CN113153835A - Air recirculation system based on pericardial soft air supplement valve and working method thereof - Google Patents
Air recirculation system based on pericardial soft air supplement valve and working method thereof Download PDFInfo
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- 239000003795 chemical substances by application Substances 0.000 claims description 7
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- 244000137852 Petrea volubilis Species 0.000 claims description 3
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/04—Accumulators
- F15B1/08—Accumulators using a gas cushion; Gas charging devices; Indicators or floats therefor
- F15B1/10—Accumulators using a gas cushion; Gas charging devices; Indicators or floats therefor with flexible separating means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/06—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2201/00—Accumulators
- F15B2201/30—Accumulator separating means
- F15B2201/315—Accumulator separating means having flexible separating means
- F15B2201/3152—Accumulator separating means having flexible separating means the flexible separating means being bladders
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Abstract
The invention discloses an air recirculation system based on a heart bag-shaped soft air supplement valve and a working method thereof. The air recirculation system comprises an air source, a control valve, a pneumatic flexible driver and a soft air replenishing valve. The soft air compensating valve comprises a rigid bracket, a connecting disc and an elastic membrane sac. Two side surfaces of the connecting disc are respectively fixed with the inner end surfaces of the two rigid supports. The connecting disc is provided with a central vent hole. The inner cavities of the two rigid supports are connected through a central vent hole. The elastic membrane bag is coated on the connecting disc and the two rigid supports. The middle part of the inner side surface of the elastic membrane bag is hermetically fixed with the connecting disc; two ends of the inner side surface of the elastic membrane sac respectively exceed the ventilation ports of the rigid bracket; openings at two ends of the elastic membrane bag are respectively used as an air inlet and an air outlet of the soft air compensating valve. The soft air compensating valve recovers the compressed air, so that the mass flow of the air flowing to the compressor is increased, the supercharging performance of the system is enhanced, the rest time of the compressor is prolonged, and the overall efficiency of the pneumatic system is greatly improved.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to an air recirculation system based on a pericardial soft air supplement valve.
Background
Due to the light weight and the compliance of the soft robot, the field of the soft robot is in an advantageous position in the aspects of wearable equipment and human-computer interaction, and the pneumatic system is one of the most widely applied system types in the soft robot and has the advantages of compliance, light weight, high force density and the like. However, the pneumatic system is energy inefficient, and compressed air is discharged and discarded after use; and the system response is slow, and the pressurization and the exhaust require considerable time, thereby limiting the control performance; the compressed air can generate excessive noise when being exhausted from the system, and the application of the pneumatic system in the aspects of human-computer interaction, wearable performance and the like is not facilitated, so that the wide application of the pneumatic driving system in the soft robot is extremely challenging.
In order to improve the efficiency and control performance of the system and realize the reutilization of compressed gas, the invention provides an air recirculation system adopting a soft air compensation valve. The system can recycle almost all compressed air in the pneumatic execution system and improve the system efficiency. The soft air compensating valve is designed based on a pericardium structure, adopts a soft outer wall with low elasticity, and passively stores the energy of compressed air in the form of elastic potential energy, so that the efficiency of a pneumatic system and the pressure relief performance of a soft robot are improved; the system can effectively recover compressed air under the condition of not influencing the pressure relief performance, greatly improves the overall efficiency of a pneumatic system while saving energy consumption, and reduces noise generated in the compressed gas exhaust process. The air recirculation system based on the pericardial soft air supplement valve provides a new technical idea for the development of soft robots, is widely applied and is not limited to the field of soft robots.
Disclosure of Invention
The invention aims to provide an air recirculation system based on a heart bag-shaped soft air supplement valve and a working method thereof.
The invention relates to an air recirculation system based on a heart bag-shaped soft air supplement valve, which comprises an air source, a control valve, a pneumatic flexible driver and a soft air supplement valve. And the air outlet of the air source is connected to the control air port of the pneumatic flexible driver through a control valve. The control air port of the pneumatic flexible driver is connected to the air inlet of the soft air compensation valve through a control valve. The air outlet of the soft air supplement valve is connected to an air source.
The soft air compensating valve comprises a rigid support, a connecting disc and an elastic membrane sac. Two side surfaces of the connecting disc are respectively fixed with the inner end surfaces of the two rigid supports. The connecting disc is provided with a central vent hole. The inner cavities of the two rigid supports are connected through a central vent hole. The elastic membrane bag is coated on the connecting disc and the two rigid supports. The middle part of the inner side surface of the elastic membrane bag is hermetically fixed with the connecting disc; two ends of the inner side surface of the elastic membrane sac respectively exceed the ventilation ports of the rigid bracket; openings at two ends of the elastic membrane bag are respectively used as an air inlet and an air outlet of the soft air compensating valve.
Preferably, the air source comprises an air compressor, an air tank and a one-way valve. The input port of the one-way valve, the air outlet of the soft air supplement valve and the air inlet of the air compressor are connected together. The air outlet of the air compressor is connected to the air inlet of the air tank. The air outlet of the air tank is connected to the first air port of the control valve; the second vent of the control valve is connected to the control vent of the pneumatic flexible actuator. The third air port of the control valve is connected to the air inlet of the soft air supplement valve through a pipeline.
Preferably, the control valve is a three-position three-way reversing valve; the first working position is provided with three air ports which are all cut off; in the second working position, the second air vent is communicated with the first air vent; and in the third working position, the second air vent is communicated with the third air vent.
Preferably, the center position of one side surface of the connecting disc is provided with an installation groove; the side wall of one side of the mounting groove is connected with a check sheet. In the initial state, the check sheet covers the central vent hole. Of the two rigid supports, the rigid support close to the check sheet is an input side rigid support; the rigid support far away from the check sheet is an output side rigid support. The ventilation interface at the outer end of the input side rigid support corresponds to the air inlet of the soft air supplement valve; the air vent interface at the outer end of the output side rigid support corresponds to the air outlet of the soft air supplement valve.
Preferably, an annular groove is formed in the outer circumferential surface of the connecting disc. The middle part of the inner side surface of the elastic membrane bag is provided with a convex ring. The convex ring is embedded in the annular groove.
Preferably, the elastic membrane bag and the connecting disc are both formed by casting silicon rubber materials.
Preferably, the rigid support is in the shape of a hollow rotating body, and the end part of the outer end of the rigid support is in the shape of a circular tube. The end part of the inner end of the rigid support is a circular plane; the inner end of the rigid support is provided with a vent groove. The connecting disc is disc-shaped.
Preferably, the method for manufacturing the soft gulp valve comprises the following steps:
step one, preparing a connecting disc mold, an air compensating valve outer mold and two rigid supports in a 3D printing mode; the connecting disc mould consists of a mould core and two symmetrical connecting disc semi-outer moulds which are arranged left and right. The two connecting disc semi-outer dies are spliced to form a disc-shaped cavity. The shape of the core corresponds to a central vent hole on the connecting disc and a gap between the check sheet and the connecting disc main body, so that only one side edge of the check sheet is connected with the connecting disc. And the shape of the cavity of the external mold of the gulp valve corresponds to the shape of the soft gulp valve.
And step two, preparing a silicon rubber solution and carrying out stirring and defoaming treatment.
Step three, primary casting. And spraying a release agent on the inner wall of the connecting disc mould. After that, the silicone rubber solution was injected into the land mold. And after curing, disassembling the connecting disc die to obtain the connecting disc. And then the two side surfaces of the connecting disc are respectively bonded with the inner end surfaces of the two rigid supports to form a main body of the soft air supplement valve.
Step four, secondary casting. And (4) spraying a release agent on the outer side surfaces of the two rigid supports and the cavity of the external mold of the gulp valve. Then, the main body of the soft gulp valve obtained in the step three is fixedly installed with a cavity of an external mold of the gulp valve; and injecting the silicon rubber solution into a gap between the cavity of the external mold of the gulp valve and the rigid bracket. After curing, the external mold of the gulp valve is disassembled, and the end parts of the two ends of the formed elastic membrane bag are provided with vent holes.
Preferably, in the first step, after the land die, the gulp valve outer die and the rigid support are printed, sand paper is used for polishing.
The working method of the air recirculation system based on the pericardial soft air replenishing valve comprises the following steps:
the air compressor sucks external air through the one-way valve and compresses and stores the external air into the air tank; the control valve is used for controlling the gas in the air tank to flow into the pneumatic flexible driver or the gas in the pneumatic flexible driver to flow into the soft air supplement valve, so that the pneumatic flexible driver is driven.
When the air in the pneumatic flexible driver flows into the soft air supplement valve, the air pressure in the elastic membrane bag is increased, so that the elastic membrane bag is expanded. A part of pressure potential energy of the gas is converted into elastic potential energy for storage, and the pressure inside the soft air compensation valve is reduced, so that the gas in the pneumatic flexible driver can smoothly enter the soft air compensation valve. When the air compressor is started again, the air in the soft air supplement valve is input into the air compressor, and the elastic membrane bag contracts to release elastic potential energy, so that the power consumption of the air compressor is reduced.
The invention has the beneficial effects that:
1. the air recirculation system adopts the soft air compensating valve in the shape of a heart bag to recover the compressed air, so that the mass flow of the air flowing to the compressor is increased, the supercharging performance of the system is enhanced, the rest time of the compressor is prolonged, and the overall efficiency of the pneumatic system is greatly improved.
2. The soft air compensating valve adopts the expandable elastic membrane bag, and passively stores the energy of compressed air in the form of elastic potential energy when the air compensating valve is filled with air, so that the pressure relief performance of the pneumatic actuating mechanism is improved, the original control performance of the pneumatic actuating mechanism is prevented from being deteriorated, the soft air compensating valve is provided with the connecting disc structure to prevent backflow, and the working efficiency of the system is further improved.
3. The invention recycles the compressed air and greatly reduces the noise generated by discharging the high-pressure gas.
4. The soft air supplement valve is simple to manufacture, the rigid support printed by 3D can serve as a part and a mould for casting, the manufacturing complexity is greatly reduced by the integrated design, and the air tightness and the precision of the soft air supplement valve are improved.
5. The soft gulp valve has wide application range, is not limited to the field of soft robots, and can be applied to various pneumatic systems.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an air recirculation system based on a pericardial soft air compensation valve according to the present invention;
FIG. 2 is a cross-sectional view of the soft air compensation valve of the present invention;
FIG. 3 is a schematic view of a rigid support according to the present invention;
FIG. 4 is a schematic view of a terminal pad of the present invention;
FIG. 5 is a schematic diagram of a pneumatic system without an air collection device;
FIG. 6 is a schematic diagram of an air recirculation system provided by the present invention;
FIG. 7 is a schematic view of a connecting disc mold used in manufacturing a soft air supplement valve according to the present invention;
FIG. 8 is a schematic view of the soft body valve outer mold used in the manufacture of the soft body gulp valve of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the air recirculation system based on the pericardium-shaped soft air supplement valve comprises an air compressor 1, an air tank 2, a control valve 3, a pneumatic flexible driver 4, a soft air supplement valve 5 and a one-way valve 6. The soft air supplement valve 5 is provided with an air inlet and an air outlet. The input port of the one-way valve 6, the air outlet of the soft air supplement valve 5 and the air inlet of the air compressor 1 are connected together through a three-way interface and a pipeline. The air outlet of the air compressor 1 is connected to the air inlet of the air tank 2. The air outlet of the air tank 2 is connected to a first air vent of the control valve; the second vent of the control valve is connected to the control vent of the pneumatic flexible drive 4. The third air inlet of the control valve is connected to the air inlet of the soft air supplement valve 5 through a pipeline. The control valve 3 is a three-position three-way reversing valve; the first working position is provided with three air ports which are all cut off; in the second working position, the second air vent is communicated with the first air vent; and in the third working position, the second air vent is communicated with the third air vent.
As shown in fig. 2 and 3, the soft aeration valve 5 comprises two rigid supports 8, a connecting plate 9 and an elastic membrane 10. The rigid support 8 is in a rotary body shape and is manufactured by 3D printing, the concrete material is ABS resin polymer, the ABS resin polymer is used for air circulation and supports the elastic membrane bag 10, and the reduction of the working efficiency caused by the reduction of the volume of the air compensating valve is prevented; the end part of the inner end of the rigid support 8 is a circular plane, and the outer end is provided with a circular tube-shaped ventilation joint 8-1. The inner end of the rigid support 8 is provided with a vent groove 8-2. The vent grooves 8-2 are square.
As shown in fig. 2 and 4, the connecting disc 9 has a disc shape. Two side surfaces of the connecting disc 9 are respectively bonded with the inner end surfaces of the two rigid supports 8. The connecting disc 9 is provided with a central vent hole 12. A square mounting groove is formed in the center of the side face of one side of the connecting disc 9; one side wall of the mounting groove is connected with a check sheet 13. In the initial state, the check flap 13 covers the central vent hole 12. The connecting disc 9 is manufactured by die casting for 3D printing. Of the two rigid supports 8, the rigid support 8 close to the check sheet 13 is an input side rigid support; the rigid support 8 away from the backstop 13 is an output side rigid support. The ventilation interface at the outer end of the input side rigid support corresponds to the air inlet of the soft air supplement valve 5; the ventilation interface at the outer end of the output side rigid support corresponds to the air outlet of the soft air supplement valve 5. The counter-stop 13 allows gas to be transported only from the input-side rigid carrier to the output-side rigid carrier.
An annular groove is formed in the outer circumferential surface of the connecting disc 9. The elastic membrane capsules 10 are coated on the connecting disc 9 and the two rigid brackets 8. The middle part of the inner side surface of the elastic membrane bag 10 is provided with a convex ring. The convex ring is embedded in the annular groove. The middle part of the inner side surface of the elastic membrane bag 10 is bonded with the connecting disc 9; so that the lumen of the elastomeric membrane balloon 10 is divided into two separate chambers. The elastic membrane bag 10 is made of the same material as the connecting disc 9, and the bonding can be automatically finished when the elastic membrane bag 10 is formed. The annular groove can increase the contact area of the elastic membrane bag 10 and the connecting disc 9, and the reliability and the sealing performance of the connection of the annular groove and the elastic membrane bag 10 are guaranteed. The elastic membrane bag 10 and the connecting disc 9 are both made of silicon rubber materials through casting, and the specific material is Dragon Skin silica gel. Two ends of the inner side surface of the elastic membrane bag 10 respectively wrap the ventilation interfaces at the outer ends of the two rigid supports 8 and exceed the ventilation interfaces of the rigid supports 8 by one section; the outer end edge of the elastic membrane bag 10 is bonded with the corresponding pipeline through a silica gel adhesive.
When the air pressure within the elastomeric membrane bladder 10 increases, the increased air pressure pushes the outer end of the elastomeric membrane bladder 10 beyond the rigid support 8 vent interface to expand, which in turn causes air to enter the gap between the elastomeric membrane bladder 10 and the rigid support 8, causing the elastomeric membrane bladder 10 to expand. When compressed air is input into the air inlet 11 of the soft air supplement valve 5, the check sheet 13 is pressed to be pushed open, and if backflow occurs, the check sheet automatically closes to block the vent hole 12, so that backflow can be further prevented; an elastic membrane bag 10 of an air inlet and an air outlet of the soft air supplement valve. When compressed gas is introduced into the soft gulp valve 5, the elastic membrane bag 10 expands due to the increase of the internal pressure, and a part of pressure potential energy is converted into elastic potential energy to be stored, so that the pressure inside the soft gulp valve 5 is reduced, and the gas in the pneumatic flexible driver 4 can smoothly enter the soft gulp valve 5.
The air compressor 1 sucks in external air through the check valve 6; the check valve 6 is used for preventing air from flowing back to the atmosphere, and the compressor compresses external air and stores the external air in the air tank 2; the control valve 3 is used for controlling the high-pressure gas in the air tank to flow into the pneumatic flexible driver 4, so that the work of the pneumatic flexible driver is controlled; the invention is illustrated with a common artificial muscle PAM as an example of a pneumatic flexible drive. When the gas in the PAM needs to be released and recovered, the invention adopts a pericardial soft air supplement valve to collect the compressed gas and leads the compressed gas to the air compressor for further cyclic utilization, thereby reducing the energy consumption, greatly improving the working efficiency of the pneumatic system and avoiding the noise generated by directly discharging the compressed gas.
The advantages of the invention will be further explained by comparing the principle of the pneumatic system of the conventional airless collection device with the principle of the system of the invention. As shown in fig. 6, the mass flow of the air recirculation system of the present invention can be derived from the bernoulli equation:
wherein, PhIs the pressure of the soft air compensation valve, rho is the air density, g is the gravity acceleration, hhIs the height v of the soft air-compensating valvehIs the flow rate, P, in the soft aeration valvecIs the air compressor inlet pressure, hcIs the compressor height, vc(B)Is the flow rate from the soft aeration valve to the inlet of the air compressor. Suppose vh＝0，hh＝hcThe formula can be simplified as follows:
thus, in FIG. 6, the mass flow from the soft aeration valve to the compressor inlet can be expressed as
Wherein,
is the mass flow from the soft aeration valve to the inlet of the compressor, AtubeIs the cross-sectional area of the pipe.
Similarly, the mass flow rate of the conventional pneumatic system of FIG. 5 can be expressed as follows:
wherein,
is the mass flow rate from the atmosphere to the compressor inlet, and PATMIs a gauge pressure of atmospheric pressure.
When recirculating the compressed air streamWhen the soft air compensating valve is used, the pressure of the air compensating valve is higher than the atmospheric pressure, namely the following conditions are met: ph＞PATMAnd are thus obtainable by
During the operation of the compressor, the pressure change of the air tank 2 depends on the mass flow rate flowing to the air compressor, and the soft air compensating valve provided by the invention has the advantages that the mass flow rate flowing to the air compressor is increased, the supercharging performance is enhanced, the rest time of the air compressor is increased, and the overall efficiency of a pneumatic system is improved.
In addition, high-pressure compressed air directly circulates into the compressor, so that the compressor is easily overloaded, the residual pressure in the PAM is too high, and the recovery of compressed gas and the working state of the PAM are greatly influenced.
For a conventional pneumatic system (fig. 5), the residual pressure (gauge pressure) of the PAM after compressed air discharge can be expressed as boyle's law
Wherein P isPAM(A)(td) Is PAM residual pressure after exhaust in a conventional pneumatic system, PPAM(A)(tdDt) is the pressure in the PAM before venting, V, in a conventional pneumatic systemPAM(A)Is the volume of PAM, and
is the volume of the atmosphere.
Similarly, in the air recirculation system with soft air compensation valve (fig. 6), the residual pressure in PAM after the compressed air is collected can be expressed as
Wherein, PPAM(B)(tdDt) is the internal pressure before venting of the recirculation system PAM according to the invention, VPAM(B)Is the volume of PAM, VhIs the volume of the soft air compensation valve. P can be found from the sum of formulaPAM(B)(td)＞PPAM(A)(td) In the invention, the residual pressure after the gas in the PAM is discharged is larger, the recycling system collects the compressed gas to improve the working efficiency and simultaneously increases the residual pressure in the PAM, but the residual pressure is reduced when the elastic membrane bag 10 expands, so compared with a rigid pressure buffer tank, the invention has smaller negative influence on the control performance of the PAM.
Specifically, when the compressed gas is recovered, the elastic membrane bag 10 expands outward, and the gulp valve volume VhIncrease, thereby residual pressure P in PAM exhaustPAM(B)(td) The size is reduced, the pressure reduction effect is achieved, and the original control performance deterioration of PAM is avoided. And when the compressor works, if the rigid support is not arranged, the soft air compensating valve can seriously reduce the volume due to air loss, so that the volume of the air compensating valve needs to be compensated firstly in each circulation process, and the working efficiency is reduced, therefore, the heart bag-shaped rigid support is adopted to avoid the reduction of the working efficiency.
The manufacturing method of the soft gulp valve comprises the following steps:
step one, manufacturing a casting mold. Casting a mold through 3D printing, wherein the material is ABS resin polymer; the casting mould comprises a connecting disc mould 14, an air compensating valve outer mould 15 and two rigid supports 8; and after printing is finished, sequentially polishing the die by using sand paper. The land mold 14 is used for casting the land 9, and has a cavity shape corresponding to the land 9.
As shown in fig. 7, the land die 14 is composed of a core 14-1 and two symmetrical land semi-outer dies 14-2 arranged left and right, thereby facilitating die opening. The two connecting disc semi-outer dies 14-2 are spliced to form a disc-shaped cavity. The shape of the core 14-1 corresponds to the central vent hole on the connecting disc and the gap between the check sheet and the connecting disc main body, so that only one side edge of the check sheet is connected with the connecting disc, and the effect of the check valve is formed.
As shown in fig. 8, the gulp valve outer mold 15 is composed of an upper mold and a lower mold; the shape of a cavity formed by the upper die and the lower die corresponds to the shape of the soft air supplement valve.
Step two, preparing a silicon rubber solution. According to the following weight ratio of 50: 1, mixing the silica gel solution (Dragon Skin 10) and the corresponding curing agent in a container, and uniformly stirring by using an electromagnetic stirrer. And (3) defoaming the prepared silicon rubber solution in a vacuum pump.
Step three, primary casting. Spraying a release agent on the inner wall of the connecting disc mold 14, then assembling and fixing, and slowly injecting a silicon rubber solution into the connecting disc mold 14. Curing at room temperature; after curing, the land die 14 is disassembled to obtain the land 9. And then, two side surfaces of the connecting disc 9 are respectively bonded with the inner end surfaces of the two rigid supports 8 by adopting a silica gel adhesive to form a main body of the soft air supplement valve.
Step four, secondary casting. And (3) spraying release agents on the outer side surfaces of the two rigid supports 8 and the cavities of the upper die and the lower die of the air compensating valve outer die 15, and plugging the air vent joints 8-1 at the outer ends of the two rigid supports by using plugs. Then the rigid supports and the connecting discs which are bonded in the third step are fixedly installed with the cavity of the external mold 15 of the gulp valve (one of the rigid supports can be supported by a central rod, so that the rigid supports and the connecting discs are controlled by wires in the cavity of the external mold 15 of the gulp valve); and slowly injecting the silicon rubber solution into a gap between the cavity of the external mold 15 of the gulp valve and the rigid support, and curing at room temperature. And (3) after the cast silicon rubber is cured, detaching the air compensating valve outer die 15, forming vent holes at the two end parts of the formed elastic membrane bag 10, and taking out the plugs at the two ends of the rigid support 8 to finish the manufacturing.
Claims (10)
1. The air recirculation system based on the pericardial soft air compensation valve comprises an air source, a control valve (3) and a pneumatic flexible driver (4); the method is characterized in that: also comprises a soft air-compensating valve (5); the air outlet of the air source is connected to the control air port of the pneumatic flexible driver (4) through a control valve; a control air port of the pneumatic flexible driver (4) is connected to an air inlet of the soft air supplement valve (5) through a control valve; the air outlet of the soft air supplement valve (5) is connected to an air source;
the soft aeration valve (5) comprises a rigid bracket (8), a connecting disc (9) and an elastic membrane sac (10); two side surfaces of the connecting disc (9) are respectively fixed with the inner end surfaces of the two rigid supports (8); a central vent hole (12) is formed in the connecting disc (9); the inner cavities of the two rigid supports (8) are connected through a central vent hole (12); the elastic membrane bag (10) is coated on the connecting disc (9) and the two rigid supports (8); the middle part of the inner side surface of the elastic membrane bag (10) is hermetically fixed with the connecting disc (9); two ends of the inner side surface of the elastic membrane sac (10) respectively exceed the ventilation ports of the rigid bracket (8); openings at two ends of the elastic membrane bag (10) are respectively used as an air inlet and an air outlet of the soft air supplement valve (5).
2. The air recirculation system based on the pericardial soft gulp valve of claim 1, characterized in that: the air source comprises an air compressor (1), an air tank (2) and a one-way valve (6); the input port of the one-way valve (6), the air outlet of the soft air supplement valve (5) and the air inlet of the air compressor (1) are connected together; the air outlet of the air compressor (1) is connected to the air inlet of the air tank (2); an air outlet of the air tank (2) is connected to a first air vent of the control valve; the second vent of the control valve is connected to the control vent of the pneumatic flexible driver (4); the third air port of the control valve is connected to the air inlet of the soft air supplement valve (5) through a pipeline.
3. The pericardial-based soft-bodied air-replacement valve air recirculation system of claim 2, wherein: the control valve (3) is a three-position three-way reversing valve; the first working position is provided with three air ports which are all cut off; in the second working position, the second air vent is communicated with the first air vent; and in the third working position, the second air vent is communicated with the third air vent.
4. The air recirculation system based on the pericardial soft gulp valve of claim 1, characterized in that: a mounting groove is formed in the center of the side face of one side of the connecting disc (9); the side wall of one side of the mounting groove is connected with a check sheet (13); in the initial state, the check sheet (13) covers the central vent hole (12); of the two rigid supports (8), the rigid support (8) close to the check sheet (13) is an input side rigid support; the rigid support (8) far away from the check sheet (13) is an output side rigid support; the ventilation interface at the outer end of the input side rigid support corresponds to the air inlet of the soft air supplement valve (5); the ventilation interface at the outer end of the output side rigid support corresponds to the air outlet of the soft air supplement valve (5).
5. The air recirculation system based on the pericardial soft gulp valve of claim 1, characterized in that: an annular groove is formed in the outer circumferential surface of the connecting disc (9); a convex ring is arranged in the middle of the inner side surface of the elastic membrane bag (10); the convex ring is embedded in the annular groove.
6. The air recirculation system based on the pericardial soft gulp valve of claim 1, characterized in that: the elastic membrane bag (10) and the connecting disc (9) are both formed by casting silicon rubber materials.
7. The air recirculation system based on the pericardial soft gulp valve of claim 1, characterized in that: the rigid support (8) is in a hollow rotary body shape, and the end part of the outer end of the rigid support is in a circular tube shape; the end part of the inner end of the rigid support (8) is a circular plane; the inner end of the rigid support (8) is provided with a vent groove (8-2); the connecting disc (9) is disc-shaped.
8. The air recirculation system based on the pericardial soft gulp valve of claim 4, characterized in that: the manufacturing method of the soft gulp valve (5) is as follows:
step one, preparing a connecting disc mold (14), an air compensating valve outer mold (15) and two rigid supports (8) in a 3D printing mode; the connecting disc mold (14) consists of a mold core (14-1) and two symmetrical connecting disc semi-outer molds (14-2) which are arranged left and right; the two connecting disc semi-outer dies (14-2) are spliced to form a disc-shaped cavity; the shape of the core (14-1) corresponds to a central vent hole on the connecting disc and a gap between the check sheet and the connecting disc main body, so that only one side edge of the check sheet is connected with the connecting disc; the shape of the cavity of the external mold (15) of the gulp valve corresponds to the shape of the soft gulp valve;
step two, preparing a silicon rubber solution and carrying out stirring and defoaming treatment;
step three, primary casting; spraying a release agent on the inner wall of the connecting disc mold (14); then, injecting a silicon rubber solution into the connecting disc mould (14); after solidification, disassembling the connecting disc mould (14) to obtain a connecting disc (9); two side surfaces of the connecting disc (9) are respectively bonded with the inner end surfaces of the two rigid supports (8) to form a main body of the soft air supplement valve;
step four, secondary casting; spraying release agents on the outer side surfaces of the two rigid supports (8) and a cavity of the air compensating valve outer mold (15); then, the main body of the soft gulp valve obtained in the step three is fixedly installed with a cavity of an gulp valve outer mold (15); injecting a silicon rubber solution into a gap between a cavity of an air compensating valve outer mold (15) and a rigid support; after curing, the external mold (15) of the gulp valve is disassembled, and the end parts of the two ends of the formed elastic membrane bag (10) are provided with vent holes.
9. The air recirculation system based on the pericardial soft gulp valve of claim 8, wherein: in the first step, after printing of the connecting disc mold (14), the gulp valve outer mold (15) and the rigid support (8) is completed, sand paper is used for polishing.
10. The method of claim 2, wherein the operating method comprises: the air compressor (1) sucks external air through the one-way valve (6) and compresses and stores the external air into the air tank (2); the control valve (3) is used for controlling the gas in the air tank to flow into the pneumatic flexible driver (4) or the gas in the pneumatic flexible driver (4) to flow into the soft air supplement valve (5) so as to realize the driving of the pneumatic flexible driver (4);
when the gas in the pneumatic flexible driver (4) flows into the soft air supplement valve (5), the air pressure in the elastic membrane bag (10) is increased, so that the elastic membrane bag (10) is expanded; part of pressure potential energy of the gas is converted into elastic potential energy for storage, and the pressure inside the soft gas supplementing valve (5) is reduced, so that the gas in the pneumatic flexible driver (4) can smoothly enter the soft gas supplementing valve (5); when the air compressor (1) is started again, the gas in the soft air supplement valve (5) is input into the air compressor (1), and the elastic membrane bag (10) contracts to release elastic potential energy, so that the power consumption of the air compressor (1) is reduced.
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