CN115045884A - Detectable multi-type air pressure output device and method - Google Patents
Detectable multi-type air pressure output device and method Download PDFInfo
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- CN115045884A CN115045884A CN202210801170.4A CN202210801170A CN115045884A CN 115045884 A CN115045884 A CN 115045884A CN 202210801170 A CN202210801170 A CN 202210801170A CN 115045884 A CN115045884 A CN 115045884A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
- F15B13/0846—Electrical details
- F15B13/085—Electrical controllers
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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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
- F15B13/0846—Electrical details
- F15B13/086—Sensing means, e.g. pressure sensors
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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
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
- F15B2013/0448—Actuation by solenoid and permanent magnet
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- Analytical Chemistry (AREA)
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Abstract
The application provides a detectable multi-type air pressure output device and a detectable multi-type air pressure output method, which comprise a high-pressure air source mechanism, a high-pressure air source mechanism and a high-pressure air source mechanism, wherein the high-pressure air source mechanism is provided with a positive high-pressure air source part and a negative high-pressure air source part; the plurality of air pressure output mechanisms are connected with the high-pressure air source mechanism; the air pressure driving modules are respectively connected with the air pressure output mechanisms in a one-to-one correspondence manner; the plurality of air pressure sensors are respectively arranged in one-to-one correspondence with the plurality of air pressure driving modules; the control mechanism is electrically connected with the high-pressure air source mechanism, the plurality of air pressure output mechanisms and the plurality of air pressure sensors; the air pressure output mechanism is provided with a three-way electromagnetic valve and a two-way electromagnetic valve which are connected, the two-way electromagnetic valve is connected between the air pressure driving module and a first port of the three-way electromagnetic valve, a second port of the three-way electromagnetic valve is communicated with the positive high-pressure air source part, and a third port of the three-way electromagnetic valve is communicated with the negative high-pressure air source part. The control mechanism simultaneously controls the positive/negative high-pressure air source supply of the plurality of groups of air pressure driving modules and detects working pressure and environmental parameters.
Description
Technical Field
The application relates to the technical field of software robots, in particular to a detectable multi-type air pressure output device and a detectable multi-type air pressure output method.
Background
At present, in the field of software robots, a common method for a positive pressure control system and a negative pressure control system in the same air pressure driving scene is to separately use the positive pressure control system and the negative pressure control system, which leads to large overall structure volume, higher cost and single control of the positive pressure control system and the negative pressure control system; meanwhile, the existing positive-negative pressure integrated control system can only carry out positive pressure control or negative pressure control independently at the same time, cannot carry out positive pressure control and negative pressure control simultaneously, and cannot effectively meet the requirements due to the fact that the existing air pressure control technology is low in adjustment precision.
It should be noted that, in the current soft robot, the detection feedback of the environment is particularly important, and the motion state of the robot can be analyzed and adjusted, most of the traditional soft robots adopt the direct assembly of a pressure sensor, a metal strain gauge and the like and the surface of the soft robot, and need to build a corresponding circuit module, so that the safety is poor, the use scene is limited, the robot cannot be used in a humid environment or an underwater environment, and the detection requirements of different environments cannot be met.
Accordingly, the prior art has shortcomings and drawbacks that require further improvement and development.
Disclosure of Invention
In view of the defects of the prior art, the present application aims to provide a detectable multi-type air pressure output device and method, and aims to solve the problem that the air pressure control system of a software robot in the prior art cannot simultaneously control multiple sets of air pressure drives and simultaneously control and output positive pressure and negative pressure.
The technical scheme adopted by the application for solving the technical problem is as follows: a detectable multi-type pneumatic output device for a soft body robot, comprising:
the high-pressure gas source mechanism is provided with a positive high-pressure gas source part and a negative high-pressure gas source part;
the plurality of air pressure output mechanisms are connected with the high-pressure air source mechanism;
the air pressure driving modules are respectively connected with the air pressure output mechanisms in a one-to-one correspondence manner;
the air pressure sensors are respectively arranged in one-to-one correspondence with the air pressure driving modules;
the control mechanism is electrically connected with the high-pressure air source mechanism, the plurality of air pressure output mechanisms and the plurality of air pressure sensors;
the pneumatic output mechanism is provided with a three-way electromagnetic valve and a two-way electromagnetic valve which are connected, the two-way electromagnetic valve is connected between the pneumatic driving module and a first port of the three-way electromagnetic valve, a second port of the three-way electromagnetic valve is communicated with the positive high-pressure air source part, and a third port of the three-way electromagnetic valve is communicated with the negative high-pressure air source part.
Through the embodiment, the high-pressure air source mechanism is connected with the plurality of groups of air pressure output mechanisms, so that each group of air pressure output mechanisms is provided with the positive high-pressure air source and the negative high-pressure air source, the three-way electromagnetic valve is arranged on the air pressure output mechanism, the air pressure output mechanism has a structure for switching and outputting the positive high-pressure air source and the negative high-pressure air source, the control mechanism is arranged and is electrically connected with the plurality of air pressure output mechanisms, the three-way electromagnetic valve can be further controlled, and the guarantee is provided for switching the positive high-pressure air source and the negative high-pressure air source; furthermore, a single group of control mechanism can simultaneously control a plurality of groups of air pressure output mechanisms, and can simultaneously control different air pressure output mechanisms to simultaneously output a positive high-pressure air source and/or a negative high-pressure air source; through set up two solenoid valve between three solenoid valve and the atmospheric pressure actuating mechanism, and with control mechanism connects, and then can control two solenoid valve and seal atmospheric pressure actuating mechanism, and through atmospheric pressure actuating mechanism's one end set up with the atmospheric pressure sensor that the control mechanism electricity is connected, and then can detect atmospheric pressure actuating mechanism's atmospheric pressure value, the environmental parameter of knowing software robot indirectly by atmospheric pressure actuating mechanism's atmospheric pressure value changes.
Optionally, the air pressure output mechanism further includes:
the air inlet end of the proportional valve is connected with the forward high-pressure air source part, and the air outlet end of the proportional valve is connected with the second port of the three-way electromagnetic valve;
the air inlet end of the negative proportional valve is connected with the negative high-pressure air source part, and the air outlet end of the negative proportional valve is connected with the third port of the three-way electromagnetic valve;
and the positive proportional valve, the negative proportional valve, the three-way electromagnetic valve and the two-way electromagnetic valve are all electrically connected with the control mechanism.
In the above embodiment, by setting the positive proportional valve and the negative proportional valve, the air pressure output mechanism is further stably connected to the positive high-pressure air source and the negative high-pressure air source of the high-pressure air source mechanism, and therefore the air pressure output mechanism can output the positive high-pressure air source and the negative high-pressure air source at the same time.
Optionally, the second port of the three-way electromagnetic valve is set as a normally closed end, and the third port of the three-way electromagnetic valve is set as a normally open end.
In the embodiment, the second port of the three-way electromagnetic valve of the forward high-pressure air source part is set to be the normally closed end, so that the air tightness of the detectable multi-type air pressure output device is effectively guaranteed; the third port of the negative high-pressure air source three-way electromagnetic valve is set to be a normally open end, so that the air pressure in the air pressure driving module is kept balanced.
Optionally, the control mechanism includes:
the controller is respectively and electrically connected with the positive proportional valve, the negative proportional valve, the three-way electromagnetic valve, the two-way electromagnetic valve, the positive high-pressure air source part and the negative high-pressure air source part;
and the power supply is electrically connected with the controller.
In the embodiment, the controller and the power supply are arranged, so that the power supply of the controller can be ensured; the controller is respectively and electrically connected with the positive proportional valve, the negative proportional valve, the three-way electromagnetic valve, the two-way electromagnetic valve, the positive high-pressure air source part and the negative high-pressure air source part, so that different air pressure output mechanisms can be simultaneously controlled by the controller to output the positive high-pressure air source and/or the negative high-pressure air source.
Optionally, the controller includes:
an I/O port;
one end of the PLC control panel is connected with the I/O port, and the other end of the PLC control panel is respectively and electrically connected with the three-way electromagnetic valve and the two-way electromagnetic valve;
the D/A converter is respectively and electrically connected with the positive proportional valve and the negative proportional valve;
and the A/D converters are respectively and electrically connected with the air pressure sensors.
In the above embodiment, the known controller includes a CPU, and an I/O port, a D/a converter and an a/D converter are configured on the CPU, so as to effectively ensure that the controller is electrically connected to the three-way electromagnetic valve and the two-way electromagnetic valve, and the air pressure sensor, so as to effectively control operations of the air pressure output mechanism, the air pressure driving module and the air pressure sensor.
Optionally, the control mechanism further includes: the upper computer is electrically connected with the controller; the host computer includes:
the device comprises an upper computer body, wherein a control window is arranged on the upper computer body;
the connection control module is arranged at the control window and used for controlling the upper computer body to be electrically connected with the controller;
the air pressure control module is arranged at the control window, is electrically connected with the controller and is used for setting working air pressure at the air pressure driving module;
the real-time air pressure feedback module is arranged at the control window, is electrically connected with the controller, and comprises a real-time air pressure feedback curve graph display component and an air pressure feedback value display component;
and the two-way electromagnetic valve control switch is arranged at the control window and is electrically connected with the controller.
In the embodiment, the connection of the upper computer and the controller is effectively controlled by arranging the connection control module; by arranging the air pressure control module, the operating pressure of the air pressure driving module can be controlled; by arranging the real-time air pressure feedback module, the running pressure and the environmental parameters detected by the air pressure sensor and carried out by the air pressure driving module can be displayed in real time; through setting up two solenoid valve control switch, and then can control the break-make of two solenoid valve, and then switch atmospheric pressure drive mode or detection mode.
Optionally, the control mechanism further includes:
and one end of the instruction sending control module is electrically connected with the controller, and the other end of the instruction sending control module is respectively electrically connected with the connection control module, the air pressure control module, the real-time air pressure feedback module and the two-way solenoid valve control switch.
In the above embodiment, through setting up instruction transmission control module, and then can ensure the exactness of host computer operation, after setting for various parameters, just can send the instruction to the controller through triggering instruction transmission control module, and then can avoid the maloperation.
The technical scheme adopted by the application for solving the technical problem is as follows: a detectable multi-type air pressure output method performed based on the detectable multi-type air pressure output device as described above, comprising:
the control mechanism controls the two-way electromagnetic valves to be opened, and the air pressure driving module corresponding to each two-way electromagnetic valve is connected with the first port of the three-way electromagnetic valve;
the control mechanism receives a plurality of input air pressure value control instructions and controls the second port or the third port of the corresponding three-way electromagnetic valve to be opened according to each air pressure value control instruction;
the high-pressure air source mechanism outputs positive air pressure or negative air pressure to the corresponding air pressure driving module through the air pressure output mechanism and the two-way electromagnetic valve in sequence; meanwhile, the plurality of air pressure sensors detect the real-time air pressure value of the air pressure driving module in a one-to-one correspondence manner and send the real-time air pressure value to the control mechanism;
the control mechanism controls the two-way electromagnetic valves to be closed, and the air pressure sensors detect real-time environment parameters of the air pressure driving module in a one-to-one correspondence mode and send the real-time environment parameters to the control mechanism.
In the above embodiment, the control mechanism controls the two-way electromagnetic valves to open, and the pneumatic driving module corresponding to each two-way electromagnetic valve is connected to the first port of the three-way electromagnetic valve; then, the control mechanism controls the opening of the second port or the third port of each three-way electromagnetic valve, so that different high-pressure air source mechanisms can be controlled, and a positive high-pressure air source or a negative high-pressure air source is output at the same time; meanwhile, the working pressure of the air pressure driving module is detected through the air pressure sensor, and the environmental parameters of the air pressure driving module can be detected through the air pressure sensor by controlling the two-way electromagnetic valve.
Optionally, the control mechanism comprises an upper computer and a controller which are electrically connected; the upper computer is provided with an air pressure control module, and the controller is provided with an I/O port and a PLC control panel which are connected in sequence;
the control mechanism receives a plurality of input air pressure value control instructions and controls the opening of the second port or the third port of the corresponding three-way electromagnetic valve according to each air pressure value control instruction, and the control mechanism specifically comprises:
the air pressure control module receives a plurality of set air pressure value control instructions and sends the set air pressure value control instructions to the controller through the air pressure control module;
the controller receives the air pressure value control commands and judges whether the control air pressure value corresponding to each air pressure value control command is a positive air pressure value or a negative air pressure value;
when the control air pressure values are all positive air pressure values, the controller drives the PLC control panel to open the second ports of all the three-way electromagnetic valves through the I/O port; when all the control air pressure values are negative air pressure values, the controller drives the PLC control panel to open third ports of all the three-way electromagnetic valves through the I/O port; and when the control air pressure value part is a positive air pressure value and the control air pressure value part is a negative air pressure value, the controller drives the PLC control panel to open a second port of the three-way electromagnetic valve corresponding to the positive air pressure value and open a third port of the three-way electromagnetic valve corresponding to the negative air pressure value through the I/O port.
In the above embodiment, the known control mechanism receives an air pressure value control instruction set by a user, and then controls different air pressure output mechanisms to output the positive high-pressure air source or the negative high-pressure air source with the corresponding air pressure value to different air pressure driving modules according to the air pressure value control instruction.
Optionally, the control mechanism controls the two-way electromagnetic valves to open, and connects the pneumatic driving module corresponding to each two-way electromagnetic valve with the first port of the three-way electromagnetic valve, which specifically includes:
the upper computer receives opening instructions of the two-way electromagnetic valves and sends the opening instructions to the controller; the controller receives opening instructions of the two-way electromagnetic valves, drives the PLC control panel to open the two-way electromagnetic valves through an I/O port, and communicates each corresponding air pressure driving module with the three-way electromagnetic valve;
and/or the high-pressure air source mechanism outputs positive air pressure or negative air pressure to the corresponding air pressure driving module sequentially through the air pressure output mechanism and the two-way electromagnetic valve; simultaneously, it is a plurality of baroceptor one-to-one detects the real-time atmospheric pressure value of atmospheric pressure drive module to send control mechanism, specifically include:
the high-pressure air source mechanism outputs positive air pressure to the air pressure driving module sequentially through the air pressure output mechanism, the second port of the three-way electromagnetic valve, the first port of the three-way valve and the two-way electromagnetic valve; the high-pressure air source mechanism outputs negative air pressure to the air pressure driving module sequentially through the air pressure output mechanism, the third port of the three-way electromagnetic valve, the first port of the three-way valve and the two-way electromagnetic valve; the plurality of air pressure sensors correspondingly detect the real-time air pressure value of each air pressure driving module one by one and send the real-time air pressure value to the control mechanism;
and/or, control mechanism control is a plurality of two way solenoid valve closes, and is a plurality of the baroceptor one-to-one detects the real-time environment parameter of atmospheric pressure drive module, and send to control mechanism specifically includes:
the upper computer receives closing instructions of the two-way electromagnetic valves and sends the closing instructions to the controller; the controller receives closing instructions of the two-way electromagnetic valves and closes the corresponding two-way electromagnetic valves one by one through the I/O port and the PLC control panel; the plurality of air pressure sensors are used for detecting the pressure of the air pressure driving module in a one-to-one correspondence mode and feeding back values to the controller.
In the above embodiment, through two-way solenoid valve, and then can switch the atmospheric pressure drive mode and the detection mode of atmospheric pressure drive module, through setting up baroceptor, and then can detect the operating pressure of atmospheric pressure drive module, can detect the ambient pressure of atmospheric pressure drive module again, and then both can the different atmospheric pressure drive module malleation drives of simultaneous control or negative pressure drive, can detect the operating pressure and the ambient pressure of atmospheric pressure drive module again.
Has the advantages that:
the detectable multi-type air pressure output device comprises a high-pressure air source mechanism, a plurality of groups of air pressure output mechanisms, a plurality of air pressure driving modules and a plurality of air pressure sensors, wherein the high-pressure air source mechanism is connected with the plurality of groups of air pressure output mechanisms; each group of air pressure output mechanisms are provided with a positive high-pressure air source and a negative high-pressure air source, and the air pressure output mechanisms are provided with a structure for switching and outputting the positive high-pressure air source and the negative high-pressure air source by arranging three-way electromagnetic valves on the air pressure output mechanisms; the control mechanism is arranged and electrically connected with the plurality of air pressure output mechanisms, so that the three-way electromagnetic valve can be controlled, and the positive high-pressure air source and the negative high-pressure air source are switched to provide guarantee; the single group of control mechanisms can simultaneously control a plurality of groups of air pressure output mechanisms and simultaneously control different air pressure output mechanisms to simultaneously output positive high-pressure air sources and/or negative high-pressure air sources; through set up two solenoid valve between three solenoid valve and the atmospheric pressure actuating mechanism, and with control mechanism connects, and then can control two solenoid valve and seal atmospheric pressure actuating mechanism, and through atmospheric pressure actuating mechanism's one end set up with the atmospheric pressure sensor that the control mechanism electricity is connected, and then can detect atmospheric pressure actuating mechanism's atmospheric pressure value, the environmental parameter of knowing software robot indirectly by atmospheric pressure actuating mechanism's atmospheric pressure value changes.
Drawings
FIGS. 1 and 2 are functional schematic block diagrams of a detectable multi-type air pressure output device as provided herein;
FIG. 3 is a schematic partial front view of a host computer of a control mechanism of a detectable multi-type air pressure output device as provided herein;
FIG. 4 is a schematic block diagram illustrating the operational principles of a control mechanism of a detectable multi-type pneumatic output device as provided herein;
FIG. 5 is a schematic flow diagram of a method of detectable multi-type air pressure output as provided herein;
description of reference numerals:
100. a detectable multi-type air pressure output device; 1. a forward high pressure gas source; 2. a negative high-pressure gas source; 3. a proportional valve; 4. a negative proportional valve; 5. a three-way electromagnetic valve; 6. a two-way solenoid valve; 7. an air pressure driving module; 8. an air pressure sensor; 9. a controller; 10. a D/A converter; 11. an I/O port; 12. a PLC control panel; 13. an A/D converter; 14. a power supply; 15. an upper computer; 16. an air pressure output mechanism; 17. a high-pressure gas source mechanism; 151. connecting a control module; 152. an air pressure control module; 153. an air pressure feedback curve graph display component; 154. a two-way electromagnetic valve controls a switch; 155. an air pressure feedback value display component; 156. an instruction transmission control module; 157. an upper computer body; 158. and a real-time air pressure feedback module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application clearer and clearer, the present application is further described in detail below by referring to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Referring to fig. 1 to fig. 2, a first embodiment of the present application provides a detectable multi-type pneumatic output device 100, wherein the detectable multi-type pneumatic output device 100 is used for a software robot; specifically, the detectable multi-type air pressure output device 100 includes: the device comprises a high-pressure air source mechanism 17, a control mechanism 18, a plurality of air pressure output mechanisms 16, a plurality of air pressure driving modules 7 and a plurality of air pressure sensors 8; the high-pressure air source mechanism 17 is provided with 1 positive high-pressure air source and 2 negative high-pressure air sources; the plurality of air pressure output mechanisms 16 are all connected with the high-pressure air source mechanism 17; the plurality of air pressure driving modules 7 are respectively connected with the plurality of air pressure output mechanisms 16 in a one-to-one correspondence manner; the plurality of air pressure sensors 8 are respectively arranged in one-to-one correspondence with the plurality of air pressure driving modules 7; the control mechanism 18 is electrically connected with the high-pressure air source mechanism 17, the plurality of air pressure output mechanisms 16 and the plurality of air pressure sensors 8; the pneumatic output mechanism 16 is provided with a three-way electromagnetic valve 5 and a two-way electromagnetic valve 6 which are connected, the two-way electromagnetic valve 6 is connected between the pneumatic driving module 7 and a first port of the three-way electromagnetic valve 5, a second port of the three-way electromagnetic valve 5 is communicated with the positive high-pressure air source 1, and a third port of the three-way electromagnetic valve 5 is communicated with the negative high-pressure air source 2.
When the software robot runs, the high-pressure air source mechanism 17 is used for providing a positive high-pressure air source 1 and a negative high-pressure air source 2, so that the air pressure output mechanism 16 outputs the positive high-pressure air source 1 and the negative high-pressure air source 2, then the air pressure output mechanism 16 outputs the positive high-pressure air source 1 or the negative high-pressure air source 2 to the air pressure output mechanism 16, and the air pressure sensor 8 is used for detecting the working pressure or the environmental parameter of the air pressure driving module 7. Specifically, the high-pressure air source mechanism 17 is connected with a plurality of air pressure output mechanisms 16, and the control mechanism 18 is connected with the plurality of air pressure output mechanisms 16; that is, the air pressure output mechanism 16, the positive high-pressure air source 1 (such as a compressor) and the negative high-pressure air source 2 (such as a vacuum pump) have the capability of outputting the positive high-pressure air source 1 and the negative high-pressure air source 2; all the air pressure output mechanisms 16 are electrically connected with the control mechanism 18, so that the control mechanism 18 can simultaneously control all the air pressure output mechanisms 16, and simultaneously control different air pressure output mechanisms 16 to simultaneously output the positive high-pressure air source 1 and/or the negative high-pressure air source 2, so as to drive the air pressure driving module 7 corresponding to each air pressure output mechanism 16 to operate; in the secondary process, the corresponding two-way electromagnetic valves 6 are all in an open state, the first port and the second port of the three-way electromagnetic valve 5 of the air pressure output mechanism 16 outputting the positive high-pressure air source 1 are opened, and the first port and the third port of the three-way electromagnetic valve 5 of the air pressure output mechanism 16 outputting the negative high-pressure air source 2 are opened; meanwhile, the air pressure sensor 8 corresponding to each air pressure driving module 7 synchronously detects the real-time working pressure of the air pressure driving module 7 and feeds the real-time working pressure back to the control mechanism 18, so that the detection of the air pressure output by the air pressure output mechanism 16 is realized; meanwhile, when the air pressure driving module 7 does not need to be driven, the control mechanism 18 controls the two-way electromagnetic valve 6 to be closed, so that the air pressure driving module 7 is in a sealed state, at the moment, the air pressure sensor 8 can detect real-time pressure change of the sealed air pressure driving module 7, and further indirectly acquire environmental parameters of the air pressure driving module 7, such as environmental air pressure, when the environmental air pressure is increased, the air pressure driving module 7 is compressed, the internal pressure is synchronously increased, and otherwise, the internal pressure is synchronously reduced; also for example ambient temperature, external temperature changes, also result in pressure changes inside the pneumatic driver module 7.
That is to say, the high-pressure air source mechanism 17 is connected with a plurality of groups of air pressure output mechanisms 16, so that each group of air pressure output mechanisms 16 is provided with a positive high-pressure air source 1 and a negative high-pressure air source 2, the three-way electromagnetic valve 5 is arranged on the air pressure output mechanism 16, so that the air pressure output mechanism 16 has a structure for switching and outputting the positive high-pressure air source 1 and the negative high-pressure air source 2, and the control mechanism 18 is arranged and electrically connected with the plurality of air pressure output mechanisms 16, so that the three-way electromagnetic valve 5 can be controlled; furthermore, the single group of control mechanism 18 can simultaneously control a plurality of groups of air pressure output mechanisms 16, and can simultaneously control different air pressure output mechanisms 16 to simultaneously output a positive high-pressure air source 1 and/or a negative high-pressure air source 2; through set up two solenoid valve 6 between three solenoid valve 5 and the pneumatic actuating mechanism, and with control mechanism 18 is connected, and then can control two solenoid valve 6 and seal pneumatic actuating mechanism, and through pneumatic actuating mechanism's one end set up in the baroceptor 8 that control mechanism 18 electricity is connected, and then can detect pneumatic actuating mechanism's atmospheric pressure value, the environmental parameter of knowing software robot indirectly by pneumatic actuating mechanism's atmospheric pressure value change.
Referring further to fig. 2, in other embodiments, the pneumatic output mechanism 16 further includes: the air inlet end of the positive proportional valve 3 is connected with the positive high-pressure air source 1, and the air outlet end of the positive proportional valve 3 is connected with the second port of the three-way electromagnetic valve 5; the air inlet end of the negative proportional valve 4 is connected with the negative high-pressure air source 2, and the air outlet end of the negative proportional valve 4 is connected with the third port of the three-way electromagnetic valve 5; the positive proportional valve 3, the negative proportional valve 4, the three-way electromagnetic valve 5 and the two-way electromagnetic valve 6 are all electrically connected with the control mechanism 18.
It can be understood that, by setting the positive proportional valve 3 and the negative proportional valve 4, the air pressure output mechanism 16 is stably and controllably connected with the positive high-pressure air source 1 and the negative high-pressure air source 2 of the high-pressure air source mechanism 17, and for this reason, the air pressure output mechanism 16 can output the positive high-pressure air source 1 and the negative high-pressure air source 2 at the same time. The positive proportional valve 3, the negative proportional valve 4, the three-way electromagnetic valve 5 and the two-way electromagnetic valve 6 are electrically connected with the control mechanism 18, so that the operation of the positive proportional valve 3, the negative proportional valve 4, the three-way electromagnetic valve 5 and the two-way electromagnetic valve 6 is conveniently controlled by the control mechanism 18.
In other embodiments, the second port of the three-way solenoid valve 5 is set as a normally closed end, and the third port of the three-way solenoid valve 5 is set as a normally open end.
It can be understood that the second port of the three-way electromagnetic valve 5 corresponding to the forward high-pressure gas source 1 is set to be a normally closed end, so that the detectable air tightness of the multi-type air pressure output device 100 is effectively ensured; the third port of the three-way electromagnetic valve 5 of the negative high-pressure air source 2 is set to be a normally open end, so that the air pressure in the air pressure driving module 7 is kept balanced.
Referring further to fig. 2-4, in other embodiments, the control mechanism 18 includes: a controller 9 and a power supply 14; the controller 9 is respectively and electrically connected with the positive proportional valve 3, the negative proportional valve 4, the three-way electromagnetic valve 5, the two-way electromagnetic valve 6, the positive high-pressure air source 1 part and the negative high-pressure air source 2 part; the power supply 14 is electrically connected to the controller 9.
In the above embodiment, the controller 9 and the power supply 14 are provided, so that the power supply of the controller 9 can be ensured; the controller 9 is respectively and electrically connected with the positive proportional valve 3, the negative proportional valve 4, the three-way electromagnetic valve 5, the two-way electromagnetic valve 6, the positive high-pressure air source 1 and the negative high-pressure air source 2, so that the controller 9 can simultaneously control different air pressure output mechanisms 16 to output the positive high-pressure air source 1 and/or the negative high-pressure air source 2.
In other embodiments, the controller 9 includes: I/O port 11, PLC control board 12, D/A converter 10 and A/D converter 13; one end of the PLC control board 12 is connected with the I/O port 11, and the other end of the PLC control board 12 is respectively and electrically connected with the three-way electromagnetic valve 5 and the two-way electromagnetic valve 6; the D/A converter 10 is electrically connected with the positive proportional valve 3 and the negative proportional valve 4 respectively; the a/D converters 13 are electrically connected to the air pressure sensors 8, respectively.
In the above embodiment, the well-known controller 9 includes a single chip microcomputer, and an I/O port 11, a D/a converter 10 and an a/D converter 13 are configured on the single chip microcomputer (for example, STM32), so as to effectively ensure that the controller 9 is electrically connected with the three-way electromagnetic valve 5 and the two-way electromagnetic valve 6, the three-way electromagnetic valve 5 is electrically connected with the two-way electromagnetic valve 6, and the air pressure sensor 8 is electrically connected, so as to effectively control the operation of the air pressure output mechanism 16, the air pressure driving module 7 and the air pressure sensor 8; when the pneumatic control device operates, the I/O port 11 and the PLC control board 12 are electrically connected with the three-way electromagnetic valve 5 and the two-way electromagnetic valve 6, so that whether the pneumatic driving module 7 operates in a ventilation mode or not can be controlled by controlling the two-way electromagnetic valve 6, and the pneumatic output mechanism 16 is controlled by the three-way electromagnetic valve 5 to output the positive high-pressure air source 1 and the negative high-pressure air source 2; the D/A converter 10 is respectively electrically connected with the positive proportional valve 3 and the negative proportional valve 4, the A/D converter 13 is respectively electrically connected with the air pressure sensor 8, data detected by the air pressure sensor 8 can be recovered, and guarantee is provided for monitoring the operating air pressure and the environmental parameters of the air pressure output mechanism 16 in real time.
In other embodiments, the control mechanism 18 further comprises: the upper computer 15, the said upper computer 15 is electrically connected with said controller 9; the upper computer 15 includes: the device comprises an upper computer body 157, a connection control module 151, an air pressure control module 152, a real-time air pressure feedback module 158 and a two-way electromagnetic valve control switch 154, wherein a control window is arranged on the upper computer body 157; the connection control module 151 is disposed at the control window, and is configured to control the upper computer body 157 to be electrically connected to the controller 9; the air pressure control module 152 is arranged at the control window, is electrically connected with the controller 9, and is used for setting the working air pressure at the air pressure driving module 7; the real-time air pressure feedback module 158 is disposed at the control window, electrically connected to the controller 9, and includes a real-time air pressure feedback graph display module 153 and an air pressure feedback value display module 155; the two-way solenoid valve control switch 154 is disposed at the control window and electrically connected to the controller 9.
It can be understood that the upper computer 15 is used as a human-computer interaction platform of the detectable multi-type air pressure output device 100, and a user can control the operation of the detectable multi-type air pressure output device 100 through the upper computer 15; specifically, the control window is arranged on the upper computer body 157, the connection control module 151, the air pressure control module 152, the real-time air pressure feedback module 158 and the two-way solenoid valve control switch 154 are all arranged on the control window, and a user operates the connection control module 151, the air pressure control module 152, the real-time air pressure feedback module 158 and the two-way solenoid valve control switch 154 at the control window to further control the operation of the detectable multi-type air pressure output device 100; specifically, the connection control module 151 is configured to be a connection control button or a connection control touch key; the air pressure control module 152 is a plurality of air pressure value control knobs; the plurality of air pressure sensors 8 transmit a plurality of detected air pressure data to the controller, the controller transmits the plurality of air pressure data to the real-time air pressure feedback module 158, the real-time air pressure feedback module 158 is set as a real-time air pressure feedback curve display component 153 and an air pressure feedback value display component 155, the real-time air pressure feedback curve display component 153 is set as a real-time air pressure feedback value display window, and the real-time air pressure feedback value display window displays the plurality of air pressure data as a real-time air pressure feedback value; the real-time air pressure feedback curve graph display component 153 is set as a real-time air pressure feedback value window, and the real-time air pressure feedback value display window displays a plurality of air pressure data on an air pressure feedback value curve; the two-way solenoid valve control switch 154 is also provided in plural numbers.
It can be understood that the connection between the upper computer 15 and the controller 9 is effectively controlled by arranging the connection control module 151; by arranging the air pressure control module 152, the operating pressure of the air pressure driving module 7 can be controlled; by arranging the real-time air pressure feedback module 158, the operating pressure and the environmental parameters of the air pressure driving module 7 detected by the air pressure sensor 8 can be displayed in real time; by providing the two-way solenoid valve control switch 154, the on/off of the two-way solenoid valve 6 can be controlled, and the pneumatic driving mode or the detection mode can be switched.
In some embodiments, the control mechanism 18 further comprises: the instruction transmission control module 156; one end of the command sending control module 156 is electrically connected to the controller 9, and one end of the command sending control module 156 is electrically connected to the connection control module 151, the air pressure control module 152, the real-time air pressure feedback module 158, and the two-way solenoid valve control switch 154, respectively.
It can be understood that through setting up instruction transmission control module 156 (if the instruction starts control button), and then can ensure the exactness of host computer 15 operation, after setting for various parameters, just can send the instruction to controller 9 through trigger instruction transmission control module 156, and then can avoid the maloperation.
Referring to fig. 5, a second embodiment of the present application further provides a detectable multi-type air pressure output method, which is implemented based on the detectable multi-type air pressure output device in the previous embodiment of the present application, and is configured to control, through a set of control mechanisms, a plurality of sets of air pressure output mechanisms of the software robot to output a positive high-pressure air source or a negative high-pressure air source to corresponding air pressure driving modules, detect working pressures of the air pressure driving modules, and monitor an environmental parameter (such as pressure or temperature).
Specifically, the detectable multi-type air pressure output method includes:
and S100, controlling the two-way electromagnetic valves to be opened by the control mechanism, and connecting the air pressure driving module corresponding to each two-way electromagnetic valve with the first port of the three-way electromagnetic valve.
When the detectable multi-type air pressure output device runs, the control mechanism controls the two-way electromagnetic valves to be opened first, so that the air pressure driving module is conducted with the air pressure output mechanism, and further guarantee is provided for driving the air pressure driving module; specifically, the step S100 includes:
the upper computer receives opening instructions of the two-way electromagnetic valves and sends the opening instructions to the controller;
the controller receives a plurality of opening instructions of the two-way electromagnetic valves, drives the PLC control panel to open a plurality of corresponding two-way electromagnetic valves through the I/O port, and communicates each corresponding air pressure driving module with the three-way electromagnetic valve.
The user controls the on-off of the corresponding two-way electromagnetic valve control switch corresponding to the air pressure driving module by operating the two-way electromagnetic valve control switch of the upper computer, so that the air pressure driving module is conducted with the air pressure output mechanism; it should be noted that the upper computer may also automatically generate a required opening or closing instruction of the two-way valve solenoid valve by the two-way solenoid valve control switch, and transmit the instruction to the controller.
And S200, the control mechanism receives a plurality of input air pressure value control instructions and controls the second port or the third port of the corresponding three-way electromagnetic valve to be opened according to each air pressure value control instruction.
The control mechanism controls the opening of the second port or the third port of the corresponding three-way valve electromagnetic valve according to a plurality of air pressure values corresponding to a plurality of air pressure value control instructions; and the control mechanism simultaneously controls different air pressure output mechanisms to output positive high-pressure air sources and/or negative high-pressure air sources to the corresponding air pressure driving modules. Specifically, the step S200 includes:
the air pressure control module receives a plurality of set air pressure value control instructions and sends the set air pressure value control instructions to the controller through the air pressure control module;
the controller receives the air pressure value control instructions and judges whether the control air pressure value corresponding to each air pressure value control instruction is a positive air pressure value or a negative air pressure value;
when the control air pressure values are all positive air pressure values, the controller drives the PLC control panel to open the second ports of all the three-way electromagnetic valves through the I/O port; when all the control air pressure values are negative air pressure values, the controller drives the PLC control panel to open third ports of all the three-way electromagnetic valves through the I/O port; when the control air pressure value part is a positive air pressure value part and a negative air pressure value part, the controller drives the PLC control panel to open a second port of the three-way electromagnetic valve corresponding to the positive air pressure value and open a third port of the three-way electromagnetic valve corresponding to the negative air pressure value through the I/O port.
The user can set a plurality of air pressure value control instructions through an air pressure control module of the upper computer, and it should be noted that the upper computer can also automatically generate a plurality of air pressure value control instructions through the air pressure control module; then, sending all the air pressure value control instructions to the controller, wherein the air pressure values corresponding to the air pressure value control instructions received by the controller are positive high-pressure air sources or negative high-pressure air sources; opening a second port of a three-way valve electromagnetic valve of the air pressure output mechanism corresponding to the air pressure value control instruction of the forward high-pressure air source, and outputting the forward high-pressure air source to the air pressure driving module; opening a third port of a three-way valve electromagnetic valve of the air pressure output mechanism corresponding to the air pressure value control instruction of the negative high-pressure air source, and outputting the negative high-pressure air source to the air pressure driving module; and then the positive high-pressure air source and/or the negative high-pressure air source output by the plurality of groups of air pressure output mechanisms can be controlled simultaneously.
Step S300, the high-pressure air source mechanism outputs positive air pressure or negative air pressure to the corresponding air pressure driving module sequentially through the air pressure output mechanism and the two-way electromagnetic valve; meanwhile, the plurality of air pressure sensors detect the real-time air pressure value of the air pressure driving module in a one-to-one correspondence mode and send the real-time air pressure value to the control mechanism.
In the detectable multi-type air pressure output method, a group of high-pressure air source mechanisms is connected with all the air pressure output mechanisms, and each air pressure driving module is provided with a two-way electromagnetic valve, a three-way electromagnetic valve, a positive proportion valve or a negative proportion valve and a positive high-pressure air source part or a negative high-pressure air source part; meanwhile, outputting an air source to the air pressure driving module; and the real-time air pressure feedback module displays an air pressure feedback curve graph and an air pressure feedback value, so that the real-time detection of the air pressure driving module and the real-time detection of the air pressure output by the air pressure output mechanism are realized.
And S400, the control mechanism controls the two-way electromagnetic valves to be closed, and the air pressure sensors detect real-time environment parameters of the air pressure driving module in a one-to-one correspondence mode and send the real-time environment parameters to the control mechanism.
The control mechanism receives or generates a plurality of closing instructions of the two-way valve electromagnetic valves, and closes the corresponding two-way valve electromagnetic valves, so that the pneumatic driving module (such as an airbag structure) is in a sealing state; at this time, the pressure inside the pneumatic driving module can be influenced by the environmental parameters (such as the environmental pressure or the environmental temperature) where the soft robot is located, and then the pressure in the pneumatic driving module can be detected by the pneumatic sensor, so that the environmental parameters of the soft robot can be indirectly obtained, and the pneumatic driving module is not influenced by scenes and has high safety.
It should be understood that the application of the present application is not limited to the above examples, and that modifications or changes may be made by those skilled in the art based on the above description, and all such modifications and changes are intended to fall within the scope of the appended claims.
Claims (10)
1. A detectable multi-type pneumatic output device for a soft body robot, comprising:
the high-pressure air source mechanism is provided with a positive high-pressure air source part and a negative high-pressure air source part;
the plurality of air pressure output mechanisms are connected with the high-pressure air source mechanism;
the air pressure driving modules are respectively connected with the air pressure output mechanisms in a one-to-one correspondence manner;
the air pressure sensors are respectively arranged in one-to-one correspondence with the air pressure driving modules;
the control mechanism is electrically connected with the high-pressure air source mechanism, the plurality of air pressure output mechanisms and the plurality of air pressure sensors;
the pneumatic output mechanism is provided with a three-way electromagnetic valve and a two-way electromagnetic valve which are connected, the two-way electromagnetic valve is connected between the pneumatic driving module and a first port of the three-way electromagnetic valve, a second port of the three-way electromagnetic valve is communicated with the positive high-pressure air source part, and a third port of the three-way electromagnetic valve is communicated with the negative high-pressure air source part.
2. The detectable multi-type pneumatic pressure output device of claim 1, wherein the pneumatic pressure output mechanism further comprises:
the air inlet end of the proportional valve is connected with the forward high-pressure air source part, and the air outlet end of the proportional valve is connected with the second port of the three-way electromagnetic valve;
the air inlet end of the negative proportional valve is connected with the negative high-pressure air source part, and the air outlet end of the negative proportional valve is connected with the third port of the three-way electromagnetic valve;
and the positive proportional valve, the negative proportional valve, the three-way electromagnetic valve and the two-way electromagnetic valve are all electrically connected with the control mechanism.
3. The detectable multi-type air pressure output device according to claim 2, wherein the second port of the three-way solenoid valve is set to a normally closed end, and the third port of the three-way solenoid valve is set to a normally open end.
4. The detectable multi-type air pressure output device according to claim 2, wherein the control mechanism comprises:
the controller is respectively and electrically connected with the positive proportional valve, the negative proportional valve, the three-way electromagnetic valve, the two-way electromagnetic valve, the positive high-pressure air source part and the negative high-pressure air source part;
and the power supply is electrically connected with the controller.
5. The detectable multi-type air pressure output device according to claim 4, wherein the controller comprises:
an I/O port;
one end of the PLC control panel is connected with the I/O port, and the other end of the PLC control panel is respectively and electrically connected with the three-way electromagnetic valve and the two-way electromagnetic valve;
the D/A converter is electrically connected with the positive proportional valve and the negative proportional valve respectively;
and the A/D converters are respectively and electrically connected with the air pressure sensors.
6. The detectable multi-type air pressure output device according to claim 5, wherein the control mechanism further comprises: the upper computer is electrically connected with the controller; the host computer includes:
the device comprises an upper computer body, wherein a control window is arranged on the upper computer body;
the connection control module is arranged at the control window and used for controlling the upper computer body to be electrically connected with the controller;
the air pressure control module is arranged at the control window, is electrically connected with the controller and is used for setting working air pressure at the air pressure driving module;
the real-time air pressure feedback module is arranged at the control window, is electrically connected with the controller, and comprises a real-time air pressure feedback curve graph display component and an air pressure feedback value display component;
and the two-way electromagnetic valve control switch is arranged at the control window and is electrically connected with the controller.
7. The detectable multi-type air pressure output device according to claim 6, wherein the control mechanism further comprises:
and one end of the instruction sending control module is electrically connected with the controller, and the other end of the instruction sending control module is respectively electrically connected with the connection control module, the air pressure control module, the real-time air pressure feedback module and the two-way solenoid valve control switch.
8. A method of detectable multi-type air pressure output based on the detectable multi-type air pressure output apparatus according to any one of claims 1-7, comprising:
the control mechanism controls the two-way electromagnetic valves to be opened, and the air pressure driving module corresponding to each two-way electromagnetic valve is connected with the first port of the three-way electromagnetic valve;
the control mechanism receives a plurality of input air pressure value control instructions and controls the second port or the third port of the corresponding three-way electromagnetic valve to be opened according to each air pressure value control instruction;
the high-pressure air source mechanism outputs positive air pressure or negative air pressure to the corresponding air pressure driving module sequentially through the air pressure output mechanism and the two-way electromagnetic valve; meanwhile, the plurality of air pressure sensors detect the real-time air pressure value of the air pressure driving module in a one-to-one correspondence manner and send the real-time air pressure value to the control mechanism;
the control mechanism controls the two-way electromagnetic valves to be closed, and the air pressure sensors detect real-time environment parameters of the air pressure driving module in a one-to-one correspondence mode and send the real-time environment parameters to the control mechanism.
9. The detectable multi-type air pressure output method according to claim 8, wherein the control mechanism comprises an upper computer and a controller electrically connected; the upper computer is provided with an air pressure control module, and the controller is provided with an I/O port and a PLC control panel which are connected in sequence;
the control mechanism receives a plurality of input air pressure value control instructions and controls the opening of the second port or the third port of the corresponding three-way electromagnetic valve according to each air pressure value control instruction, and the control mechanism specifically comprises:
the air pressure control module receives a plurality of set air pressure value control instructions and sends the set air pressure value control instructions to the controller through the air pressure control module;
the controller receives the air pressure value control commands and judges whether the control air pressure value corresponding to each air pressure value control command is a positive air pressure value or a negative air pressure value;
when the control air pressure values are all positive air pressure values, the controller drives the PLC control panel to open the second ports of all the three-way electromagnetic valves through the I/O port; when all the control air pressure values are negative air pressure values, the controller drives the PLC control panel to open third ports of all the three-way electromagnetic valves through the I/O port; and when the control air pressure value part is a positive air pressure value and the control air pressure value part is a negative air pressure value, the controller drives the PLC control panel to open a second port of the three-way electromagnetic valve corresponding to the positive air pressure value and open a third port of the three-way electromagnetic valve corresponding to the negative air pressure value through the I/O port.
10. The detectable multi-type air pressure output method according to claim 9,
the control mechanism controls the two-way electromagnetic valves to be opened, and connects the air pressure driving module corresponding to each two-way electromagnetic valve with the first port of the three-way electromagnetic valve, and the control mechanism specifically comprises:
the upper computer receives opening instructions of the two-way electromagnetic valves and sends the opening instructions to the controller; the controller receives opening instructions of the two-way electromagnetic valves, drives a PLC control panel to open the two-way electromagnetic valves through an I/O port, and communicates each corresponding air pressure driving module with the three-way electromagnetic valve;
and/or the high-pressure air source mechanism outputs positive air pressure or negative air pressure to the corresponding air pressure driving module sequentially through the air pressure output mechanism and the two-way electromagnetic valve; simultaneously, it is a plurality of baroceptor one-to-one detects the real-time atmospheric pressure value of atmospheric pressure drive module to send control mechanism, specifically include:
the high-pressure air source mechanism outputs positive air pressure to the air pressure driving module sequentially through the air pressure output mechanism, the second port of the three-way electromagnetic valve, the first port of the three-way valve and the two-way electromagnetic valve; the high-pressure air source mechanism outputs negative air pressure to the air pressure driving module sequentially through the air pressure output mechanism, the third port of the three-way electromagnetic valve, the first port of the three-way valve and the two-way electromagnetic valve; the plurality of air pressure sensors correspondingly detect the real-time air pressure value of each air pressure driving module one by one and send the real-time air pressure value to the control mechanism;
and/or, control mechanism control is a plurality of two-way solenoid valve closes, and is a plurality of baroceptor one-to-one detects the real-time environmental parameter of atmospheric pressure drive module, and send to control mechanism specifically includes:
the upper computer receives closing instructions of the two-way electromagnetic valves and sends the closing instructions to the controller; the controller receives closing instructions of the two-way electromagnetic valves and closes the corresponding two-way electromagnetic valves one by one through the I/O port and the PLC control panel; the plurality of air pressure sensors are used for detecting the pressure of the air pressure driving module in a one-to-one correspondence mode and feeding back values to the controller.
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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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| 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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