. The loop consists of an air pump, an electromagnetic valve group, an air pressure sensor and a plurality of motor driving chips. When the pneumatic robot works, high-pressure air is output by the air pump and is distributed to the detection end of the pressure sensor and the integral air supply port of the soft robot through the air supply path. And then, the plurality of miniature electric air valves are used for respectively controlling the air channel channels, and the miniature electric air valves transmit and receive instructions sent by an upper computer based on wireless signals (wireless modules) and control the motors corresponding to the miniature electric air valves to rotate forward and backward, so that the on-off control of the air channels is realized. The motor rotates forwards, the sealing head moves upwards to seal the gas path, the gas cannot enter the corresponding gas cavity, and the gas pressure in the gas cavity is kept constant; the motor rotates reversely, the sealing head moves downwards, the gas path is opened, and gas can enter the corresponding gas cavity.

The E05-MLE132A wireless module used in the embodiment is a plug-in type 2.4GHz wireless module with a very small size, the external dimension is 17.8 × 21.5.5 mm, the wireless module is provided with a PCB on-board antenna, the wireless module is integrated with a transceiver, the transmitting power is 1mW, the wireless module comprises 15 general IO pins and a reset pin, the use requirement of a soft robot is met, a built-in NRF24LE1 chip integrates wireless transmission, an enhanced 51 single chip microcomputer and the like, and programming can be carried out through Keil software.

The air source of the pneumatic control system used in the embodiment comprises an inflating pump and an air release solenoid valve, wherein a 2360PED12 type inflating pump is selected, the working voltage of the inflating pump is 12V, the air pressure output capacity is 60KPa, the standard flow is 2.3L/min, the air pressure using range of the software robot is 0-50Kpa, and other experimental conditions are combined, the solenoid valve group is used for executing the air release function, in order to save power consumption, a 10mm × 29.5.5 mm × 24.3mm two-position two-way normally closed solenoid valve is selected, the working voltage is 12V, the power is 1W, the pressure resistance range is 0-7bar, the operating frequency is as high as 10 ms., one end of the solenoid valve is connected with the atmosphere, when the solenoid valve is not electrified, two valve cavities are separated, the valve cavities are conducted when the solenoid valve is electrified, the air release is realized, in order to realize the air pressure closed loop feedback of the control system, the pressure sensor is selected, the pressure bearing capacity of a ZP 7 type gas transducer with the range of 0-100KPa is selected, the ZP 7 type gas pressure transducer is selected, the pressure transducer can be calibrated according to the standard, the air pressure output signal of the air pressure transducer, the air pressure detection system can be calibrated according to the standard, the accuracy grade detection accuracy of 0.001 grade detection, and the rear detection accuracy of the air pressure detection system can be 0.6844.

The present invention is not limited to the above embodiments, and any person skilled in the art can make many modifications and equivalent variations by using the above-described structures and technical contents without departing from the scope of the present invention.

Claims

1. The utility model provides a miniature electronic pneumatic valve of software robot based on 3D prints which characterized in that: the device comprises a sealing head (5), a hollow cylinder (4) with internal threads, a connecting body (3) with external threads, a shell (2) and a motor (1);

the motor (1) and the hollow cylinder (4) are arranged in the shell (2), one end of the hollow cylinder (4) is fixedly connected with a sealing head (5), the other end of the hollow cylinder (4) is in threaded connection with the connecting body (3), the connecting body (3) is connected with an output shaft of the motor (1), and the hollow cylinder (4) and the sealing head (5) can reciprocate relative to the shell (2); the sealing head (5), the hollow cylinder (4), the connecting body (3) and the housing (2) are all made by 3D printing;

the motor (1) is a miniature direct current speed reducing motor; the motor (1) executes an instruction sent by an upper computer through a wireless control chip and a motor driving chip to realize positive and negative rotation, the micro electric air valve of the soft robot based on 3D printing is installed in a shell (K1), an air channel joint (K3) is connected and communicated with an air cavity of a main deformation body (7) of the soft robot in a sealing mode, the opening degree of a valve port between a sealing head (5) and the air channel joint (K3) is adjusted, and the flow rate control of air filled into the cavity is realized.

2. The micro electric air valve of the soft robot based on 3D printing as claimed in claim 1, wherein: the hollow cylinder (4) is a hollow cylinder.

3. The micro electric air valve of the soft robot based on 3D printing as claimed in claim 2, wherein: the sealing head (5) comprises a blocking plate (5-1) and a plug (5-2); the plug plate (5-1) and the plug (5-2) are integrally manufactured, the plug plate (5-1) is connected with one end of the hollow cylinder (4), the plug (5-2) is a truncated cone, and the large end face of the plug (5-2) is connected with the plug plate (5-1).

4. The micro electric air valve of the soft robot based on 3D printing is characterized in that: the shell (2) is a cuboid shell.