CN117948315A - Control system of pneumatic software driver - Google Patents
Control system of pneumatic software driver Download PDFInfo
- Publication number
- CN117948315A CN117948315A CN202410344981.5A CN202410344981A CN117948315A CN 117948315 A CN117948315 A CN 117948315A CN 202410344981 A CN202410344981 A CN 202410344981A CN 117948315 A CN117948315 A CN 117948315A
- Authority
- CN
- China
- Prior art keywords
- valve
- pressure
- control system
- driver
- fixedly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000006378 damage Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 5
- 230000001276 controlling effect Effects 0.000 description 26
- 238000010586 diagram Methods 0.000 description 8
- 230000000149 penetrating effect Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 208000014674 injury Diseases 0.000 description 5
- 230000003993 interaction Effects 0.000 description 5
- 208000012260 Accidental injury Diseases 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 239000000178 monomer Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- 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
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
-
- 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
- F15B21/08—Servomotor systems incorporating electrically operated control means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention belongs to the technical field of pneumatic software drivers, in particular to a control system of a pneumatic software driver, which is used for controlling the software driver and comprises the following components: the electric control system and the gas circuit control system are integrated in the chassis; the electric control system and the air path control system are respectively arranged at two sides in the chassis; the gas circuit control system comprises: the air source control module is used for controlling the total pressure, the pilot air and the vacuum air source of the system; the single-path control module is used for controlling the action of the software driver; the gesture sensor is arranged at the tail end of the soft driver and is used for feeding back the tail end position and the movement speed parameters of the soft driver; the single-way control module is used for comprehensively controlling the gas pressure and the gas flow in the soft body cavity, so that the compensation control of the end position of the soft driver is realized, and the accurate and effective control of the soft driver is improved.
Description
Technical Field
The invention belongs to the technical field of pneumatic software drivers, and particularly relates to a control system of a pneumatic software driver.
Background
The pneumatic soft robot is usually formed by combining one to a plurality of pneumatic soft drivers, the types of the pneumatic soft drivers are various, the lengths of the monomers are from a few centimeters to a few meters, the shapes of the monomers are from a straight cylinder type to a complex folding type, the control method of the pneumatic soft drivers is also various, and finally, the control of the gas in the drivers is realized, and the control of the gas in a cavity is commonly controlled by the control of a switch valve, the control of a proportional valve, and the compound control of the switch valve and the proportional valve.
The problem in the prior art is that the control systems are all simple loops which are temporarily assembled, the simple preset target is realized by combining the characteristics of the bionic design software driver, the single valve performance can have great influence on the control of the software, and the complex control requirement on the gas cannot be realized. Along with the complicating of the software robot, the multichamber combination will be more and more, realizes being controlled to move like the rigid multiaxis robot is the problem that must face, and the software driver itself is liable to take place the deformation, and the compressibility of gas makes the stability control degree of difficulty of fluid again to increase, at present, the control mode to pneumatic software driver does not form ripe effective control scheme, in addition, when the software robot is applied to with human interaction process, lack safety protection return circuit and measure, has the risk of causing the accidental injury to the human because the software is uncontrolled.
Therefore, the invention provides a control system of a pneumatic soft driver, which has the composite control function of a safety loop, and is used as a general control device, and the control of the pneumatic soft driver is realized through the comprehensive adjustment of the pressure and the flow of the gas in the system, so that the flexibility and the controllability of the pneumatic soft driver are improved.
Disclosure of Invention
In order to overcome the deficiencies of the prior art, at least one technical problem presented in the background art is solved.
The technical scheme adopted for solving the technical problems is as follows: the invention relates to a control system of a pneumatic software driver, which is used for controlling the software driver and comprises:
the electric control system and the gas circuit control system are integrated in the chassis;
the electric control system and the air path control system are respectively arranged at two sides in the chassis;
the gas circuit control system comprises:
The air source control module is used for controlling the total pressure, the pilot air and the vacuum air source of the system;
The single-path control module is used for controlling the action of the software driver;
the gesture sensor is arranged at the tail end of the soft driver and is used for feeding back the tail end position and the movement speed parameters of the soft driver;
The single-path control module comprises a pressure sensor and is used for detecting the pressure in the soft cavity in real time;
The electric control system comprises an MCU control module, and is used for receiving analog quantity signals of the attitude sensor and the pressure sensor, comparing the analog quantity signals with signals of the gas circuit control system and calculating deviation.
Preferably, the air source control module includes:
The air source module bottom plate is fixedly connected inside the case;
the hand valve is fixedly connected to the bottom plate of the air source module and is used for controlling the on-off of a total air source of the system;
The electric pressure proportional valve is fixedly connected to the bottom plate of the air source module and is used for controlling the total pressure of the system;
the two-position three-way valve I is fixedly connected to the bottom plate of the air source module and is used for controlling the on-off of the pilot gas;
the two-position three-way valve II is fixedly connected to the bottom plate of the air source module and is used for controlling the multistage vacuum generator;
the vacuum generator is fixedly connected to the bottom plate of the air source module and is used for generating a vacuum source and taking charge of the negative pressure requirement of the system;
The first penetrating plate connector, the second penetrating plate connector and the third penetrating plate connector are all used for gas circuit switching;
The hand valve, the electric pressure proportional valve, the two-position three-way valve I, the two-position three-way valve II and the vacuum generator are all communicated through pipelines;
The device also comprises an air source input interface and three switching interfaces, wherein the switching interfaces are a pilot air interface I, a positive pressure air interface I and a vacuum source interface I respectively.
Preferably, the single-path control module further includes:
The pressure sensor is fixedly connected to the single-way module bottom plate in the case;
the first electric flow proportional valve is fixedly connected to the single-way module bottom plate and is used for changing the air inlet flow in the soft cavity;
the second electric flow proportional valve is fixedly connected to the single-way module bottom plate and is used for changing the exhaust flow in the soft cavity;
the safety valve is fixedly connected to the single-path module bottom plate and is used for keeping the pressure state in the soft cavity;
The two-position three-way valve III is fixedly connected to the single-way module bottom plate and is used for switching between positive pressure and negative pressure;
The board penetrating connector IV, the board penetrating connector V and the board penetrating connector VI are all used for gas circuit switching;
The first electric flow proportional valve, the second electric flow proportional valve, the safety valve, the three-position three-way valve and the pressure sensor are communicated through pipelines;
The device also comprises a soft gas path interface and three switching interfaces, wherein the switching interfaces are a pilot gas interface II, a positive pressure gas interface II and a vacuum source interface II respectively.
Preferably, the electrical control system further comprises:
The MCU control module is fixedly connected to the vertical plate in the chassis;
The analog quantity expansion unit is fixedly connected to the vertical plate and is used for controlling the receiving and sending of analog quantity signals;
the switching value expansion unit is fixedly connected to the vertical plate and is used for receiving and outputting I/O signals;
The Ethernet interface, the D-Sub interface I and the D-Sub interface II are fixedly connected to the chassis and are electrically connected with the MCU control module.
Preferably, the first electric flow proportional valve and the second electric flow proportional valve comprise proportional electromagnets, valve bodies, valve cores, valve sleeves, plugs, springs and bottom covers;
The proportional electromagnet is fixedly connected to the upper end part of the valve body through a screw; the valve sleeve is arranged in the valve body; the valve core is connected to the inner center of the valve sleeve in a sliding way; the valve sleeve is connected with a plug in a sliding manner at a position corresponding to the bottom of the valve core, and the plug is fixedly connected with the bottom of the valve core; the bottom of the valve body is fixedly connected with a bottom cover; the inner surface of the bottom cover is fixedly connected with a spring, and the other end of the spring is fixedly connected with the plug head.
Preferably, the side wall of the valve core is provided with a throttling port; the valve body is provided with an air flow inlet and an air flow outlet which are respectively arranged at the upper part and the lower part of the valve body; the plug is provided with a balance air hole which is communicated with the inside of the valve core.
Preferably, the control method of the control system includes a fast response mode, including the steps of:
A: switching on a hand valve, adjusting an electric pressure proportional valve according to the bearing capacity of a soft driver and setting the total pressure of the system;
A: after the first two-position three-way valve is controlled to be powered on, the pilot air pressure opens the safety valve, and the second two-position three-way valve and the third two-position three-way valve are in a power-off state;
A: controlling the alternating full-open or full-close state of the first electric flow proportional valve and the second electric flow proportional valve in a full-current mode so as to realize the quick inflation state and the quick exhaust state of the pipeline;
A: the pressure sensor detects the pressure in the soft driver, and the MCU control module judges the inflation or the exhaust of the soft driver according to the pressure feedback signal and the position feedback signal.
Preferably, the method further comprises a speed control mode, comprising the following steps:
b: switching on a hand valve, adjusting an electric pressure proportional valve according to the bearing capacity of a soft driver and setting the total pressure of the system;
b: after the first two-position three-way valve is controlled to be powered on, the pilot air pressure opens the safety valve, and the second two-position three-way valve and the third two-position three-way valve are in a power-off state;
B: the second electric flow proportional valve is fully closed, and according to the set speed, the MCU control module is matched with the gesture sensor to regulate the valve core displacement of the first electric flow proportional valve in a proportional signal, so as to control the inflation speed;
b: the first electric flow proportional valve is fully closed, and according to the set speed, the MCU control module is matched with the gesture sensor to regulate the valve core displacement of the second electric flow proportional valve in a proportional signal, so as to control the exhaust speed;
B: the MCU control module is used for controlling the gas filling and discharging speed in the soft driver according to the change of the control signal and the feedback signals of the gesture sensor and the pressure sensor, and simultaneously adjusting the valve core displacement of the first electric flow proportional valve and the second electric flow proportional valve.
Preferably, the method further comprises a negative pressure driving mode, comprising the following steps:
C: the hand valve is connected, and the MCU control module sets the output pressure of the electric pressure proportional valve to be 0.45Mpa;
C: after the first two-position three-way valve is controlled to be powered on, the safety valve is opened by pilot air pressure, and the first electric flow proportional valve and the second electric flow proportional valve are in a fully closed state;
c: the three-position three-way valve is electrified and commutated, and a pipeline is communicated with the vacuum generator;
c: the two-position three-way valve II is powered on, so that the vacuum generator generates negative pressure, and the soft driver generates deformation under the driving of the negative pressure;
c: the two-position three-way valve II is powered off, the negative pressure disappears, and the soft driver returns to deform under the elasticity of the soft driver.
Preferably, the protection method of the control system comprises the following steps:
s: the hand valve is connected, the MCU control module is electrified to open the two-position three-way valve I, the pilot air pressure opens the safety valve, and the pipeline connected with the software driver is in a full-open state;
S: when the system is suddenly powered off, the two-position three-way valve is powered off, the pilot air pressure is disconnected at the same time, the safety valve is closed at the same time, the air pressure in the soft driver and the pipeline is in a closed maintaining state, and the soft driver maintains the current state, so that the phenomenon that uncertain deformation or movement is caused by pressure relief to cause damage to the human body is avoided;
S: when the system suddenly breaks, the pilot air pressure is disconnected at the same time, the safety valve is closed at the same time, the air pressure in the soft driver and the pipeline is in a closed maintaining state, and the soft driver maintains the current state, so that the phenomenon that uncertain deformation or movement is caused by pressure relief to cause injury to people is avoided.
The beneficial effects of the invention are as follows:
1. The control system of the pneumatic software driver can interact with external equipment through the pre-written program of the MCU control module, and comprises analog signals, digital signals and bus data; necessary parameter adjustment and setting can be carried out, and parameters comprise a highest pressure value, a limit parameter of the tail end of a soft driver, a movement speed parameter and the like; the MCU control module can control the pressure and flow change of the gas in the cavity of the soft driver according to the control signal, the attitude sensor is arranged at the tail end of the soft driver, the position and the movement speed parameters of the tail end of the soft driver can be fed back, the pressure sensor feeds back the pressure in the soft cavity in real time, the MCU control module receives the position feedback and the pressure feedback signals and then compares the position feedback and the pressure feedback signals with the control signal, the deviation is calculated, the gas pressure and the gas flow in the cavity of the soft driver are comprehensively controlled through the single-channel control module, and the compensation control of the end position of the soft driver is realized, so that the accurate and effective control of the soft driver is improved.
2. According to the control system of the pneumatic software driver, the current state of the software driver can be maintained under the condition of sudden power failure or air failure through the safety protection function of the MCU control module, so that damage caused by false action due to sudden power failure or air failure when people interact with or execute tasks is avoided.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the overall structure of a control device chassis according to the present invention;
FIG. 2 is a schematic diagram of the structure of the air source control module in the present invention;
FIG. 3 is a schematic diagram of a single-pass control module according to the present invention;
FIG. 4 is a schematic diagram of a single chamber pneumatic software driver air circuit control module in accordance with the present invention;
FIG. 5 is a schematic diagram of a three-chamber pneumatic software driver air circuit control module in accordance with the present invention;
FIG. 6 is a schematic diagram of a dual-joint three-chamber pneumatic software driver air circuit control module in accordance with the present invention;
FIG. 7 is a schematic diagram of the structure of an electric flow proportional valve in the present invention;
FIG. 8 is a block diagram of a valve cartridge in the present invention;
FIG. 9 is a cross-sectional view of the orifice according to the present invention;
In the figure:
1. A hand valve; 2. an electrical pressure proportional valve; 3. a two-position three-way valve I; 5. two-position three-way valve II; 6. a vacuum generator; 7. a gas source module base plate; 8. a first pilot gas interface; 9. a positive pressure gas interface I; 10. a vacuum source interface I; 11. a first threading joint; 12. a second penetrating plate connector; 13. a third threading joint;
20. an electric flow proportional valve I; 21. an electric flow proportional valve II; 22. a two-position three-way valve III; 23. a pressure sensor; 24. a safety valve; 25. a single-pass module base plate; 27. a soft gas path interface; 28. a software driver; 29. an attitude sensor; 30. a pilot gas interface II; 31. positive pressure air interface II; 32. a vacuum source interface II; 33. a threading joint IV; 34 threading a fifth joint; 35. a threading joint six;
60. An analog quantity expansion unit; 61. an MCU control module; 62. a switching value expansion unit; 63. a vertical plate; 64. an Ethernet interface; 65. D-Sub interface I; 66. D-Sub interface II; 67. a chassis;
80. a proportional electromagnet; 81. a valve body; 82. a valve core; 83. a valve sleeve; 84. a plug head; 85. a spring; 86. a bottom cover;
40. a software control air path interface; 41. a chassis base;
42-44, a single-path control module;
45. An air source control module; 46. an air source input interface;
47-52, an adapter.
Detailed Description
In order to make the technical means, creation characteristics, achievement purposes and effects of the present invention easy to understand, the present invention will be further described with reference to the specific embodiments on the premise that both the external air source and the software driver are connected to the chassis of the pneumatic software driver software control system.
As shown in fig. 1 to 3, a control system for a pneumatic software driver 28 according to an embodiment of the present invention is configured to control the software driver 28, and includes:
the electrical control system and the air path control system are integrated in the case 67;
the electric control system and the air path control system are respectively arranged at two sides in the case 67;
the gas circuit control system comprises:
the air source control module 45 is used for controlling the total pressure, the pilot air and the vacuum air source of the system;
a single-pass control module 44 for controlling the operation of the software driver 28;
the system also comprises an attitude sensor 29 which is arranged at the tail end of the soft driver 28 and is used for feeding back the tail end position and the movement speed parameters of the soft driver 28;
The single-path control module comprises a pressure sensor 23 for detecting the pressure in the soft cavity in real time;
The electrical control system comprises an MCU control module 61 for receiving analog quantity signals of the attitude sensor and the pressure sensor, comparing with the signals of the air path control system and calculating deviation.
The soft robot is easy to deform, the compressibility of the gas increases the difficulty of controlling the stability of the fluid, and in addition, when the soft robot is applied to the interaction process with people, the soft robot lacks a safety protection loop and measures, and the risk of accidental injury to people caused by uncontrolled software exists.
In order to solve the above problems, when the control system provided by the invention controls the software driver 28, by installing the attitude sensor 29 at the tail end of the software driver 28, the tail end position and the movement speed parameter information of the software robot can be fed back in real time in the software robot interaction process, the pressure sensor detects the pressure in the software cavity in real time and feeds back the pressure, the MCU control module receives feedback signals such as the position, the pressure, the movement speed and the like, the feedback signals are compared with control signals output by the control system, the deviation is calculated, the pressure and the gas flow of the software cavity are controlled by the single-channel control module, and the compensation control of the tail end position of the software driver is realized by matching with the single-channel control module, so that the deviation is eliminated, and the precision and the effective control of the software driver are improved.
As shown in fig. 4 to 6, in addition, the control system provided by the present invention is applicable to single-chamber software driver, three-chamber software driver, dual-joint three-chamber software driver;
The air path control system of the single-chamber software driver consists of 1 air source control module and one single-path control module;
The air path control system of the three-chamber software driver consists of 1 air source control module and 3 single-path control modules, and the 3 single-path control modules are in parallel connection;
The gas circuit control system consists of 1 gas source control module and 6 single-way control modules, and the 6 single-way control modules are in parallel connection;
The number of the single-way control modules is adjusted, so that the pneumatic control system is flexibly applicable to various pneumatic software drivers.
The gas path control system can realize effective control of the software driver through comprehensive adjustment of gas pressure and flow, and the flexibility, controllability and safety of the software driver are improved.
As shown in fig. 2 and 5, the air source control module 45 includes:
The air source module bottom plate 7 is fixedly connected inside the case 67;
the hand valve 1 is fixedly connected to the air source module bottom plate 7 and is used for controlling the on-off of a total air source of the system;
The electric pressure proportional valve 2 is fixedly connected to the air source module bottom plate 7 and is used for controlling the total pressure of the system;
The two-position three-way valve I3 is fixedly connected to the air source module bottom plate 7 and is used for controlling the on-off of the pilot gas;
The two-position three-way valve II 5 is fixedly connected to the air source module bottom plate 7 and is used for controlling the multistage vacuum generator 6;
the vacuum generator 6 is fixedly connected to the air source module bottom plate 7 and is used for generating a vacuum source and responsible for the negative pressure requirement of the system;
The first through board connector 11, the second through board connector 12 and the third through board connector 13 are used for gas circuit switching;
the hand valve 1, the electric pressure proportional valve 2, the two-position three-way valve I3, the two-position three-way valve II 5 and the vacuum generator 6 are all communicated through pipelines;
The device also comprises an air source input interface 46 and three switching interfaces, wherein the switching interfaces are a first pilot air interface 8, a first positive pressure air interface 9 and a first vacuum source interface 10 respectively.
The total pressure of the system is controlled by an electric pressure proportional valve 2, the total pressure range of the gas circuit control system can be set according to the bearing capacity of the soft driver, the electric pressure proportional valve 2 is provided with an exhaust port, and when the system pressure exceeds the set pressure, the safety exhaust is automatically carried out through the exhaust port; the vacuum source is generated by a vacuum generator and used for the negative pressure requirement of the system;
The first pilot gas interface 8, the first positive pressure gas interface 9 and the first vacuum source interface 10 are respectively connected with the first threading connector 11, the second threading connector 12 and the third threading connector 13;
as shown in fig. 3 to 5, the single-path control module further includes:
the single-path module bottom plate 25 is fixedly connected in the case 67, and the pressure sensor 23 is fixedly connected on the single-path module bottom plate 25;
The first electric flow proportional valve 20 is fixedly connected to the single-way module bottom plate 25 and is used for changing the air inlet flow in the soft body cavity;
the second electric flow proportional valve 21 is fixedly connected to the single-way module bottom plate 25 and is used for changing the exhaust flow in the soft cavity;
The safety valve 24 is fixedly connected to the single-path module bottom plate 25 and is used for keeping the pressure state in the soft body cavity;
The two-position three-way valve III 22 is fixedly connected to the single-way module bottom plate 25 and is used for switching positive pressure and negative pressure;
the fourth through board connector 33, the fifth through board connector 34 and the sixth through board connector 35 are all used for gas circuit switching;
The first electric flow proportional valve 20, the second electric flow proportional valve 21, the safety valve 24, the three-way valve 22 and the pressure sensor 23 are all communicated through pipelines;
The device also comprises a soft gas path interface 27 and three switching interfaces, wherein the switching interfaces are respectively a second pilot gas interface 30, a second positive pressure gas interface 31 and a second vacuum source interface 32, and the second pilot gas interface 30, the second positive pressure gas interface 31 and the second vacuum source interface 32 are respectively connected with a fourth threading connector 33, a fifth threading connector 34 and a sixth threading connector 35;
The pressure sensor 23 detects the pressure in the cavity of the soft driver in real time and feeds the pressure back to the MCU control module 61 in the form of analog quantity. The MCU control module 61 is internally provided with a program, an external control signal can be transmitted to the control device in the form of an analog signal or a digital signal, the MCU control module 61 controls the gas circuit control system according to the signal, receives the analog signal and the switch signal fed back by each element, receives the tail end position signal of the software driver and the pressure signal in the software driver as adjustment target reference values, compares the adjustment target reference values with the position, the speed and the output of the control signal, increases the output if the adjustment target reference values are smaller than the target value, decreases the output or reversely outputs if the adjustment target value is larger than the target value, and realizes the adjustment target reference values in a fuzzy PID mode; each single-way control module is communicated with a soft inner cavity through a pipeline and is used for controlling the action of the soft driver, a plurality of single-way control modules are integrated in one case 67, and the number of the single-way control modules is equal to the number of the soft driver inner cavities to be controlled; the software gas path interface 27 is used for communicating with a software driver, and the switching interface is used for leading in and leading out three gas sources; the mass flow of the gas in the pipeline is controlled by an electric flow proportional valve I20 and an electric flow proportional valve II 21;
In addition, the two-position three-way valve I3 is used for controlling the on-off of the pilot gas, so that the control of the safety valve 24 is realized; the safety valve 24 cuts off the air path under the condition of sudden power-off and air-off of the system, seals the inner cavity of the software, keeps the pressure state in the cavity, and does not generate misoperation due to pressure release of the software driver, which is similar to a brake device; the two-position three-way valve II 5 is used for controlling the multi-stage vacuum generator, and when the two-position three-way valve II 5 is conducted, the multi-stage vacuum generator 6 can generate negative pressure to be used as a negative pressure source of the system; the first electric flow proportional valve 20 can change the air inlet flow in the soft body cavity according to the analog signal, the second electric flow proportional valve 21 is used for changing the exhaust flow, and the two are matched to realize the adjustment of the soft body deformation speed;
The software air path interface 27 is communicated with the software driver through the transfer interfaces 47-52;
As shown in fig. 1, the electrical control system further includes:
the vertical plate 63 is fixedly connected in the case 67, and the MCU control module 61 is fixedly connected on the vertical plate 63;
the analog quantity expanding unit 60 fixedly connected to the vertical plate 63 is used for controlling the receiving and sending of analog quantity signals;
the switching value expansion unit 62 fixedly connected to the vertical plate 63 for receiving and outputting the I/O signal;
The Ethernet interface 64, the D-Sub interface one 65 and the D-Sub interface two 66 are fixedly connected to the chassis 67 and electrically connected to the MCU control module 61.
The analog quantity expansion unit 60, the MCU control module 61 and the switching quantity expansion unit 62 are electrically connected; the first electric flow rate proportional valve 20, the second electric flow rate proportional valve 21 and the second electric pressure proportional valve 2 are electrically connected to the analog expansion unit 60, and the gesture sensor 29 is connected to the TTL serial port of the MCU control module 61 through the first D-Sub interface 65 and communicates.
As shown in fig. 7 to 9, the first electric flow rate proportional valve 20 and the second electric flow rate proportional valve 21 each include a proportional electromagnet 80, a valve body 81, a valve core 82, a valve sleeve 83, a plug 84, a spring 85, and a bottom cover 86;
The proportional electromagnet 80 is fixedly connected to the upper end part of the valve body 81 through a screw; the valve sleeve 83 is installed inside the valve body 81; the valve core 82 is slidably connected to the inner center of the valve housing 83; the valve sleeve 83 is slidably connected with a plug 84 at a position corresponding to the bottom of the valve core 82, and the plug 84 is fixedly connected with the bottom of the valve core 82; a bottom cover 86 is fixedly connected to the bottom of the valve body 81; the spring 85 is fixedly connected to the inner surface of the bottom cover 86, and the other end of the spring 85 is fixedly connected with the plug head 84;
When the flow rate of the system is required to be high, the valve core 82 with a large opening is used, and when the flow rate of the system is required to be low, the valve core 82 is replaced by the valve core 82 with a small opening, so that the control precision of the air flow can be improved, and the speed control precision of the system is improved;
as shown in fig. 8 to 9, the side wall of the valve core 82 is provided with a throttle; the valve body 81 is provided with an air inlet and an air outlet, and the air inlet and the air outlet are respectively arranged at the upper part and the lower part of the valve body 81; the plug 84 is provided with a balance air hole and communicates with the interior of the valve housing 83.
Valve element 82 can be quickly changed, and the size of a valve element throttle opening can be opened according to the flow requirement; the plug 84 is provided with a balance air hole, so that the plug 84 is not influenced by the air pressure when being opened and closed;
The control method of the control system comprises a quick response mode and comprises the following steps:
a1: switching on the hand valve 1, adjusting the electric pressure proportional valve 2 according to the bearing capacity of the soft driver 28 and setting the total system pressure;
A2: after the two-position three-way valve I3 is controlled to be powered on, the pilot air pressure opens the safety valve 24, and the two-position three-way valve II 5 and the two-position three-way valve III 22 are in a power-off state;
A3: the alternating full-open or full-close state of the first electric flow proportional valve 20 and the second electric flow proportional valve 21 is controlled in a full-current mode, so that the quick inflation state and the quick exhaust state of the pipeline are realized;
a4: the pressure sensor 23 detects the pressure in the soft driver 28, and the MCU control module 61 determines inflation or deflation of the soft driver 28 based on the pressure feedback signal and the position feedback signal.
Also included is a speed control mode comprising the steps of:
b1: switching on the hand valve 1, adjusting the electric pressure proportional valve 2 according to the bearing capacity of the soft driver 28 and setting the total system pressure;
b2: after the two-position three-way valve I3 is controlled to be powered on, the pilot air pressure opens the safety valve 24, and the two-position three-way valve II 5 and the two-position three-way valve III 22 are in a power-off state;
B3: the second electric flow proportional valve 21 is fully closed, and according to the set speed, the MCU control module 61 cooperates with the gesture sensor 29 to regulate the displacement of the valve core 82 of the first electric flow proportional valve 20 in a proportional signal, so as to control the inflation speed; the gesture sensor 29 synchronously feeds back the position and the moving speed of the tail end of the soft driver 28, the MCU control module 61 compares the set speed with the actual moving speed, and the valve core 82 of the first electric flow proportional valve 20 is adjusted and controlled to displace simultaneously by combining the pressure feedback signal of the pressure sensor 23, so that the aim of controlling the inflation speed is fulfilled;
B4: the first electric flow proportional valve 20 is fully closed, and according to the set speed, the MCU control module 61 cooperates with the gesture sensor 29 to regulate the displacement of the valve core 82 of the second electric flow proportional valve 21 in a proportional signal, so as to control the exhaust speed; the gesture sensor 29 synchronously feeds back the tail end position and the moving speed of the soft driver 28, the MCU control module 61 compares the set speed with the actual moving speed, and the valve core 82 position of the electric flow proportional valve II 21 is regulated and controlled simultaneously by combining the pressure feedback signal of the pressure sensor 23, so that the exhaust speed control purpose is achieved;
B5: the MCU control module 61 adjusts the valve core 82 displacement of the first electric flow proportional valve 20 and the second electric flow proportional valve 21 according to the change of the control signal and the feedback signal of the gesture sensor 29 and the pressure sensor 23, and performs mixed control on the gas filling and discharging speed in the soft driver 28, and in addition, the process of simultaneously adjusting the first electric flow proportional valve 20 and the second electric flow proportional valve 21 exists in the control process;
The method also comprises a negative pressure driving mode, comprising the following steps of:
c1: the hand valve 1 is connected, and the MCU control module 61 sets the output pressure of the electric pressure proportional valve 2 to be 0.45Mpa;
C2: after the two-position three-way valve I3 is controlled to be powered on, the safety valve 24 is opened by pilot air pressure, and the electric flow proportional valve I20 and the electric flow proportional valve II 21 are in a fully closed state;
and C3: the two-position three-way valve three 22 is electrified and commutated, and the pipeline is communicated with the vacuum generator 6;
And C4: the two-position three-way valve II 5 is powered on, so that the vacuum generator 6 generates negative pressure, and the soft driver 28 generates deformation under the driving of the negative pressure;
c5: the two-position three-way valve II 5 is powered off, the negative pressure is eliminated, and the soft driver 28 returns to deform under the elasticity of the soft driver.
Preferably, the protection method of the control system comprises the following steps:
S1: the hand valve 1 is connected, the MCU control module 61 is electrified to open the two-position three-way valve I3, the pilot air pressure opens the safety valve 24, and the pipeline connected with the software driver 28 is in a full-open state;
S2: when the system is suddenly powered off, the two-position three-way valve I3 is powered off, the pilot air pressure is disconnected at the same time, the safety valve 24 is closed at the same time, the air pressure in the soft driver 28 and the pipeline is in a closed maintaining state, and the soft driver 28 maintains the current state, so that the uncertain deformation or movement caused by pressure relief is avoided to cause damage to the human body;
S3: when the system suddenly breaks, the pilot air pressure is disconnected at the same time, the safety valve 24 is closed at the same time, the air pressure in the soft driver 28 and the pipeline is in a closed and maintained state, and the soft driver 28 maintains the current state, so that the uncertain deformation or movement caused by pressure relief is avoided to cause injury to people.
Working principle:
The invention realizes the motion control and the safety protection function of the pneumatic soft driver based on the comprehensive control of the gas pressure and the mass flow and by combining a gas circuit control system and an electric control system.
The soft robot is easy to deform, the compressibility of the gas increases the difficulty of controlling the stability of the fluid, and in addition, when the soft robot is applied to the interaction process with people, the soft robot lacks a safety protection loop and measures, and the risk of accidental injury to people caused by uncontrolled software exists.
In order to solve the above problems, when the control system provided by the invention controls the software driver 28, by installing the attitude sensor 29 at the tail end of the software driver 28, the tail end position and the movement speed parameter information of the software robot can be fed back in real time in the software robot interaction process, the pressure sensor detects the pressure in the software cavity in real time and feeds back the pressure, the MCU control module receives feedback signals such as the position, the pressure, the movement speed and the like, the feedback signals are compared with control signals output by the control system, the deviation is calculated, the pressure and the gas flow of the software cavity are controlled by the single-channel control module, and the compensation control of the tail end position of the software driver is realized by matching with the single-channel control module, so that the deviation is eliminated, and the precision and the effective control of the software driver are improved.
As shown in fig. 4 to 6, in addition, the control system provided by the present invention is applicable to single-chamber software driver, three-chamber software driver, dual-joint three-chamber software driver;
The air path control system of the single-chamber software driver consists of 1 air source control module and one single-path control module;
The air path control system of the three-chamber software driver consists of 1 air source control module and 3 single-path control modules, and the 3 single-path control modules are in parallel connection;
The gas circuit control system consists of 1 gas source control module and 6 single-way control modules, and the 6 single-way control modules are in parallel connection;
The number of the single-way control modules is adjusted, so that the pneumatic control system is flexibly applicable to various pneumatic software drivers.
The gas path control system can realize effective control of the software driver through comprehensive adjustment of gas pressure and flow, and the flexibility, controllability and safety of the software driver are improved.
The pressure sensor 23 detects the pressure in the cavity of the soft driver in real time and feeds the pressure back to the MCU control module 61 in the form of analog quantity. The MCU control module 61 is internally provided with a program, an external control signal can be transmitted to the control device in the form of an analog signal or a digital signal, the MCU control module 61 controls the gas circuit control system according to the signal, receives the analog signal and the switch signal fed back by each element, receives the tail end position signal of the software driver and the pressure signal in the software driver as adjustment target reference values, compares the adjustment target reference values with the position, the speed and the output of the control signal, increases the output if the adjustment target reference values are smaller than the target value, decreases the output or reversely outputs if the adjustment target value is larger than the target value, and realizes the adjustment target reference values in a fuzzy PID mode; each single-way control module is communicated with a soft inner cavity through a pipeline and is used for controlling the action of the soft driver, a plurality of single-way control modules are integrated in one case 67, and the number of the single-way control modules is equal to the number of the soft driver inner cavities to be controlled; the software gas path interface 27 is used for communicating with a software driver, and the switching interface is used for leading in and leading out three gas sources; the mass flow of the gas in the pipeline is controlled by an electric flow proportional valve I20 and an electric flow proportional valve II 21;
In addition, the two-position three-way valve I3 is used for controlling the on-off of the pilot gas, so that the control of the safety valve 24 is realized; the safety valve 24 cuts off the air path under the condition of sudden power-off and air-off of the system, seals the inner cavity of the software, keeps the pressure state in the cavity, and does not generate misoperation due to pressure release of the software driver, which is similar to a brake device; the two-position three-way valve II 5 is used for controlling the multi-stage vacuum generator, and when the two-position three-way valve II 5 is conducted, the multi-stage vacuum generator 6 can generate negative pressure to be used as a negative pressure source of the system; the first electric flow proportional valve 20 can change the air inlet flow in the soft body cavity according to the analog signal, the second electric flow proportional valve 21 is used for changing the exhaust flow, and the two are matched to realize the adjustment of the soft body deformation speed;
the foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A control system for a pneumatic software driver for controlling the software driver (28), comprising:
the electric control system and the gas circuit control system are integrated in the chassis (67);
the electric control system and the air path control system are respectively arranged at two sides in the case (67);
The method is characterized in that:
the gas circuit control system comprises:
the air source control module (45) is used for controlling the total pressure, the pilot air and the vacuum air source of the system;
a single-pass control module (44) for controlling the operation of the software driver (28);
the system also comprises an attitude sensor (29) which is arranged at the tail end of the soft driver (28) and is used for feeding back the tail end position and the movement speed parameters of the soft driver (28);
the single-path control module comprises a pressure sensor (23) for detecting the pressure in the soft cavity in real time;
The electrical control system comprises an MCU control module (61) for receiving analog quantity signals of the attitude sensor and the pressure sensor, comparing the analog quantity signals with signals of the gas circuit control system and calculating deviation.
2. A control system for a pneumatic software driver as claimed in claim 1, wherein: the air source control module (45) comprises:
The air source module bottom plate (7) is fixedly connected inside the case (67);
the hand valve (1) is fixedly connected to the air source module bottom plate (7) and is used for controlling the on-off of a total air source of the system;
an electric pressure proportional valve (2) fixedly connected to the air source module bottom plate (7) and used for controlling the total pressure of the system;
the two-position three-way valve I (3) is fixedly connected to the air source module bottom plate (7) and is used for controlling the on-off of the pilot gas;
The two-position three-way valve II (5) is fixedly connected to the air source module bottom plate (7) and is used for controlling the multistage vacuum generator (6);
The vacuum generator (6) is fixedly connected to the air source module bottom plate (7) and is used for generating a vacuum source and responsible for the negative pressure requirement of the system;
the first through board connector (11), the second through board connector (12) and the third through board connector (13) are all used for gas circuit switching;
the hand valve (1), the electric pressure proportional valve (2), the two-position three-way valve I (3), the two-position three-way valve II (5) and the vacuum generator (6) are communicated through pipelines;
The device also comprises an air source input interface (46) and three switching interfaces, wherein the switching interfaces are a first pilot air interface (8), a first positive pressure air interface (9) and a first vacuum source interface (10) respectively.
3. A control system for a pneumatic software driver as claimed in claim 1, wherein: the single-path control module further comprises:
the single-path module bottom plate (25) is fixedly connected in the chassis (67), and the pressure sensor (23) is fixedly connected on the single-path module bottom plate (25);
An electric flow proportional valve I (20) fixedly connected to the single-way module bottom plate (25) and used for changing the air inlet flow in the soft body cavity;
The second electric flow proportional valve (21) is fixedly connected to the single-way module bottom plate (25) and is used for changing the exhaust flow in the soft body cavity;
The safety valve (24) is fixedly connected to the single-way module bottom plate (25) and is used for keeping the pressure state in the soft cavity;
the two-position three-way valve III (22) is fixedly connected to the single-way module bottom plate (25) and is used for switching positive pressure and negative pressure;
the fourth through board connector (33), the fifth through board connector (34) and the sixth through board connector (35) are all used for gas circuit switching;
The first electric flow proportional valve (20), the second electric flow proportional valve (21), the safety valve (24), the three-way valve (22) and the pressure sensor (23) are communicated through pipelines;
the device also comprises a soft gas path interface 27 and three switching interfaces, wherein the switching interfaces are a pilot gas interface II (30), a positive pressure gas interface II (31) and a vacuum source interface II (32) respectively.
4. A control system for a pneumatic software driver as claimed in claim 1, wherein: the electrical control system further includes:
the vertical plate (63) is fixedly connected in the case (67), and the MCU control module (61) is fixedly connected on the vertical plate (63);
an analog quantity expansion unit (60) fixedly connected to the vertical plate (63) and used for controlling the receiving and sending of analog quantity signals;
the switching value expansion unit (62) is fixedly connected to the vertical plate (63) and is used for receiving and outputting I/O signals;
The Ethernet interface (64), the D-Sub interface I (65) and the D-Sub interface II (66) are fixedly connected to the chassis (67) and are electrically connected with the MCU control module (61).
5. A control system for a pneumatic software driver as claimed in claim 3, wherein: the first electric flow proportional valve (20) and the second electric flow proportional valve (21) comprise proportional electromagnets (80), a valve body (81), a valve core (82), a valve sleeve (83), a plug head (84), a spring (85) and a bottom cover (86);
the proportional electromagnet (80) is fixedly connected to the upper end part of the valve body (81) through a screw; the valve sleeve (83) is arranged inside the valve body (81); the valve core (82) is connected with the inner center of the valve sleeve (83) in a sliding way; the valve sleeve (83) is slidably connected with a plug (84) at a position corresponding to the bottom of the valve core (82), and the plug (84) is connected with the bottom of the valve core (82); a bottom cover (86) is fixedly connected to the bottom of the valve body (81); the spring (85) is fixedly connected to the inner surface of the bottom cover (86), and the other end of the spring (85) is fixedly connected with the plug head (84).
6. A control system for a pneumatic software driver as defined in claim 5, wherein: a throttle orifice is arranged on the side wall of the valve core (82); the valve body (81) is provided with an air flow inlet and an air flow outlet, and the air flow inlet and the air flow outlet are respectively arranged at the upper part and the lower part of the valve body (81); the plug head (84) is provided with a balance air hole which is communicated with the inside of the valve sleeve (83).
7. A control system for a pneumatic software driver as claimed in claim 1, wherein: the control method of the control system comprises a quick response mode and comprises the following steps:
a1: switching on the hand valve (1), adjusting the electric pressure proportional valve (2) according to the bearing capacity of the soft driver (28) and setting the total pressure of the system;
a2: after the first two-position three-way valve (3) is controlled to be powered on, the safety valve (24) is opened by pilot air pressure, and the second two-position three-way valve (5) and the third two-position three-way valve (22) are in a power-off state;
a3: controlling the alternating full-open or full-close states of the first electric flow proportional valve (20) and the second electric flow proportional valve (21) in a full-current mode so as to realize a quick inflation state and a quick exhaust state of the pipeline;
A4: the pressure sensor (23) detects the pressure in the soft driver (28), and the MCU control module (61) judges the inflation or the deflation of the soft driver (28) according to the pressure feedback signal and the position feedback signal.
8. The control system for a pneumatic software driver of claim 7, wherein: also included is a speed control mode comprising the steps of:
B1: switching on the hand valve (1), adjusting the electric pressure proportional valve (2) according to the bearing capacity of the soft driver (28) and setting the total pressure of the system;
B2: after the first two-position three-way valve (3) is controlled to be powered on, the safety valve (24) is opened by pilot air pressure, and the second two-position three-way valve (5) and the third two-position three-way valve (22) are in a power-off state;
B3: the second electric flow proportional valve (21) is fully closed, and according to the set speed, the MCU control module (61) is matched with the gesture sensor (29) to regulate the displacement of the valve core (82) of the first electric flow proportional valve (20) by a proportional signal, so as to control the inflation speed;
b4: the first electric flow proportional valve (20) is fully closed, and according to the set speed, the MCU control module (61) is matched with the gesture sensor (29) to regulate the displacement of the valve core (82) of the second electric flow proportional valve (21) by a proportional signal, so as to control the exhaust speed;
B5: the MCU control module (61) is used for controlling the gas filling and discharging speed in the soft driver (28) according to the change of the control signal and the feedback signals of the gesture sensor (29) and the pressure sensor (23) and simultaneously adjusting the displacement of the valve core (82) of the first electric flow proportional valve (20) or the second electric flow proportional valve (21).
9. The control system for a pneumatic software driver of claim 7, wherein: the method also comprises a negative pressure driving mode, comprising the following steps of:
c1: the hand valve (1) is connected, and the MCU control module (61) sets the output pressure of the electric pressure proportional valve (2) to be 0.45Mpa;
C2: after the two-position three-way valve I (3) is controlled to be powered on, the safety valve (24) is opened by pilot air pressure, and the electric flow proportional valve I (20) and the electric flow proportional valve II (21) are in a fully closed state;
and C3: the two-position three-way valve III (22) is electrified and commutated, and a pipeline is communicated with the vacuum generator (6);
And C4: the two-position three-way valve II (5) is powered on, so that the vacuum generator (6) generates negative pressure, and the soft driver (28) generates deformation under the driving of the negative pressure;
c5: the two-position three-way valve II (5) is powered off, the negative pressure is eliminated, and the soft driver (28) returns to deform under the elasticity of the soft driver.
10. A control system for a pneumatic software driver as claimed in claim 1, wherein: the protection method of the control system comprises the following steps:
s1: the hand valve (1) is connected, the MCU control module (61) is electrified to open the two-position three-way valve I (3), the pilot air pressure opens the safety valve (24), and the pipeline connected with the software driver (28) is in a full-open state;
S2: when the system is suddenly powered off, the two-position three-way valve I (3) is powered off, the pilot air pressure is disconnected at the same time, the safety valve (24) is closed at the same time, the air pressure in the soft driver (28) and the pipeline is in a closed maintaining state, and the soft driver (28) maintains the current state, so that the uncertain deformation or movement caused by pressure relief is avoided to cause damage to the human body;
S3: when the system suddenly breaks, the pilot air pressure is disconnected at the same time, the safety valve (24) is closed at the same time, the air pressure in the soft driver (28) and the pipeline is in a closed maintaining state, and the soft driver (28) maintains the current state, so that the uncertain deformation or movement caused by pressure relief is avoided to cause damage to the human body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410344981.5A CN117948315B (en) | 2024-03-25 | 2024-03-25 | Control system of pneumatic software driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410344981.5A CN117948315B (en) | 2024-03-25 | 2024-03-25 | Control system of pneumatic software driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117948315A true CN117948315A (en) | 2024-04-30 |
| CN117948315B CN117948315B (en) | 2024-06-11 |
Family
ID=90796326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410344981.5A Active CN117948315B (en) | 2024-03-25 | 2024-03-25 | Control system of pneumatic software driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117948315B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4182534A (en) * | 1977-07-15 | 1980-01-08 | Snyder David M | Directional control valve system |
| JPH03249401A (en) * | 1990-02-26 | 1991-11-07 | Matsushita Electric Ind Co Ltd | Pneumatic driving device |
| US20090025378A1 (en) * | 2007-07-27 | 2009-01-29 | The Hartfiel Company | Hydraulic Actuator Control System for Refuse Collection Vehicle |
| US20180245698A1 (en) * | 2017-02-27 | 2018-08-30 | Bimba Manufacturing Company | Proportionally Controlled Pinch Valves, Systems and Methods |
| CN109268329A (en) * | 2018-10-22 | 2019-01-25 | 清华大学 | A kind of mixing valve for soft robot |
| CN109764007A (en) * | 2018-12-12 | 2019-05-17 | 苏州软体机器人科技有限公司 | Software actuating system and software actuator control method |
| CN111805506A (en) * | 2020-07-06 | 2020-10-23 | 南方科技大学 | A balance control method for an electric power inspection robot and a soft waist platform |
| CN112344060A (en) * | 2020-10-23 | 2021-02-09 | 浙江清华柔性电子技术研究院 | Modular pneumatic control system |
| CN213928953U (en) * | 2020-10-23 | 2021-08-10 | 浙江清华柔性电子技术研究院 | Modular pneumatic control system |
| CN114028154A (en) * | 2021-10-26 | 2022-02-11 | 清华大学 | Hand quick traction device assisted by soft hand exoskeleton |
| CN115263845A (en) * | 2022-07-25 | 2022-11-01 | 江西理工大学 | Pneumatic flexible valve based on stem plugging and its application |
| CN116350410A (en) * | 2023-04-18 | 2023-06-30 | 上海交通大学 | Soft neural prosthetic hand with myoelectric control and tactile feedback |
-
2024
- 2024-03-25 CN CN202410344981.5A patent/CN117948315B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4182534A (en) * | 1977-07-15 | 1980-01-08 | Snyder David M | Directional control valve system |
| JPH03249401A (en) * | 1990-02-26 | 1991-11-07 | Matsushita Electric Ind Co Ltd | Pneumatic driving device |
| US20090025378A1 (en) * | 2007-07-27 | 2009-01-29 | The Hartfiel Company | Hydraulic Actuator Control System for Refuse Collection Vehicle |
| US20180245698A1 (en) * | 2017-02-27 | 2018-08-30 | Bimba Manufacturing Company | Proportionally Controlled Pinch Valves, Systems and Methods |
| CN109268329A (en) * | 2018-10-22 | 2019-01-25 | 清华大学 | A kind of mixing valve for soft robot |
| CN109764007A (en) * | 2018-12-12 | 2019-05-17 | 苏州软体机器人科技有限公司 | Software actuating system and software actuator control method |
| CN111805506A (en) * | 2020-07-06 | 2020-10-23 | 南方科技大学 | A balance control method for an electric power inspection robot and a soft waist platform |
| CN112344060A (en) * | 2020-10-23 | 2021-02-09 | 浙江清华柔性电子技术研究院 | Modular pneumatic control system |
| CN213928953U (en) * | 2020-10-23 | 2021-08-10 | 浙江清华柔性电子技术研究院 | Modular pneumatic control system |
| CN114028154A (en) * | 2021-10-26 | 2022-02-11 | 清华大学 | Hand quick traction device assisted by soft hand exoskeleton |
| CN115263845A (en) * | 2022-07-25 | 2022-11-01 | 江西理工大学 | Pneumatic flexible valve based on stem plugging and its application |
| CN116350410A (en) * | 2023-04-18 | 2023-06-30 | 上海交通大学 | Soft neural prosthetic hand with myoelectric control and tactile feedback |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117948315B (en) | 2024-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3679380B2 (en) | Hydraulic circuit with return line metering valve and method of operation | |
| CA2469838A1 (en) | Water supply system | |
| WO2013098800A4 (en) | Valve positioning system with bleed prevention | |
| US20010035512A1 (en) | Environmentally friendly electro-pneumatic positioner | |
| CN117948315B (en) | Control system of pneumatic software driver | |
| CN110865664A (en) | Rapid pressure adjusting device for high-altitude cabin of turbofan engine test bed | |
| US10605274B2 (en) | Valve arrangement | |
| US6719536B2 (en) | Vacuum generator with power failure operation mode | |
| CN212028721U (en) | Pilot-operated proportional flow valve with position feedback function | |
| CN204493850U (en) | A kind of without the need to the self-driven Pneumatic impulse valve of the continuous opening and closing of the pure machine automatization of constant voltage | |
| CN110579329B (en) | Sub/transonic jet noise research test device | |
| CN110985747B (en) | Piezoelectric valve positioner and rapid positioning method thereof | |
| JP3247282B2 (en) | Air pressure regulator | |
| JPS6320605A (en) | Air pressure regulator | |
| CN109538349A (en) | The air control unit and control method of valve | |
| CN212079790U (en) | A high-speed on-off valve pilot-controlled proportional valve with closed-loop position | |
| CN210461829U (en) | Pressure stabilizing director for gas pressure regulator | |
| CN210954750U (en) | Rapid pressure adjusting device for high-altitude cabin of turbofan engine test bed | |
| CN111255944B (en) | Pilot-operated proportional flow valve with position and flow composite feedback function | |
| CN103962701A (en) | Projection welding machine control system for different water groove product projection welding | |
| CN207676230U (en) | Fail-safe system for control valve | |
| CN111594753A (en) | Structure for maintaining blowing pressure and flow | |
| CN112576490B (en) | Control method and device for mobile air compressor | |
| CN219734296U (en) | Electromagnetic valve with inner and outer pilot valve seats | |
| CN114354159B (en) | Automatic passive hydraulic loading life test system of regulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |