CN110425319A - A kind of pressure relief valve body of flexibility binary channels control - Google Patents
A kind of pressure relief valve body of flexibility binary channels control Download PDFInfo
- Publication number
- CN110425319A CN110425319A CN201910794397.9A CN201910794397A CN110425319A CN 110425319 A CN110425319 A CN 110425319A CN 201910794397 A CN201910794397 A CN 201910794397A CN 110425319 A CN110425319 A CN 110425319A
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- China
- Prior art keywords
- tracheae
- shell
- hole
- valve body
- screw thread
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K17/00—Safety valves; Equalising valves, e.g. pressure relief valves
- F16K17/20—Excess-flow valves
- F16K17/22—Excess-flow valves actuated by the difference of pressure between two places in the flow line
- F16K17/24—Excess-flow valves actuated by the difference of pressure between two places in the flow line acting directly on the cutting-off member
- F16K17/28—Excess-flow valves actuated by the difference of pressure between two places in the flow line acting directly on the cutting-off member operating in one direction only
- F16K17/30—Excess-flow valves actuated by the difference of pressure between two places in the flow line acting directly on the cutting-off member operating in one direction only spring-loaded
Abstract
The present invention discloses a kind of pressure relief valve body of flexible binary channels control, including screw thread shell, three hole shells, flexible silicon glue film, the screw thread shell of upper part are sealed with three hole shells of lower part and docked, and what flexible silicon glue film was located in screw thread shell and three hole shells docks place；Non-porous knob is screwed on the inner sidewall of screw thread shell, the bottom center of non-porous knob is fixed with spring, and the end of spring is fixedly connected with the briquetting for being located at spring pellosil bottom；The intercommunicating pore for connecting top control tracheae is offered on screw thread shell between non-porous knob and outer casing bottom edge；It is equipped with silica gel tracheae in three hole shells, and offers the stomata for connecting lower section control tracheae below the shell of three hole shells；The enclosure interior bottom side of three hole shells is fixed with magnet boss corresponding with briquetting position.The pressure relief valve body is mainly used on the pneumatic soft robot moved with rhythmicity, succession.
Description
Technical field
The present invention relates to soft robot and fluid control technology fields, more particularly to a kind of flexible binary channels control
Pressure relief valve body.
Background technique
The robot overwhelming majority used in traditional industry is all the robot of rigid structure, although rigid machine people's rigidity
Greatly, working strength is high, and execution efficiency is fast, but since its any position rigidity cannot be adjusted, is not suitable for grabbing
Brittle object, such as egg, biscuit, glass etc..Modern development in science and technology has been no longer satisfied with the machine of design rigid structure
People, for the both hands further to liberate mankind, in face of that can be solved using robot when many and diverse work of increasingly complex danger, then
Constantly deepen in the exploration field to soft robot, explores equipment and constantly update.A pneumatic software under normal circumstances
One air cavity of robot needs a tracheae control, if soft robot function is more complicated, along be exactly air cavity number
Purpose increases, while also resulting in the increase of tracheae number, and the increase of tracheae number must bring soft robot to move
It is difficult.Therefore it needs to design a kind of software valve, the function of tracheae can be replaced in some cases, while ensuring pneumatic software machine
It is device people light weight, small in size, practical reliable.
Summary of the invention
The object of the present invention is to provide a kind of pressure relief valve bodies of flexible binary channels control, exist to solve the above-mentioned prior art
The problem of, be mainly used in rhythmicity, succession movement pneumatic soft robot on, the pressure relief valve body have make to connect
There is the function of one-way delay release gas between air cavity, therefore soft actuator can be allowed successively to execute movement.
To achieve the above object, the present invention provides following schemes: the present invention provides a kind of letting out for flexible binary channels control
Pressure valve body, including screw thread shell, three hole shells, flexible silicon glue film, the screw thread shell of upper part and described the three of lower part
The sealing docking of hole shell, what the flexible silicon glue film was located in the screw thread shell and three hole shells docks place；
Non-porous knob is screwed on the inner sidewall of the screw thread shell, the bottom center of the non-porous knob is fixed with bullet
Spring, the end of the spring are fixedly connected with the briquetting for being located at spring pellosil bottom；It is located at institute on the screw thread shell
State the intercommunicating pore offered between non-porous knob and outer casing bottom edge for connecting top control tracheae；
It is equipped with silica gel tracheae in the shell of three hole, and offers below the shell of three hole shell under connection
The stomata of side's control tracheae；It is convex that the enclosure interior bottom side of three hole shell is fixed with magnet corresponding with the briquetting position
Platform.
Further, chamfering is respectively set at the interfaces of the screw thread shell and three hole shells；The flexible silicon glue film
It is clamped by upper lower casing, blend compounds water-stop is fixed.
Further, a groove is offered among the upper surface of the non-porous knob, it is round recessed that lower surface offers one
Slot, the top of the spring are fixed with spring shim, and the spring shim is fitted in the circular groove.
Further, the briquetting is the briquetting of irony, and the bottom of the briquetting is described for compressing the silica gel tracheae
It is connected at the top of briquetting across the flexible silicon glue film and the connecting column mutually fixed with the end of the spring.
Further, the centre of the flexible silicon glue film offers a through-hole, and the top of the connecting column passes through described logical
The end of spring described in Kong Houyu is mutually fixed；The nut and gasket for clamping the through-hole are provided on the connecting column.
Further, the groove to match with the shape of the briquetting is offered on the magnet boss.
Further, the silica gel tracheae, top control tracheae and lower section control tracheae are separately connected different air cavitys.
Further, the shore hardness of the silica gel tracheae is 30A, and the silica gel tracheae tenses in advance.
The present invention achieves following technical effect compared with the existing technology:
The pressure relief valve body of flexible binary channels control in the present invention, providing one for software Multicarity robot can be reduced
The scheme that tracheae uses, the executive component in the program is flexible silicone tube and pellosil, and the on-off of control valve reaches
Interact independently discouraged function between air cavity.Present invention is mainly used for pneumatic soft robot, solve pneumatic software machine
Problem more than popularity pipe, different from the valve of rigid body, software silicone tube air-tightness used in the present invention is good, small in size, light weight；
Different from automatically controlled rigid body valve, the present invention does not need electric control, but pressurization reaches after threshold value due to the phase interaction between cavity
With can be connected automatically；The power opened using the energy that air cavity next time is inflated as current air cavity gas bleeder valve.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is left view sectional view of the present invention；
Fig. 2 is elevational cross-sectional view of the present invention；
Fig. 3 is overall structure of the present invention；
Wherein, 1 screw thread shell；2 three hole shells；3 non-porous knobs；4 spring shims；5 springs；6 tops control tracheae；7 bullets
Property pellosil；8 briquettings；9 silica gel tracheaes；10 magnet boss；11 lower sections control tracheae.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of pressure relief valve bodies of flexible binary channels control, exist to solve the above-mentioned prior art
The problem of, be mainly used in rhythmicity, succession movement pneumatic soft robot on, the pressure relief valve body have make to connect
There is the function of one-way delay release gas between air cavity, therefore soft actuator can be allowed successively to execute movement.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Figure 1-3, the present invention provides a kind of pressure relief valve body of flexible binary channels control, including screw thread shell 1, three holes
Shell 2, flexible silicon glue film 7, the screw thread shell 1 of upper part are docked with the sealing of three hole shells 2 of lower part, and flexible silicon glue film 7 presss from both sides
Place is docked set on screw thread shell 1 and three hole shells 2；Non-porous knob 3, non-porous knob 3 are screwed on the inner sidewall of screw thread shell 1
Bottom center be fixed with spring 5, the end of spring 5 is fixedly connected with the briquetting 8 for being located at 5 pellosil bottom of spring；Outside screw thread
The intercommunicating pore for connecting top control tracheae 6 is offered on shell 1 between non-porous knob 3 and outer casing bottom edge；Three holes
It is equipped with silica gel tracheae 9 in shell 2, and offers the gas for connecting lower section control tracheae 11 below the shell of three hole shells 2
Hole；The enclosure interior bottom side of three hole shells 2 is fixed with magnet boss 10 corresponding with 8 position of briquetting.
Spring 5 is squeezed by non-porous knob 3, spring 5 pushes briquetting 8 to squeeze silica gel tracheae 9 and pellosil down, pushes silicon
Glue tracheae 9 reaches lower section magnet boss 10, and silica gel tracheae 9 by magnetic attraction has been superimposed due to being generated crowded simultaneously up and down
Pressure, therefore truncation state can be presented and gas cannot be allowed to pass through.But the air pressure liter that the lower chambers inside silica gel tracheae 9 are connected with
Height can make air pressure below pellosil increase, so that pellosil be pushed up to move, the movement of pellosil overcomes spring 5 to act on
Power and magnetic attracting force drive briquetting 8 up to lift, and discharge silicone tube radial pressure, let out so that silica gel tracheae 9 is in again
Gaseity.The air pressure that upper chamber inside silica gel tracheae 9 is connected with increases, and air pressure above pellosil can be made to increase, to push away
Dynamic pellosil moves down, and valve body is made to be in truncation state again.
The pressure relief valve body of flexible binary channels control of the invention has a chamfering at the interfaces of two shells, facilitates outside two
Valve body isolation is opened two parts by shell docking and clamping flexible silicon glue film 7, one piece of pellosil；Silica gel tracheae 9, top control simultaneously
Tracheae 6 and lower section control tracheae 11 are separately connected different air cavitys.
Screw thread is had on non-porous 3 cylindrical surface of knob, is matched with the screw thread on the inner sidewall of screw thread shell 1.Pass through adjusting
The depth of non-porous knob 3, the pretightning force of adjustable spring 5, to adjust briquetting 8 to the starting extrusion and displacement of silica gel tracheae 9.
Circular groove is had below non-porous knob 3, is cooperated with spring shim 4, spring shim 4 and spring 5 are relatively fixed, in order to
Prevent spring 5 from breakking away in movement.
There is a lesser through-hole among flexible silicon glue film 7, is clamped by nut, gasket, prevent in-between aperture gas leakage.Under
Side's control tracheae 11 and top control a kind of silicone tube slightly bigger than 9 rigidity of silica gel tracheae using rigidity of tracheae 6,
Its role is to be filled with high pressure gas to valve body lower chambers or upper chamber, main airway is opened or closed.
The pressure relief valve body of flexible binary channels control in the present invention, the specific working principle is as follows:
The left side of silica gel tracheae 9 and another high pressure air cavity are connected, and position is squeezed by briquetting 8 among valve inner, when
Silica gel tracheae 9 moves down a distance once squeezing, and silica gel tracheae 9 is possible to can be in truncation state, under silica gel tracheae 9 continues
It moves, the extruding of briquetting 8 will be sucked in magnet boss 10, cause about 9 silica gel tracheae to be jammed, so that truncation state must be in.
When high pressure gas is filled with from lower chambers, the air pressure of lower chamber can be made to increase, since upper chambers still keep script air pressure,
When air pressure is increased to a threshold value, gas push pellosil is up moved, this process overcomes 5 active force of spring and magnet boss
Magnetic force between 10 and briquetting 8.After briquetting 8 moves up certain distance, 9 major trunk roads of silica gel tracheae are again in the conductive state,
The high pressure gas at high-pressure chamber end can be released atmosphere by this state.When the chamber that the control tracheae of top connects is in high pressure
When state, the upper chamber of valve inner can also be in high pressure conditions, and at this time top air pressure makes together with 5 active force of spring
Pellosil moves down, and briquetting 8 is forced to compress silica gel tracheae 9 again, and silica gel tracheae 9 is in truncation state again, which can
So that valve body is shut after discouraged, gas is avoided to return from leakage port.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (8)
1. a kind of pressure relief valve body of flexibility binary channels control, it is characterised in that: including screw thread shell, three hole shells, elastic silica gel
The screw thread shell of film, upper part is docked with the sealing of three hole shell of lower part, and the flexible silicon glue film is located in institute
That states screw thread shell and three hole shells docks place；
Non-porous knob is screwed on the inner sidewall of the screw thread shell, the bottom center of the non-porous knob is fixed with spring, institute
The end for stating spring is fixedly connected with the briquetting for being located at spring pellosil bottom；It is located on the screw thread shell described non-porous
The intercommunicating pore for connecting top control tracheae is offered between knob and outer casing bottom edge；
It is equipped with silica gel tracheae in the shell of three hole, and is offered below the shell of three hole shell for connecting lower section control
The stomata of tracheae processed；The enclosure interior bottom side of three hole shell is fixed with magnet boss corresponding with the briquetting position.
2. the pressure relief valve body of flexibility binary channels control according to claim 1, it is characterised in that: the screw thread shell and three
Chamfering is respectively set at the interfaces of hole shell；The flexible silicon glue film is clamped by upper lower casing, and blend compounds water-stop is fixed.
3. it is according to claim 1 flexibility binary channels control pressure relief valve body, it is characterised in that: the non-porous knob it is upper
A groove is offered among surface, lower surface offers a circular groove, and the top of the spring is fixed with spring shim, institute
Spring shim is stated to be fitted in the circular groove.
4. the pressure relief valve body of flexibility binary channels control according to claim 1, it is characterised in that: the briquetting is irony
Briquetting, the bottom of the briquetting are connected at the top of the briquetting across the elastic silica gel for compressing the silica gel tracheae
Film and the connecting column mutually fixed with the end of the spring.
5. the pressure relief valve body of flexibility binary channels control according to claim 4, it is characterised in that: the flexible silicon glue film
Centre offers a through-hole, and the top of the connecting column is mutually fixed after the through-hole with the end of the spring；The company
Connect the nut and gasket being provided on column for clamping the through-hole.
6. the pressure relief valve body of flexibility binary channels control according to claim 1, it is characterised in that: opened on the magnet boss
The groove to match equipped with the shape with the briquetting.
7. it is according to claim 1 flexibility binary channels control pressure relief valve body, it is characterised in that: the silica gel tracheae, on
Side's control tracheae and lower section control tracheae are separately connected different air cavitys.
8. the pressure relief valve body of flexibility binary channels control according to claim 1, it is characterised in that: Shao of the silica gel tracheae
Family name's hardness is 30A, and the silica gel tracheae tenses in advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910794397.9A CN110425319B (en) | 2019-08-27 | 2019-08-27 | Flexible double-channel controlled pressure relief valve body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910794397.9A CN110425319B (en) | 2019-08-27 | 2019-08-27 | Flexible double-channel controlled pressure relief valve body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110425319A true CN110425319A (en) | 2019-11-08 |
| CN110425319B CN110425319B (en) | 2020-05-26 |
Family
ID=68416036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910794397.9A Active CN110425319B (en) | 2019-08-27 | 2019-08-27 | Flexible double-channel controlled pressure relief valve body |
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| Country | Link |
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| CN (1) | CN110425319B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111306147A (en) * | 2020-02-26 | 2020-06-19 | 河海大学常州校区 | Soft oscillator with automatic bistable gas circuit regulation and control function |
| CN111911667A (en) * | 2020-08-13 | 2020-11-10 | 上海大学 | Multi-state light reversing valve for soft robot |
| CN113007385A (en) * | 2021-03-16 | 2021-06-22 | 山东大学 | Soft switching valve with bistable state and adjustable middle position |
| CN113007384A (en) * | 2021-03-16 | 2021-06-22 | 山东大学 | Small pneumatic three-way soft switch valve |
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| CN108223831A (en) * | 2016-12-21 | 2018-06-29 | 费斯托股份有限两合公司 | Pinch valve |
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| CN204692590U (en) * | 2015-04-18 | 2015-10-07 | 九牧厨卫股份有限公司 | A kind of mounting structure be connected with disjunctor spool for flexible pipe |
| CN106224589A (en) * | 2016-09-28 | 2016-12-14 | 珠海蓝创科技有限公司 | A kind of pollution-free two-way pipe valve |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111306147A (en) * | 2020-02-26 | 2020-06-19 | 河海大学常州校区 | Soft oscillator with automatic bistable gas circuit regulation and control function |
| CN111306147B (en) * | 2020-02-26 | 2023-07-14 | 河海大学常州校区 | Soft oscillator capable of automatically regulating bistable gas circuit |
| CN111911667A (en) * | 2020-08-13 | 2020-11-10 | 上海大学 | Multi-state light reversing valve for soft robot |
| CN111911667B (en) * | 2020-08-13 | 2022-03-04 | 上海大学 | Multi-state light reversing valve for soft robot |
| CN113007385A (en) * | 2021-03-16 | 2021-06-22 | 山东大学 | Soft switching valve with bistable state and adjustable middle position |
| CN113007384A (en) * | 2021-03-16 | 2021-06-22 | 山东大学 | Small pneumatic three-way soft switch valve |
| CN113007384B (en) * | 2021-03-16 | 2022-01-04 | 山东大学 | Small pneumatic three-way soft switch valve |
| CN113007385B (en) * | 2021-03-16 | 2022-03-04 | 山东大学 | Soft switching valve with bistable state and adjustable middle position |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110425319B (en) | 2020-05-26 |
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