CN111306124B

CN111306124B - Soft valve for implementing quick switching of fluid loop

Info

Publication number: CN111306124B
Application number: CN202010119078.0A
Authority: CN
Inventors: 张鑫杰; 夏康; 纪爱敏
Original assignee: Changzhou Campus of Hohai University
Current assignee: Changzhou Campus of Hohai University
Priority date: 2020-02-26
Filing date: 2020-02-26
Publication date: 2022-03-11
Anticipated expiration: 2040-02-26
Also published as: CN111306124A

Abstract

The invention discloses a soft valve for implementing quick switching of a fluid loop, which comprises a valve body, a top channel, an upper partition plate, a balance cavity, a diaphragm, a control cavity, a lower partition plate and a bottom channel. The top channel is separated from the balance cavity by an upper partition plate, the balance cavity is separated from the control cavity by a diaphragm, and the bottom channel is separated from the control cavity by a lower partition plate; the diaphragm is a bistable flexible film and is provided with two stable positions, the diaphragm is concave in a normal state, the lower convex column is used for extruding the lower partition plate to enable the bottom channel to be normally closed, and the top channel is normally open; the diaphragm is quickly raised when being excited by external force, the upper partition plate is pressed by the upper raised columns to seal the top channel, and the bottom channel is communicated. The soft valve provided by the invention can realize rapid switching on and off control of different fluid circuits, is made of flexible materials, has the advantages of good flexibility, high sensitivity and the like, and has wide application prospect in the fields of intelligent bionic instruments and soft robots.

Description

Soft valve for implementing quick switching of fluid loop

Technical Field

The invention relates to the field of intelligent bionic instruments and soft robots, in particular to a soft valve for implementing rapid switching of a fluid loop.

Background

The traditional rigid robot is widely applied to various fields such as industry, agriculture, medical treatment, construction, education and the like, and partially replaces human work, so that the operation accuracy and the work efficiency are greatly improved. However, when the rigid robot interacts with the natural environment, the rigid element can only move in a translation or rotation manner, and the problems of large motor-driven inertia, heavy body size, danger of man-machine interaction and the like exist, so that the rigid robot has very limited adaptability to the environment, is difficult to meet the flexible operation requirement required by a complex environment, and greatly limits the application range of the rigid robot.

With the continuous expansion of the application requirements and fields of the robot, the emerging fields of rehabilitation medical treatment, complex terrain rescue and exploration, intelligent manufacturing and the like provide higher requirements for the flexibility of the robot. Thanks to the rapid development of intelligent materials and bionic technology, some scholars develop a series of soft robots by adopting flexible materials (such as shape memory alloy, polymer and the like) and simulating biological structures and movement behaviors, and typical achievements include bionic machines such as worms, caterpillars, bat ray and the like. Unlike the conventional rigid robot, the soft robot has an infinite number of degrees of freedom theoretically, and can realize continuous bending, twisting, stretching and other motions at any angle, and thus, the soft robot is a popular research direction in recent years. The soft robot is soft in material, flexible in action and high in man-machine interaction safety, and the essential defect of the traditional rigid robot in the aspect of flexibility is overcome, so that the soft robot has great research value and wide application prospect in a plurality of emerging fields.

Pneumatic driving is the most common driving method for soft robots. In order to realize the motion of the soft robot, some scholars adopt a rigid valve to control the soft robot, for example, various direction control valves widely used in industry are utilized, the rigid valve is started through air pressure or electric signals, and an air pressure loop is adjusted to realize the motion control of the soft robot. However, even if a rigid valve can be integrated with a soft robot, the rigid nature of the valve can significantly reduce the flexibility of the soft robot. Therefore, a rigid valve is not a good choice from the viewpoint of ensuring the compliance of a soft robot. To solve the above problems, some researchers developed some software valves, software logic circuits, software signal processors, etc. based on microfluidic technology. The representative research is that Whitesids subject group of Harvard university develops a micro-fluidic controlled oscillator chip, which is integrated into a soft bionic octopus body and utilizes chemical substances to react in the chip to generate a large amount of pressure gas to drive the octopus, thus becoming the first soft robot in the world which can move automatically without external energy control. Although the microfluidic technology has the obvious advantages of high integration level, small volume and the like in the aspect of application of the soft robot, the complicated manufacturing process of the microfluidic chip greatly reduces the performance stability of the microfluidic soft driver, and is not beneficial to the long-time continuous use of the soft robot. In view of the above, there is a need to develop a soft driver that can realize precise control of the fluid loop of the soft robot, and is easy to realize reliable integration application with the soft robot.

Disclosure of Invention

The purpose of the invention is as follows: to overcome the deficiencies of the prior art, the present invention provides a soft body valve for implementing rapid fluid circuit switching. The valve is made of soft materials, has small volume and high sensitivity, and can meet the integrated application requirements of soft robots and intelligent bionic instruments.

In order to achieve the purpose, the invention adopts the technical scheme that: a soft valve for implementing the quick switching of a fluid loop is made of soft materials and comprises a valve body, a top channel, an upper clapboard, a balance cavity, a diaphragm, a control cavity, a lower clapboard and a bottom channel;

the top channel is provided with a first fluid inlet, a first fluid outlet and a first expansion flow channel, the balance cavity is provided with an air hole, the diaphragm is provided with an upper convex column and a lower convex column, the control cavity is provided with a control port, and the bottom channel is provided with a second fluid inlet, a second fluid outlet and a second expansion flow channel;

the top channel is separated from the balance cavity through an upper partition plate, the balance cavity is separated from the control cavity through a diaphragm, and the bottom channel is separated from the control cavity through a lower partition plate;

the diaphragm is a bistable flexible film and is provided with two stable positions, the diaphragm is kept in a concave state in a normal state, and quickly bounces upwards when being excited by stress and is kept in a convex state.

Preferably, the upper partition plate and the lower partition plate have good elasticity and can elastically deform under the action of external force.

Preferably, the balance cavity is communicated to the atmosphere through an air hole, and the control cavity is connected to external control equipment through a control port.

Preferably, the upper convex column and the lower convex column are both conical columns, and the tips of the columns are smooth spherical surfaces.

Preferably, the diaphragm is extruded by the lower convex column to deform downwards and block the second expansion flow channel in a normal state, so that the bottom channel is normally closed, and the top channel is normally open; when the diaphragm is excited by external force, the upper convex column is used for extruding the upper partition plate to deform upwards and block the first expansion flow channel, so that the top channel is closed, and the lower partition plate is rebounded to a flat state to conduct the bottom channel.

Preferably, the width of the extended flow channel is larger than that of the top channel, and the width of the extended flow channel is larger than that of the bottom channel.

Preferably, the excitation source of the diaphragm is one of external physical fields such as compressed gas, electric field, magnetic field, heat, etc.

Preferably, the soft material is one of silica gel, rubber, polydimethylsiloxane and polyurethane, and the diaphragm is one of silica gel, rubber, polydimethylsiloxane, polyurethane and a shape memory material.

Compared with the prior art, the soft valve for implementing the rapid switching of the fluid loop has the following beneficial effects:

the soft valve for implementing the rapid switching of the fluid circuit is internally provided with a bistable flexible diaphragm which has two stable positions due to a special mechanical structure of the diaphragm. The diaphragm is only subjected to upward reaction force applied to the diaphragm by the lower partition plate at normal state, the reaction force is small, and the diaphragm keeps a concave state. When the lower surface of the diaphragm is excited by an external force exceeding a certain threshold value, the diaphragm can be instantly bounced upwards and keeps a convex state. Based on the mechanical properties of the bistable flexible membrane, the action characteristic of the membrane can be regarded as a signal-actuated response switch. The diaphragm is arranged in the soft valve, and the response action of the diaphragm when the diaphragm is excited by the outside is utilized to extrude the fluid channel in the soft valve, so that the rapid conduction and stop control of the fluid in the fluid channel can be realized. Compared with the rigid valve used in the industry at present, the soft valve provided by the invention is made of flexible materials, can be flexibly integrated and applied with a soft robot, and solves the flexibility defect of the rigid valve. In addition, compared with a micro-fluidic valve, the soft valve is simpler in manufacturing process, can be quickly manufactured by soft material reverse die or 3D printing, and is better in reliability.

Drawings

FIG. 1 is a schematic sectional view of a soft body valve in a normal state;

FIG. 2 is a schematic cross-sectional view of the soft body valve when activated by an external signal;

FIG. 3 is a schematic view of the flow path configuration when the top channel is closed by the diaphragm;

FIG. 4 is a schematic diagram of the integrated application of the soft body valve and the soft body manipulator;

FIG. 5 is a schematic view of a soft valve actuated soft robot bending configuration.

The valve comprises a valve body 1, a top channel 2, a first fluid inlet 21, a first fluid outlet 22, a first expansion flow channel 23, an upper partition plate 3, a balance cavity 4, an air hole 41, a diaphragm 5, an upper convex column 51, a lower convex column 52, a control cavity 6, a control port 61, a lower partition plate 7, a bottom channel 8, a second fluid inlet 81, a second fluid outlet 82, a second expansion flow channel 83, a soft manipulator 9 and an air channel 91.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Example 1

As shown in fig. 1-3, a soft valve for implementing quick switching of a fluid circuit comprises a valve body 1, a top channel 2, an upper partition plate 3, a balance cavity 4, a diaphragm 5, a control cavity 6, a lower partition plate 7 and a bottom channel 8. Except that the material of the diaphragm 5 of the soft valve is silica gel, the other elements are made of polydimethylsiloxane.

The top channel 2 is provided with a first fluid inlet 21, a first fluid outlet 22 and a first expansion flow channel 23, and the bottom channel 8 is provided with a second fluid inlet 81, a second fluid outlet 82 and a second expansion flow channel 83; the balance cavity 4 is provided with an air hole 41, and the control cavity 6 is provided with a control port 61; the width of the first expansion flow channel 23 is 1.5 times that of the top channel 2, and the width of the second expansion flow channel 83 is 1.5 times that of the bottom channel 8; the diaphragm 5 is provided with an upper convex column 51 and a lower convex column 52, the upper convex column 51 and the lower convex column 52 are both conical columns, and the tips of the columns are smooth spherical surfaces.

The top channel 2 is separated from the balance cavity 4 by an upper partition plate 3, the balance cavity 4 is separated from the control cavity 6 by a diaphragm 5, and the bottom channel 8 is separated from the control cavity 6 by a lower partition plate 7; the balance cavity 4 is communicated to the atmospheric environment through an air hole 41, the control cavity 6 is connected to an external control air source (50 kPa) through a control port 61, and the first fluid inlet 21 and the second fluid inlet 81 are both connected to an external working air source (70 kPa).

The diaphragm 5 is a bistable flexible film, the cross section of the diaphragm is a hemispherical surface, the diaphragm is provided with two balance positions, the diaphragm is kept in a concave state in a normal state and kept in a convex state when being excited by external force, and the excitation pressure is 30 kPa.

The diaphragm 5 is normally positioned at the lower position of the valve body, the lower convex column 52 is used for extruding the lower partition plate 7 to deform downwards and block the expansion flow passage 83, so that the bottom passage 8 is normally closed, and the top passage 2 is normally opened. At the moment, the working air source enters the valve body 1 from the first fluid inlet 21 and flows out of the valve from the first fluid outlet 22 for controlling the requirement of a certain channel of the soft robot. The control air supply of the control port 61 is opened and compressed air is filled into the control chamber 6 and acts on the lower surface of the diaphragm 5. When the air pressure in the control cavity 6 reaches 30kPa, the diaphragm 5 is stressed and excited to be instantly bounced upwards to the upper position of the valve body, the upper convex column 51 is utilized to extrude the upper partition plate 3 to deform upwards and block the expansion flow channel I23, the top channel 2 is closed, and the lower partition plate 7 rebounds to a flat state. At this time, the bottom channel 8 is conducted, and the working air source enters the valve body 1 through the second fluid inlet 81 and flows out of the valve through the second fluid outlet 82 for the control requirement of the other channel of the soft robot. The air pressure in the control cavity 6 is controlled to be on and off, so that the diaphragm 5 can have two stable positions of downward bending or upward bending. This bistable operating mechanism of the membrane 5 can be seen as an actuating response to a control gas pressure, which is adjusted to rapidly switch the control of the switching on and off of the gas in the top and bottom channels.

Example 2

As shown in figures 4 and 5, the soft body valve is integrated with the soft body manipulator 9, and the top channel 2 and the bottom channel 8 of the soft body valve are communicated with the air channel 91 of the soft body manipulator. The first fluid inlet 21 and the air hole 41 are communicated with the atmosphere, and the second fluid inlet 81 is communicated with an external working air source P_sThe pressure of the working air source is 70 kPa. The control port 61 is connected to an external control gas source P_cThe pressure of the air source is controlled to be 50 kPa. When the soft valve does not work (normal state), the diaphragm 5 extrudes the lower clapboard 7 to ensure that the bottom channel 8 is normally closed and the top channel 2 is normally opened. Since no compressed gas enters the soft manipulator air channel 9, the soft manipulator 9 is kept in a stretching state. Opening the control air source to charge the compressed air into the soft valveWhen the air pressure in the control cavity 6 reaches 30kPa, the soft valve starts to work, the diaphragm 5 is instantly sprung to extrude the upper partition plate 3 under the action of the air pressure so as to seal the top channel 2, and the bottom channel 8 is communicated with a working air source. At this time, the compressed air enters the air passage 91 of the soft robot, and drives the soft robot 9 to bend and grip the workpiece. The soft mechanical arm 9 has good flexibility, so that the soft mechanical arm can grab workpieces with complex shapes or fragile and fragile workpieces, such as various fruits, glass cups and the like. After the soft mechanical hand 9 finishes the grabbing and moving of various workpieces, a control air source can be cut off, so that the top channel 2 of the soft valve is communicated, and the bottom channel 8 is closed. At this time, the working gas cannot enter the soft manipulator 9, and the gas stored in the air passage 91 of the soft manipulator is rapidly released through the top passage 2 of the soft valve, so that the soft manipulator 9 is restored to the original state again. The software valve and the software manipulator 9 can work cooperatively by adjusting the external control air source according to the flow.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. A soft body valve for implementing rapid fluid circuit switching, comprising: the valve consists of a soft material and comprises a valve body (1), a top channel (2), an upper partition plate (3), a balance cavity (4), a diaphragm (5), a control cavity (6), a lower partition plate (7) and a bottom channel (8);

the top channel (2) is provided with a first fluid inlet (21), a first fluid outlet (22) and a first expansion flow channel (23), the balance cavity (4) is provided with an air hole (41), the diaphragm (5) is provided with an upper convex column (51) and a lower convex column (52), the control cavity (6) is provided with a control port (61), and the bottom channel (8) is provided with a second fluid inlet (81), a second fluid outlet (82) and a second expansion flow channel (83);

the top channel (2) is separated from the balance cavity (4) through an upper partition plate (3), the balance cavity (4) is separated from the control cavity (6) through a diaphragm (5), and the bottom channel (8) is separated from the control cavity (6) through a lower partition plate (7);

the diaphragm (5) is a bistable flexible film and is provided with two stable positions, a concave state is kept in a normal state, the diaphragm is rapidly bounced upwards when being stressed and excited, and an convex state is kept;

the upper partition plate (3) and the lower partition plate (7) are elastic and can elastically deform under the action of external force;

the balance cavity (4) is communicated to the atmosphere environment through an air hole (41), and the control cavity (6) is connected to external control equipment through a control port (61).

2. The soft body valve for performing rapid fluid circuit switching of claim 1, wherein: the upper convex column (51) and the lower convex column (52) are both conical cylinders, and the tips of the cylinders are smooth spherical surfaces.

3. The soft body valve for performing rapid fluid circuit switching of claim 1, wherein: the diaphragm (5) is extruded by the lower convex column (52) to deform downwards and block the second expansion flow channel (83) in a normal state, so that the bottom channel (8) is normally closed, and the top channel (2) is normally open; when the diaphragm (5) is excited by external force, the upper convex column (51) is used for extruding the upper partition plate (3) to deform upwards and block the first expansion flow channel (23), so that the top channel (2) is closed, and the lower partition plate (7) rebounds to a flat state to conduct the bottom channel (8).

4. The soft body valve for performing rapid fluid circuit switching of claim 1, wherein: the first expansion flow channel (23) is wider than the top channel (2), and the second expansion flow channel (83) is wider than the bottom channel (8).

5. The soft body valve for performing rapid fluid circuit switching of claim 1, wherein: the excitation source of the diaphragm (5) is one of compressed gas, an electric field, a magnetic field and a thermal external physical field.

6. The soft body valve for performing rapid fluid circuit switching of claim 1, wherein: the soft material is one of silica gel, rubber, polydimethylsiloxane and polyurethane.

7. The soft body valve for performing rapid fluid circuit switching of claim 1, wherein: the diaphragm (5) is one of silica gel, rubber, polydimethylsiloxane, polyurethane and a shape memory material.