CN113790289A - Multi-channel mixing valve suitable for soft actuator and air pressure control method thereof - Google Patents
Multi-channel mixing valve suitable for soft actuator and air pressure control method thereof Download PDFInfo
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- CN113790289A CN113790289A CN202111083337.XA CN202111083337A CN113790289A CN 113790289 A CN113790289 A CN 113790289A CN 202111083337 A CN202111083337 A CN 202111083337A CN 113790289 A CN113790289 A CN 113790289A
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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
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/10—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit
- F16K11/20—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit operated by separate actuating members
- F16K11/22—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit operated by separate actuating members with an actuating member for each valve, e.g. interconnected to form multiple-way valves
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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
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
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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
- F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
- F16K37/0075—For recording or indicating the functioning of a valve in combination with test equipment
- F16K37/0091—For recording or indicating the functioning of a valve in combination with test equipment by measuring fluid parameters
Abstract
The invention discloses a multi-channel mixing valve suitable for a soft actuator and an air pressure control method thereof, wherein the multi-channel mixing valve comprises a controller, a positive pressure proportional valve, a negative pressure proportional valve and an electromagnetic valve, the signal output end of the controller is respectively connected with the signal input ends of the positive pressure proportional valve, the negative pressure proportional valve and the electromagnetic valve and used for controlling the on-off of the electromagnetic valve and the positive pressure proportional valve and the negative pressure proportional valve respectively, the electromagnetic valve is used for outputting positive air pressure and negative air pressure to an air pressure controlled object, the input end of the positive pressure proportional valve is connected with the output end of a positive high-pressure air source and used for outputting positive air pressure to the positive pressure proportional valve, and the input end of the negative pressure proportional valve is connected with a negative high-pressure air source and used for outputting negative air pressure to the negative pressure proportional valve. The positive and negative pressure controllable mixing valve can be applied to an air pressure control system, and the positive/negative pressure proportional valve and the electromagnetic valve are adopted for mixed connection and control in the method, so that the positive and negative air pressure mode switching is convenient, the air pressure adjusting response speed is high, and the air pressure control precision is high.
Description
Technical Field
The invention relates to the technical field of mixing valves, in particular to a multi-channel mixing valve suitable for a soft actuator and an air pressure control method thereof.
Background
The common method for realizing the positive and negative air pressure system in the same place is to respectively use the independent positive pressure system and the independent negative pressure system, respectively use the positive pressure system and the negative pressure system, have large occupied area, are inconvenient to carry, and waste the cost, can only provide positive pressure or negative pressure independently in the same time in the existing positive and negative air pressure integrated machine or control system, can not provide positive pressure and negative pressure simultaneously, and the existing positive and negative air pressure gas adjusting technology has low adjusting precision and can not effectively meet the requirements.
Disclosure of Invention
Accordingly, the present invention is directed to a multi-channel mixing valve for a soft actuator and a method for controlling the pressure thereof.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the first embodiment of the invention provides a positive-negative pressure controllable mixing valve, which comprises a controller, a positive pressure proportional valve, a negative pressure proportional valve and an electromagnetic valve, wherein the signal output end of the controller is respectively connected with the signal input ends of the positive pressure proportional valve, the negative pressure proportional valve and the electromagnetic valve and is used for controlling the on-off of the electromagnetic valve respectively connected with the positive pressure proportional valve and the negative pressure proportional valve, the electromagnetic valve is used for outputting positive air pressure and negative air pressure to an air pressure controlled object, the input end of the positive pressure proportional valve is connected with the output end of a positive high-pressure air source and is used for outputting positive air pressure to the positive pressure proportional valve, and the input end of the negative pressure proportional valve is connected with a negative high-pressure air source and is used for outputting negative air pressure to the negative pressure proportional valve.
Preferably, the positive high-pressure air source comprises a first positive high-pressure pneumatic pump, and the first positive high-pressure pneumatic pump is used for inputting air source from outside and conveying the air source to the positive pressure proportional valve after being pressurized.
Preferably, the negative high-pressure air source comprises a second positive high-pressure air pump and a vacuum generator, and the second positive high-pressure air pump changes an external air input air source into the negative air source through the vacuum generator, pressurizes the negative air source and then conveys the negative air source to the negative pressure proportional valve.
Preferably, the controller receives an electrical signal of the potentiometer through the first a/D converter, and the controller is connected with a power supply for supplying power.
Preferably, the I/O port of the controller is connected to the signal input terminal of the solenoid valve through the solenoid valve control board.
Preferably, the controller controls the positive pressure proportional valve and the negative pressure proportional valve through the D/A converter respectively, and the positive pressure proportional valve and the negative pressure proportional valve are connected with the signal input end of the controller through the second A/D converter and used for feeding back the real-time air pressure of the mixing valve.
The second embodiment of the invention provides a multi-channel mixing valve suitable for a soft actuator, which comprises a plurality of mixing valves, wherein the air pressure input ends of the plurality of mixing valves are respectively connected with a positive high-pressure air source and a negative high-pressure air source, and the output end of each mixing valve is connected with the input end of the soft actuator.
A third embodiment of the present invention provides a method for controlling air pressure of a mixing valve, including the above mixing valve, the method comprising the steps of:
s1, the controller collects the voltage of the potentiometer through the first A/D converter;
s2, the controller judges the positive and negative voltage mode of the voltage interval of the collected potentiometer;
s3, when the controller judges that the pressure mode is positive, the controller drives the electromagnetic valve control panel to open the normally closed hole of the electromagnetic valve through the I/O port, and outputs positive air pressure;
and S4, when the controller judges that the negative pressure mode is adopted, the controller closes the electromagnetic valve control panel through the I/O port, opens the normally open hole of the electromagnetic valve and outputs negative air pressure.
Preferably, according to step S3, the controller converts the sampling voltage into a corresponding high-precision proportional valve control voltage through a D/a converter, the normally closed hole of the electromagnetic valve is connected to the air outlet of the positive pressure proportional valve, the air inlet of the positive pressure proportional valve is connected to the first positive high-pressure air pump, the air inlet of the electromagnetic valve is connected to the air pressure controlled object, the controller outputs the control voltage to control the positive pressure proportional valve, and opens the normally closed hole of the electromagnetic valve, and the mixing valve outputs the positive air pressure.
Preferably, according to step S4, the controller converts the sampling voltage into a corresponding high-precision proportional valve control voltage through a D/a converter, the normal opening of the solenoid valve is connected to the air outlet of the negative pressure proportional valve, the air inlet of the negative pressure proportional valve is connected to the second positive high-pressure air pump, the air inlet of the solenoid valve is connected to the air pressure controlled object, the controller outputs the control voltage to control the negative pressure proportional valve, and opens the normal opening of the solenoid valve, and the mixing valve outputs the negative air pressure.
Compared with the prior art, the positive-negative pressure controllable mixing valve can be applied to an air pressure control system, and the positive/negative pressure proportional valve and the electromagnetic valve are adopted for mixed connection and control in the method, so that the positive-negative air pressure mode switching is convenient, the air pressure adjusting response speed is high, and the air pressure control precision is high.
Drawings
FIG. 1 is a schematic diagram of a mixing valve according to the present invention;
FIG. 2 is a schematic diagram of an electrical circuit control structure of a mixing valve according to the present invention;
FIG. 3 is a flow chart of a method of controlling the air pressure of a mixing valve according to the present invention;
FIG. 4 is a schematic diagram of a multi-channel mixing valve for a soft actuator according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 and fig. 2, a first embodiment of the present invention provides a positive-negative pressure controllable mixing valve, which includes a controller 5, a positive pressure proportional valve 3, a negative pressure proportional valve 4, and a solenoid valve 6, wherein a signal output end of the controller 5 is connected to signal input ends of the positive pressure proportional valve 3, the negative pressure proportional valve 4, and the solenoid valve 6, and is used to control on/off of the solenoid valve 6 and the positive pressure proportional valve 3 and the negative pressure proportional valve 4, respectively, an input end of the positive pressure proportional valve 3 is connected to an output end of a positive high-pressure air source 1, and is used to output positive air pressure to the positive pressure proportional valve 3, an input end of the negative pressure proportional valve 4 is connected to a negative high-pressure air source 2, and is used to output negative air pressure to the negative pressure proportional valve 4, and the solenoid valve 6 is used to output positive-negative air pressure to a controlled object 7.
As shown in fig. 1 and 2, the positive high-pressure air source 1 includes a first positive high-pressure pneumatic pump 101, and the first positive high-pressure pneumatic pump 101 is used for supplying pressurized air from an external air input source to the positive proportional valve 3.
As shown in fig. 1 and fig. 2, the negative high-pressure air source 2 includes a second positive high-pressure pneumatic pump 201 and a vacuum generator 202, and the second positive high-pressure pneumatic pump 201 changes the external air input air source into the negative air source through the vacuum generator 202, pressurizes the negative air source, and then delivers the negative air source to the negative proportional valve 4.
As shown in fig. 1 and 2, the controller 5 receives an electric signal of the potentiometer 14 through the first a/D converter 9.
As shown in fig. 1 and 2, the I/O port 13 of the controller 5 is connected to the signal input terminal of the solenoid valve 6 through the solenoid valve control board 11.
As shown in fig. 1 and fig. 2, the controller 5 controls the positive pressure proportional valve 3 and the negative pressure proportional valve 4 through the D/a converter 12, and the positive pressure proportional valve 3 and the negative pressure proportional valve 4 are both connected with the signal input end of the controller 5 through the second a/D converter 10 for feeding back the real-time air pressure of the mixing valve.
As shown in fig. 1 and 2, a power supply 15 for supplying power is connected to the controller 5.
As shown in fig. 4, a second embodiment of the present invention provides a multi-channel mixing valve suitable for a soft actuator, which includes a plurality of mixing valves as described above, the pneumatic inputs of the plurality of mixing valves are respectively connected to a positive high-pressure gas source 1 and a negative high-pressure gas source 2, and the output of each mixing valve is connected to the input of the soft actuator.
As shown in fig. 1 to 3, a third embodiment of the present invention provides a method for controlling air pressure of a mixing valve, including the above mixing valve with controllable positive and negative pressures, the method for controlling air pressure including the steps of:
s1, the controller 5 collects the voltage of the potentiometer 14 through the first a/D converter 9;
s2, the controller 5 judges the positive and negative voltage modes of the voltage interval collected by the potentiometer 14;
s3, when the controller 5 judges that the pressure mode is positive, the controller 5 drives the electromagnetic valve control board 11 to open the normally closed hole of the electromagnetic valve 6 through the I/O port 13, and outputs positive air pressure;
the controller 5 converts the sampling voltage into corresponding high-precision proportional valve control voltage through a D/A converter 12, a normally closed hole of the electromagnetic valve 6 is connected with an air outlet of the positive pressure proportional valve 3, an air inlet of the positive pressure proportional valve 3 is connected with a first positive high-pressure air pump 101, an air inlet of the electromagnetic valve 6 is connected with an air pressure controlled object 7, the controller 5 outputs control voltage to control the positive pressure proportional valve 3, the normally closed hole of the electromagnetic valve 6 is opened, and the mixing valve outputs positive air pressure;
s4, when the controller 5 determines that the negative pressure mode is selected, the controller 5 closes the solenoid valve control board 11 through the I/O port 13, opens the normal open hole of the solenoid valve 6, and outputs the negative pressure.
The controller 5 converts the sampling voltage into corresponding high-precision proportional valve control voltage through the D/A converter 12, a normal opening of the electromagnetic valve 6 is connected with an air outlet of the negative pressure proportional valve 4, an air inlet of the negative pressure proportional valve 4 is connected with the second positive high-pressure air pump 201, an air inlet of the electromagnetic valve 6 is connected with the air pressure controlled object 7, the controller 5 outputs the control voltage to control the negative pressure proportional valve 4, the normal opening of the electromagnetic valve 6 is opened, and the mixing valve outputs negative air pressure.
The working principle of the invention is as follows:
as shown in fig. 1 to 3, the controller 5 collects the voltage of the potentiometer 14 through the first a/D converter 9, the controller 5 judges the positive and negative voltage modes for the voltage interval collected to the potentiometer 14, when the controller 5 judges that the pressure mode is positive, the controller 5 drives the electromagnetic valve control panel 11 through the I/O port 13 to open the normally closed hole of the electromagnetic valve 6, the positive pressure proportional valve 3 works to output the forward air pressure, the controller 5 converts the sampling voltage into the corresponding high-precision proportional valve control voltage through the D/A converter 12, the normally closed hole of the electromagnetic valve 6 is connected with the air outlet of the positive pressure proportional valve 3, the air inlet of the positive pressure proportional valve 3 is connected with the forward high-pressure air pump 101, the air inlet of the electromagnetic valve 6 is connected with the air pressure controlled object 7, the controller 5 outputs the control voltage to control the positive pressure proportional valve 3, the normally closed hole of the electromagnetic valve 6 is opened, and the mixing valve outputs the forward air pressure; when the controller 5 judges that the air pressure is in the negative pressure mode, the controller 5 closes the electromagnetic valve control panel 11 through the I/O port 13, opens the normal opening of the electromagnetic valve 6, the negative pressure proportional valve 4 works and outputs negative air pressure, the controller 5 converts the sampling voltage into corresponding high-precision proportional valve control voltage through the D/A converter 12, the normal opening of the electromagnetic valve 6 is connected with the air outlet of the negative pressure proportional valve 4, the air inlet of the negative pressure proportional valve 4 is connected with the first positive high-pressure air pump 201, the air inlet of the electromagnetic valve 6 is connected with the air pressure controlled object 7, the controller 5 outputs control voltage to control the negative pressure proportional valve 4, opens the normal opening of the electromagnetic valve 6, and the mixing valve outputs negative air pressure.
In summary, the positive-negative pressure controllable mixing valve of the invention is applicable to the air pressure control system, and the positive/negative pressure proportional valve and the electromagnetic valve are adopted in the method for mixed connection and control, so that the invention has the technical effects of convenient positive-negative air pressure mode switching, high air pressure regulation response speed and high air pressure control precision.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, the terms describing the positional relationships in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. The utility model provides a mixing valve, its characterized in that, includes controller, malleation proportional valve, negative pressure proportional valve and solenoid valve, the signal output part of controller is connected with the signal input part of malleation proportional valve, negative pressure proportional valve and solenoid valve respectively for the break-make of control solenoid valve with malleation proportional valve and negative pressure proportional valve respectively, the solenoid valve is used for exporting positive negative pressure and gives the atmospheric pressure controlled object, the input and the positive high pressurized air source's of malleation proportional valve output are connected for export positive atmospheric pressure and supply malleation proportional valve, the input and the negative high pressurized air source of negative pressure proportional valve are connected for export negative atmospheric pressure supplies negative pressure proportional valve.
2. The mixing valve of claim 1 wherein said positive high pressure gas source comprises a first positive high pressure pneumatic pump for supplying pressurized gas from an external air input source to said positive pressure proportioning valve.
3. A mixing valve according to claim 1 or 2, wherein the negative high pressure air source comprises a second positive high pressure air pump and a vacuum generator, and the second positive high pressure air pump changes the external air input air source into the negative air source through the vacuum generator and then supplies the negative air source to the negative pressure proportional valve.
4. A mixing valve according to claim 3, characterised in that the controller receives the electrical signal from the potentiometer via the first a/D converter, and that the controller is connected to a power supply.
5. A mixing valve according to claim 4, wherein the I/O port of the controller is connected to the signal input of the solenoid valve via a solenoid valve control board.
6. The mixing valve of claim 5, wherein the controller controls the positive pressure proportional valve and the negative pressure proportional valve through D/A converters respectively, and the positive pressure proportional valve and the negative pressure proportional valve are connected with the signal input end of the controller through second A/D converters for feeding back the real-time air pressure of the mixing valve.
7. A multi-channel mixing valve for a soft actuator comprising a plurality of mixing valves as claimed in claims 1 to 6, the pneumatic inputs of a plurality of said mixing valves being connected to a positive and a negative high pressure gas supply respectively, the output of each said mixing valve being connected to the input of a soft actuator.
8. A method for controlling the air pressure of a mixing valve comprising the mixing valve of claims 1-6, the method comprising the steps of:
s1, the controller collects the voltage of the potentiometer through the first A/D converter;
s2, the controller judges the positive and negative voltage mode of the voltage interval of the collected potentiometer;
s3, when the controller judges that the pressure mode is positive, the controller drives the electromagnetic valve control panel to open the normally closed hole of the electromagnetic valve through the I/O port, and outputs positive air pressure;
and S4, when the controller judges that the negative pressure mode is adopted, the controller closes the electromagnetic valve control panel through the I/O port, opens the normally open hole of the electromagnetic valve and outputs negative air pressure.
9. The air pressure control method of the mixing valve according to claim 8, wherein according to step S3, the controller converts the sampling voltage into a corresponding high-precision proportional valve control voltage through a D/a converter, the normally closed hole of the solenoid valve is connected to an air outlet of the positive pressure proportional valve, an air inlet of the positive pressure proportional valve is connected to the first positive high pressure air pump, an air inlet of the solenoid valve is connected to the air pressure controlled object, the controller outputs the control voltage to control the positive pressure proportional valve, and opens the normally closed hole of the solenoid valve, and the mixing valve outputs the positive air pressure.
10. The air pressure control method of the mixing valve according to claim 8, wherein the controller converts the sampling voltage into a corresponding high-precision proportional valve control voltage through a D/a converter according to step S4, the solenoid valve normal opening is connected to an air outlet of a negative pressure proportional valve, an air inlet of the negative pressure proportional valve is connected to a second positive high-pressure air pump, an air inlet of the solenoid valve is connected to the air pressure controlled object, the controller outputs the control voltage to control the negative pressure proportional valve, and opens the solenoid valve normal opening, and the mixing valve outputs the negative air pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111083337.XA CN113790289A (en) | 2021-09-16 | 2021-09-16 | Multi-channel mixing valve suitable for soft actuator and air pressure control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111083337.XA CN113790289A (en) | 2021-09-16 | 2021-09-16 | Multi-channel mixing valve suitable for soft actuator and air pressure control method thereof |
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| CN113790289A true CN113790289A (en) | 2021-12-14 |
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| CN202111083337.XA Pending CN113790289A (en) | 2021-09-16 | 2021-09-16 | Multi-channel mixing valve suitable for soft actuator and air pressure control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115390496A (en) * | 2022-09-19 | 2022-11-25 | 深圳大学 | Multi-mode air pressure control device and control method based on EtherCAT bus interface |
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| JPH11155946A (en) * | 1997-11-28 | 1999-06-15 | Aisin Seiki Co Ltd | Blood pump driving device, and blood pump driving system |
| CN101984038A (en) * | 2010-09-10 | 2011-03-09 | 北京航空航天大学 | Pneumatic micro-operation device for tiny organisms |
| CN103104810A (en) * | 2013-01-24 | 2013-05-15 | 中国科学院自动化研究所 | Positive / negative pressure gas circuit generating device |
| CN107128078A (en) * | 2017-05-26 | 2017-09-05 | 深圳诚拓数码设备有限公司 | The positive and negative pressure control system of print cartridge |
| CN109268329A (en) * | 2018-10-22 | 2019-01-25 | 清华大学 | A kind of mixing valve for soft robot |
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2021
- 2021-09-16 CN CN202111083337.XA patent/CN113790289A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11155946A (en) * | 1997-11-28 | 1999-06-15 | Aisin Seiki Co Ltd | Blood pump driving device, and blood pump driving system |
| CN101984038A (en) * | 2010-09-10 | 2011-03-09 | 北京航空航天大学 | Pneumatic micro-operation device for tiny organisms |
| CN103104810A (en) * | 2013-01-24 | 2013-05-15 | 中国科学院自动化研究所 | Positive / negative pressure gas circuit generating device |
| CN107128078A (en) * | 2017-05-26 | 2017-09-05 | 深圳诚拓数码设备有限公司 | The positive and negative pressure control system of print cartridge |
| CN109268329A (en) * | 2018-10-22 | 2019-01-25 | 清华大学 | A kind of mixing valve for soft robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115390496A (en) * | 2022-09-19 | 2022-11-25 | 深圳大学 | Multi-mode air pressure control device and control method based on EtherCAT bus interface |
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