CN113606376B - Soft pneumatic valve with paper folding structure and control method thereof - Google Patents
Soft pneumatic valve with paper folding structure and control method thereof Download PDFInfo
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- CN113606376B CN113606376B CN202110897680.1A CN202110897680A CN113606376B CN 113606376 B CN113606376 B CN 113606376B CN 202110897680 A CN202110897680 A CN 202110897680A CN 113606376 B CN113606376 B CN 113606376B
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- paper folding
- soft
- air hole
- pneumatic
- channel
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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
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
- F16K31/126—Actuating devices; Operating means; Releasing devices actuated by fluid the fluid acting on a diaphragm, bellows, or the like
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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
- F16K7/00—Diaphragm valves or cut-off apparatus, e.g. with a member deformed, but not moved bodily, to close the passage ; Pinch valves
- F16K7/10—Diaphragm valves or cut-off apparatus, e.g. with a member deformed, but not moved bodily, to close the passage ; Pinch valves with inflatable member
Abstract
The invention discloses a soft pneumatic valve with a paper folding structure and a control method thereof, in particular to a soft pneumatic valve which has simple structure and convenient operation, controls a plurality of soft mechanisms to move by a single pneumatic valve and can improve the application rate of the pneumatic valve; the air outlet of the pneumatic pump is respectively connected with the control end of the pneumatic control channel and the through hole, the degree of deformation of the paper folding driver shaft is controlled by the size of the pneumatic pressure input of the pneumatic pump, the depth of a blocking rod connected with the paper folding driver shaft entering the valve body is realized, and the change of the movement form of two or more soft mechanisms is further controlled; the invention also discloses a corresponding control method; the invention relates to the field of soft pneumatic valves, and mainly relates to a soft pneumatic valve with a paper folding structure and a control method thereof.
Description
Technical Field
The invention relates to the field of soft pneumatic valves, in particular to a soft pneumatic valve with a paper folding structure and a control method thereof.
Background
Most of the existing software mechanisms adopt a pneumatic control mode to realize the change of the motion state, wherein a pneumatic valve is a key component for realizing the pneumatic control, and the pneumatic valve is used as a device for controlling the direction and the pressure of fluid and has the functions of stopping, adjusting, guiding, stabilizing the pressure, shunting or overflow and pressure relief. Meanwhile, compared with the traditional electric valve, the pneumatic valve has good effect on a gas medium and liquid with small pipe diameter, is low in cost and is more convenient to maintain. However, most of the existing pneumatic valves utilize compressed air to push a plurality of groups of combined pneumatic pistons in an actuator to move, and meanwhile, in order to ensure smooth flow of fluid, the strength of air pressure and rigidity members are improved by increasing the number of cylinder combinations to enhance the integral rigidity of the valve body, so that the flow of various types of fluid is ensured; the method is complex in design and improves production cost and operation complexity. In addition, various pneumatic valves in the market can only control one soft mechanism to move, and the movement of a plurality of soft mechanisms requires the connection of a plurality of pneumatic valves to control, so that the control of the whole equipment is complex, and the cost is increased.
Therefore, how to provide a soft pneumatic valve with simple structure, convenient operation and simple pneumatic valve control for a plurality of soft mechanisms to move, which can improve the application rate of the pneumatic valve and save the cost is a problem to be solved by the technicians in the field.
Disclosure of Invention
In view of the above, the present invention provides a soft pneumatic valve with a paper folding structure and a control method thereof, which aims to solve the above technical problems.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a soft pneumatic valve with a paper folding structure, comprising:
a valve body; the side wall of the valve body is provided with a through air hole channel, and two ends of the air hole channel are respectively a control end and a working end; a main control channel is formed in the end head of the valve body; the main control channel passes through the air hole channel and is vertically communicated with the air hole channel;
a protective sleeve; the protective sleeve is of a cylinder structure with two open ends; one end of the protective sleeve is connected with the end of the valve body, which is provided with the main control channel, the other end of the protective sleeve is fixedly sealed with a protective cover, and the protective cover is provided with a through hole;
a paper folding driver; the paper folding driver is of a pipeline paper folding structure with a cavity inside; the paper folding driver is coaxially arranged inside the protective sleeve, one end of the paper folding driver is fixed with the protective cover, and the inner cavity of the paper folding driver is communicated with the through hole;
a stopper rod; one end of the blocking rod is fixedly connected to one end, far away from the protective cover, of the paper folding driver, and the other end of the blocking rod is in sliding connection with the main control channel;
a software mechanism; the soft body mechanism is connected with the working end of the air hole channel through an air pipe;
a pneumatic pump; and the air outlet of the pneumatic pump is respectively connected with the control end of the air hole channel and the through hole.
According to the technical scheme, in the device provided by the invention, the air outlet of the pneumatic pump is respectively connected with the control end and the through hole of the pneumatic control channel, the paper folding driver is axially deformed through the air pressure input of the pneumatic pump, the degree of the shaft deformation of the paper folding driver is controlled through controlling the input air pressure, the depth of a blocking rod connected with the paper folding driver entering the valve body is realized, the depth of the blocking rod entering the valve body is controlled, and the change of the movement form of two or more software mechanisms is further controlled; the movement of a plurality of soft mechanisms is controlled through a single pneumatic pump, so that the integration of the device is ensured, the control complexity is simplified, and the cost is saved; meanwhile, all the mechanisms are made of flexible materials, so that the flexible air pressure regulating mechanism has strong adaptability, can ensure the smooth flow of air pressure, and has high universality.
Preferably, in the soft pneumatic valve device with the paper folding structure, the number of the air hole channels is at least 2. The structure is simple, and the operation is convenient; the number of air hole channels is determined according to actual needs, a plurality of software mechanisms are controlled by a single pneumatic pump, the integrity of the whole device is ensured, and the control difficulty is simplified.
Preferably, in the soft pneumatic valve device with the paper folding structure, a base is fixed at one end of the paper folding driver facing the protective sleeve, and an air inlet communicated with an inner cavity of the paper folding driver is formed in the base; the base is fixedly embedded on the protective sleeve and communicated with the through hole. The structure is simple and stable, the protection sleeve and the base are arranged, the radial deformation and the axial deformation of the paper folding driver can be effectively prevented, the whole device cannot be influenced by the reverse acting force of the paper folding driver, and the stability of the device in operation is better ensured.
Preferably, in the soft pneumatic valve device with the paper folding structure, the diameter ratio of the air hole channel to the main control channel is not less than 1:2. Simple structure, its setting of proportion is in order to guarantee that the stopper rod can be smooth and easy when resume initial state, can not cause the hindrance.
Preferably, in the soft pneumatic valve device with the paper folding structure, the valve body is cylindrical and is formed by pouring silica gel; the paper folding driver is made of silica gel. The silica gel material is flexible material, has better adaptability, can guarantee that atmospheric pressure flows smoothly.
Preferably, in the soft pneumatic valve device with the paper folding structure, the outer diameter of the blocking rod is the same as the inner diameter of the main control channel. The valve body is silica gel material, relies on the flexibility of silica gel to realize blocking excellent perfect entering, has guaranteed the device gas tightness.
Preferably, in the soft pneumatic valve device with the paper folding structure, the protective sleeve is made of silica gel, and the wall thickness is 1 mm. The paper folding driver can be prevented from radial deformation, and the strength and stability of the whole structure are guaranteed.
Preferably, in the soft pneumatic valve device with the paper folding structure, the blocking rod is cylindrical and is made of PLA material. The paper folding driver can be pushed into the main control channel of the valve body for blocking the gas circulation.
The invention also provides a control method of the soft pneumatic valve with the paper folding structure, which gradually increases the pressure of the pneumatic pump from small to large so as to realize the extension control of the paper folding driver and further realize the opening and closing of the air hole channel by the blocking rod; when the number of the air hole channels is two, the method comprises the following steps:
s1, in order to realize bending motion of two soft mechanisms: the pressure of the air pump is regulated to be in a low pressure mode, the paper folding driver is axially deformed, the blocking rod is blocked at the inlet of the main control channel, and at the moment, the two air hole channels are in a communicating state;
s2, in order to realize bending of one soft body mechanism, extending motion of the other soft body mechanism: the pressure of the air pump is regulated to be in a medium pressure mode, the axial deformation of the paper folding driver is increased, the end head of the blocking rod is positioned between two air hole channels, and at the moment, one air hole channel is in a connected state, and the other air hole channel is in a disconnected state;
s3, in order to realize the extension movement of the two soft mechanisms: and the pressure of the air pump is regulated to be in a high-pressure mode, the axial deformation of the paper folding driver is continuously increased, the blocking rod moves to the tail end of the main control channel, and at the moment, both air hole channels are in a disconnected state.
According to the technical scheme, the main idea of the buffer control method is that the degree of axial deformation of the paper folding driver is controlled through the adjustment of the pressure of the pneumatic pump, so that the blocking rod is driven to enter the depth of the main control channel of the valve body, the air hole channels of two or more soft mechanisms are connected and disconnected, the change of the movement form of the air hole channels is realized, the pressure of the pneumatic pump is finally adjusted to be 0, the paper folding driver is axially compressed, the blocking rod is driven to be retracted, the original state is recovered, and the whole movement control and the whole movement process of the device are completed.
It should be noted that the paper folding driver provided by the invention is a prior technical scheme, for example, the application number is 201811305802.8, and the name is an invention patent of a pulse jet type underwater robot based on a tubular paper folding structure, and the description is omitted here.
Compared with the prior art, the invention discloses a soft pneumatic valve with a paper folding structure and a control method thereof, and has the following beneficial effects:
1. the invention has simple structure and convenient operation.
2. The invention controls the deformation degree of the paper folding driver shaft through the magnitude of the input air pressure of the air pressure pump, and realizes the depth of the blocking rod connected with the paper folding driver shaft entering the valve body; and further control the change of the movement form of two or more software mechanisms, realize the movement form of the software mechanism of a single pneumatic pump control two or more air hole channels, guarantee the integrity of the whole device, simplify the control difficulty, save the cost.
3. The flexible material of the invention has stronger adaptability, can ensure the smooth flow of air pressure, has higher universality and improves the application rate of the pneumatic valve.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram showing the bending structure of two software mechanisms of the software pneumatic valve with the paper folding structure;
FIG. 2 is a schematic diagram showing the structure of a flexible pneumatic valve with a paper folding structure, wherein one flexible mechanism is bent and the other flexible mechanism is stretched;
FIG. 3 is a schematic diagram showing the extension structure of two software mechanisms of the software pneumatic valve with the paper folding structure;
FIG. 4 is a schematic view of the structure of the valve body according to the present invention;
FIG. 5 is a schematic view of a protective sleeve according to the present invention;
FIG. 6 is a schematic diagram of a paper folding driver according to the present invention;
FIG. 7 is a schematic view of a stopper rod according to the present invention;
FIG. 8 is a schematic view of a protective cover according to the present invention;
FIG. 9 is a flow chart of a control method of a soft pneumatic valve with a paper folding structure.
Wherein:
1-a valve body; 11-pore channels; 12-a master control channel;
2-protecting sleeve;
3-paper folding driver; 31-a base; 311-air inlet;
4-a stopper rod;
5-a software mechanism; 51-a ventilation duct;
6-a protective cover; 61-through holes.
7-pneumatic pump.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 8, an embodiment of the present invention discloses a soft pneumatic valve with a paper folding structure, which includes:
a valve body 1; the side wall of the valve body 1 is provided with a through air hole channel 11, and two ends of the air hole channel 11 are respectively a control end and a working end; a main control channel 12 is arranged at the end of the valve body 1; the main control channel 12 passes through the air hole channel 11 and is vertically communicated with the air hole channel;
a protective sleeve 2; the protective sleeve 2 is of a cylinder structure with two open ends; one end of the protective sleeve 2 is connected with the end of the valve body 1 with the main control channel 12, the other end of the protective sleeve 2 is fixedly sealed with a protective cover 6, and the protective cover 6 is provided with a through hole 61;
a paper folding driver 3; the paper folding driver 3 is a pipeline paper folding structure with a cavity inside; the paper folding driver 3 is coaxially arranged inside the protective cover 2, one end of the paper folding driver is fixed with the protective cover 6, and the inner cavity of the paper folding driver 3 is communicated with the through hole 61;
a stopper rod 4; one end of the blocking rod 4 is fixedly connected to one end of the paper folding driver 3, which is far away from the protective cover 6, and the other end of the blocking rod is in sliding connection with the main control channel 12;
a software mechanism 5; the soft body mechanism 5 is connected with the working end of the air hole channel 11 through an air pipe 51;
a pneumatic pump 7; the air outlet of the air pressure pump 7 is connected with the control end of the air hole channel 11 and the through hole 61 respectively.
In order to further optimize the above technical solution, the number of air vent channels 11 is at least 2.
In order to further optimize the technical scheme, one end of the paper folding driver 3 facing the protective sleeve 2 is fixed with a base 31, and the base 31 is provided with an air inlet 311 communicated with the inner cavity of the paper folding driver 3; the base 31 is fixedly embedded in the protective cover 2 and is communicated with the through hole 61.
In order to further optimize the technical scheme, the diameter ratio of the air hole channel 11 to the main control channel 12 is not less than 1:2.
In order to further optimize the technical scheme, the valve body 1 is cylindrical and is formed by pouring silica gel; the paper folding driver 3 is made of silica gel.
To further optimise the above technical solution, the outside diameter of the stopper rod 4 is the same size as the inside diameter of the main control channel 12.
In order to further optimize the technical scheme, the protective sleeve 2 is made of silica gel, and the wall thickness is 1 mm.
In order to further optimize the technical solution described above, the stopper rod 4 is cylindrical and is made of PLA material.
Referring to fig. 9, the control method of the device is applied to: the pressure of the pneumatic pump 7 is gradually increased from small to large so as to realize the extension control of the paper folding driver 3 and further realize the opening and closing of the air hole channel 11 by the blocking rod 4; when the number of the air vent passages 11 is two, the steps of:
s1, in order to realize bending motion of two soft mechanisms 5: the pressure of the pneumatic pump 7 is regulated to be in a low pressure mode, the paper folding driver 3 is axially deformed, the blocking rod 4 is blocked at the inlet of the main control channel 12, and at the moment, the two air hole channels 11 are in a communicating state;
s2, in order to realize bending of one soft body mechanism 5, the other soft body mechanism 5 moves in an extending mode: the pressure of the pneumatic pump 7 is adjusted to be in a medium pressure mode, the axial deformation of the paper folding driver 3 is increased, the end head of the blocking rod 4 is positioned between two air hole channels 11, at the moment, one air hole channel 11 is in a communicating state, and the other air hole channel 11 is in a disconnecting state;
s3, in order to realize the extension movement of the two soft mechanisms 5: the pressure of the pneumatic pump 7 is regulated to be in a high-pressure mode, the axial deformation of the paper folding driver 3 is continuously increased, the blocking rod 4 moves to the tail end of the main control channel 12, at the moment, the two air hole channels 11 are in a disconnected state, the pressure of the pneumatic pump is regulated to be 0kpa finally, the paper folding driver is axially compressed, the blocking rod is driven to be retracted, the initial state is recovered, and the whole motion control and the whole motion process of the device are completed.
The specific implementation mode of the invention is as follows: the air outlet of the pneumatic pump 7 is respectively connected with the control end of the pneumatic control channel 11 and the through hole 61, when the pressure of the pneumatic pump 7 is regulated to be 10kpa in a low pressure mode in order to realize the bending motion of the two soft mechanisms 5, the paper folding driver 5 is axially deformed, the blocking rod 4 is blocked at the inlet of the main control channel 12, and at the moment, the two air hole channels 11 are in a communicating state; in order to realize the bending of one soft body mechanism 5 and the stretching movement of the other soft body mechanism 5, when the pressure of the pneumatic pump 7 is regulated to be 30kpa in the medium pressure mode, the axial deformation of the paper folding driver 3 is increased, the end head of the blocking rod 4 is positioned between two air hole channels 11, at the moment, one air hole channel 11 is in a connected state, and the other air hole channel 11 is in a disconnected state; in order to realize the stretching movement of the two soft mechanisms 5, when the pressure of the pneumatic pump 7 is regulated to be 60kpa in a high pressure mode, the axial deformation of the paper folding driver 3 is continuously increased, the blocking rod 4 moves to the tail end of the main control channel 12, and at the moment, the two air hole channels 11 are in a disconnected state; and finally, regulating the pressure of the pneumatic pump 7 to 0, axially compressing the paper folding driver 3, driving the blocking 4 rod to retract, and recovering to an initial state to complete the whole motion control and process of the device.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A soft pneumatic valve with a paper folding structure, comprising:
a valve body (1); the side wall of the valve body (1) is provided with a through air hole channel (11), and two ends of the air hole channel (11) are respectively a control end and a working end; a main control channel (12) is formed in the end of the valve body (1); the main control channel (12) passes through the air hole channel (11) and is vertically communicated with the air hole channel;
a protective sleeve (2); the protective sleeve (2) is of a cylinder structure with two open ends; one end of the protective sleeve (2) is connected with the end of the valve body (1) with the main control channel (12), the other end of the protective sleeve (2) is fixedly sealed with a protective cover (6), and the protective cover (6) is provided with a through hole (61);
a paper folding driver (3); the paper folding driver (3) is of a pipeline paper folding structure with a cavity inside; the paper folding driver (3) is coaxially arranged inside the protective sleeve (2), one end of the paper folding driver is fixed with the protective cover (6), and the inner cavity of the paper folding driver (3) is communicated with the through hole (61);
a stopper rod (4); one end of the blocking rod (4) is fixedly connected to one end, far away from the protective cover (6), of the paper folding driver (3), and the other end of the blocking rod is in sliding connection with the main control channel (12);
a software mechanism (5); the soft body mechanism (5) is connected with the working end of the air hole channel (11) through an air pipe (51);
a pneumatic pump (7); the air outlet of the pneumatic pump (7) is respectively connected with the control end of the air hole channel (11) and the through hole (61).
2. A soft pneumatic valve with a paper folding structure according to claim 1, characterized in that the number of air vent channels (11) is at least 2.
3. The soft pneumatic valve with the paper folding structure according to claim 1, wherein a base (31) is fixed at one end of the paper folding driver (3) facing the protective sleeve (2), and an air inlet (311) communicated with the inner cavity of the paper folding driver (3) is formed in the base (31); the base (31) is fixedly embedded on the protective sleeve (2) and is communicated with the through hole (61).
4. The soft pneumatic valve with the paper folding structure according to claim 1, wherein the diameter ratio of the air hole channel (11) to the main control channel (12) is not less than 1:2.
5. The soft pneumatic valve with the paper folding structure according to claim 1, wherein the valve body (1) is cylindrical and is formed by pouring silica gel; the paper folding driver (3) is made of silica gel.
6. A soft pneumatic valve with a paper folding structure according to claim 5, characterized in that the outside diameter of the stopper rod (4) is the same size as the inside diameter of the main control channel (12).
7. The soft pneumatic valve with the paper folding structure according to claim 1, wherein the protective sleeve (2) is made of silica gel, and the wall thickness is 1 mm.
8. A soft pneumatic valve with a paper folding structure according to claim 1, characterized in that the stopper rod (4) is cylindrical and is made of PLA material.
9. A control method of a soft air valve with a paper folding structure according to any one of claims 1 to 8, characterized in that: the pressure of the pneumatic pump (7) is gradually increased from small to large so as to realize the extension control of the paper folding driver (3) and further realize the opening and closing of the air hole channel (11) by the blocking rod (4).
10. The control method of a soft air valve with a paper folding structure according to claim 9, wherein when the number of the air hole passages (11) is two, the control method comprises:
s1, in order to realize bending movements of the two soft mechanisms (5): the pressure of the pneumatic pump (7) is regulated to be in a low pressure mode, the paper folding driver (3) is axially deformed, the blocking rod (4) is blocked at the inlet of the main control channel (12), and at the moment, the two air hole channels (11) are in a communication state;
s2, in order to achieve a bending of one of the soft body mechanisms (5), a stretching movement of the other soft body mechanism (5): the pressure of the pneumatic pump (7) is regulated to be in a medium pressure mode, the axial deformation of the paper folding driver (3) is increased, the end head of the blocking rod (4) is positioned between two air hole channels (11), at the moment, one air hole channel (11) is in a communicating state, and the other air hole channel (11) is in a disconnecting state;
s3, in order to realize the stretching movement of the two soft mechanisms (5): the pressure of the pneumatic pump (7) is regulated to be in a high-pressure mode, the axial deformation of the paper folding driver (3) is continuously increased, the blocking rod (4) moves to the tail end of the main control channel (12), and at the moment, the two air hole channels (11) are in a disconnected state.
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| CN202110897680.1A CN113606376B (en) | 2021-08-05 | 2021-08-05 | Soft pneumatic valve with paper folding structure and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110897680.1A CN113606376B (en) | 2021-08-05 | 2021-08-05 | Soft pneumatic valve with paper folding structure and control method thereof |
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| CN113606376B true CN113606376B (en) | 2023-08-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN206864149U (en) * | 2017-05-19 | 2018-01-09 | 吉猫（厦门）科技有限公司 | A kind of dynamic inflation model |
| CN207229822U (en) * | 2017-09-25 | 2018-04-13 | 温州市瑞金阀门厂 | A kind of stop valve |
| CN108724166A (en) * | 2017-04-19 | 2018-11-02 | 新加坡国立大学 | Stiffness variable actuator |
| CN110394795A (en) * | 2019-08-12 | 2019-11-01 | 浙江大学 | The pneumatic software mechanical arm of high storage rate autofolding based on paper folding theory |
| CN111022414A (en) * | 2019-11-19 | 2020-04-17 | 湖南大学 | Negative pressure driven flexible torsion actuator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8919676B2 (en) * | 2011-12-21 | 2014-12-30 | Deere & Company | Arrangement for switching nozzles on the go for controlling spray rate |
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2021
- 2021-08-05 CN CN202110897680.1A patent/CN113606376B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108724166A (en) * | 2017-04-19 | 2018-11-02 | 新加坡国立大学 | Stiffness variable actuator |
| CN206864149U (en) * | 2017-05-19 | 2018-01-09 | 吉猫（厦门）科技有限公司 | A kind of dynamic inflation model |
| CN207229822U (en) * | 2017-09-25 | 2018-04-13 | 温州市瑞金阀门厂 | A kind of stop valve |
| CN110394795A (en) * | 2019-08-12 | 2019-11-01 | 浙江大学 | The pneumatic software mechanical arm of high storage rate autofolding based on paper folding theory |
| CN111022414A (en) * | 2019-11-19 | 2020-04-17 | 湖南大学 | Negative pressure driven flexible torsion actuator |
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