CN113153835B - Air recirculation system based on pericardial soft air supplement valve and working method thereof - Google Patents

Abstract

The invention discloses an air recirculation system based on a pericardial soft air supplement valve and a working method thereof. The air recirculation system includes air source, control valve, pneumatic flexible driver and soft air supplement valve. The soft air supplement valve consists of a rigid bracket, a connection plate and an elastic membrane capsule. The two side surfaces of the connection plate are respectively fixed to the inner end surfaces of the two rigid supports. A central ventilation hole is opened on the connection plate. The lumens of the two rigid stents are connected by a central vent. The elastic membrane capsule covers the connecting disc and two rigid supports. The middle part of the inner surface of the elastic membrane capsule is sealed and fixed with the connection plate; the two ends of the inner surface of the elastic membrane capsule respectively exceed the ventilation interface of the rigid support; the openings at both ends of the elastic membrane capsule are respectively used as the air inlet and the air outlet of the soft air supplement valve. The soft air supply valve in the present invention recycles compressed air, so that the mass flow rate of the air flowing to the compressor is increased, the pressurization performance of the system is enhanced, the rest time of the compressor is increased, and the overall efficiency of the pneumatic system is greatly improved.

Description

Air recirculation system and working method based on pericardial soft air supplement valve

technical field

The invention belongs to the technical field of soft robots, and in particular relates to an air recirculation system based on a pericardial-shaped soft air supplement valve.

Background technique

The field of soft robotics is well-positioned for wearable devices and human-robot interaction due to their light weight and compliance, while pneumatic systems are one of the most widely used system types in soft robotics for their compliance, light weight and high Advantages such as force density. However, the energy consumption efficiency of the pneumatic system is low, and the compressed air will be exhausted and discarded after use; and the system response is slow, and the pressurization and exhaust take a considerable amount of time, thereby limiting the control performance; when the compressed air is exhausted from the system Excessive noise will be generated, and it is not conducive to the application of pneumatic systems in human-computer interaction and wearables, which makes it extremely challenging to widely apply pneumatic drive systems in soft robots.

In order to improve system efficiency and control performance, and realize the reuse of compressed gas, the present invention proposes an air recirculation system using a soft air supplement valve. The system can recycle almost all the compressed air in the pneumatic actuator system and improve the system efficiency. The soft air supply valve of the present invention is designed based on the pericardial structure. The air supply valve adopts a low-elastic soft outer wall to passively store the energy of compressed air in the form of elastic potential energy, thereby improving the efficiency of the pneumatic system and the pressure relief of the soft robot. Performance; the system can effectively recover compressed air without affecting the pressure relief performance, save energy while greatly improving the overall efficiency of the pneumatic system, and reduce the noise generated during the compressed gas exhaust process. The air recirculation system based on the pericardium-shaped soft air supplement valve of the present invention provides a new technical idea for the development of soft robots, and is widely used, not limited to the field of soft robots.

Contents of the invention

The object of the present invention is to provide an air recirculation system based on a pericardial soft air supplement valve and its working method.

The invention is an air recirculation system based on a pericardial soft air supply valve, comprising an air source, a control valve, a pneumatic flexible driver and a soft air supply valve. The air outlet of the air source is connected to the control air port of the pneumatic flexible driver through a control valve. The control air port of the pneumatic flexible driver is connected to the air inlet of the soft air supplement valve through the control valve. The air outlet of the soft air supplement valve is connected to the air source.

The soft air supplement valve includes a rigid support, a connection plate and an elastic membrane bag. The two side surfaces of the connection plate are respectively fixed to the inner end surfaces of the two rigid supports. A central ventilation hole is opened on the connection plate. The lumens of the two rigid stents are connected by a central vent. The elastic membrane capsule covers the connecting disc and two rigid supports. The middle part of the inner surface of the elastic membrane capsule is sealed and fixed with the connection plate; the two ends of the inner surface of the elastic membrane capsule are respectively beyond the ventilation interface of the rigid support; the openings at both ends of the elastic membrane capsule are respectively used as the air inlet and the air outlet of the soft air supplement valve.

Preferably, the air source includes an air compressor, an air tank and a one-way valve. The input port of the one-way valve, the air outlet port of the soft air supplement valve and the air inlet port of the air compressor are connected together. The air outlet of the air compressor is connected to the air inlet of the air tank. The air outlet of the air tank is connected to the first air port of the control valve; the second air port of the control valve is connected to the control air port of the pneumatic flexible driver. The third air port of the control valve is connected to the air inlet of the soft air supplement valve through a pipeline.

Preferably, the control valve is a three-position three-way reversing valve; it has three working positions, and at the first working position, the three air ports are all closed; at the second working position, the second air port It communicates with the first ventilation port; in the third working position, the second ventilation port communicates with the third ventilation port.

Preferably, a mounting groove is opened at the center of one side of the connecting plate; a backstop plate is connected to one side wall of the mounting groove. In the initial state, the backstop covers the central air hole. Among the two rigid supports, the rigid support close to the backstop is the input side rigid support; the rigid support far away from the backstop is the output side rigid support. The ventilation interface at the outer end of the rigid support on the input side corresponds to the air inlet of the soft air supply valve; the ventilation interface at the outer end of the rigid support at the output side corresponds to the air outlet of the soft air supply valve.

Preferably, an annular groove is formed on the outer peripheral surface of the connection plate. A protruding ring is arranged in the middle of the inner surface of the elastic film capsule. The protruding ring is embedded in the annular groove.

Preferably, both the elastic membrane capsule and the connection plate are casted from silicon rubber material.

Preferably, the rigid support is in the shape of a hollow body of revolution, and the outer end is in the shape of a round tube. The inner end of the rigid support is a circular plane; the inner end of the rigid support is provided with a ventilation groove. The connecting disc is disc-shaped.

As preferably, the manufacturing method of the soft air supplement valve is as follows:

Step 1. Prepare a connection plate mold, an air valve outer mold and two rigid supports by 3D printing; the connection plate mold is composed of a core and two symmetrical connection plate half outer molds arranged left and right. A disc-shaped cavity is formed after the splicing of the two connecting plate half outer molds. The shape of the core corresponds to the central air hole on the connection plate and the gap between the backstop plate and the main body of the connection plate, so that only one side edge of the backstop plate is connected to the connection plate. The cavity of the outer mold of the air supplement valve corresponds to the shape of the soft air supplement valve.

Step 2, configure the silicone rubber solution and carry out stirring and defoaming treatment.

Step 3, one-time casting. Spray release agent on the inner wall of the land mold. After that, the silicone rubber solution is injected into the land mold. After curing, disassemble the land mold to obtain the land. Furthermore, the two side surfaces of the connection plate are respectively bonded to the inner end surfaces of the two rigid brackets to form the main body of the soft air supply valve.

Step four, secondary casting. Spray release agent on the outer surfaces of the two rigid supports and the cavity of the outer mold of the air supply valve. Then install and fix the main body of the soft gas supply valve obtained in step 3 with the cavity of the external mold of the gas supply valve; inject the silicone rubber solution into the gap between the cavity of the external mold of the gas supply valve and the rigid support. After curing, the outer mold of the air supply valve is disassembled, and vent holes are opened at the two ends of the formed elastic film capsule.

Preferably, in step 1, sandpaper is used for grinding after the connection plate mold, the air supply valve outer mold and the rigid support are printed.

The air recirculation system based on the pericardial soft air valve works as follows:

The air compressor inhales external air through the one-way valve, and compresses and stores it in the air tank; through the control valve, the gas in the air tank flows into the pneumatic flexible driver or the gas in the pneumatic flexible driver flows into the soft air supply valve to realize pneumatic flexibility The driver of the drive.

When the gas in the pneumatic flexible driver flows into the soft air supplement valve, the air pressure in the elastic film bag increases, causing the elastic film bag to expand. Part of the pressure potential energy of the gas is converted into elastic potential energy for storage, reducing the pressure inside the soft air supply valve, so that the gas in the pneumatic flexible actuator can smoothly enter the soft air supply valve. When the air compressor is started again, the gas in the soft air supply valve is input to the air compressor, and the elastic membrane capsule shrinks to release the elastic potential energy and reduce the power consumption of the air compressor.

The beneficial effects that the present invention has are:

1. The air recirculation system of the present invention adopts the pericardium-shaped soft air supply valve to recycle compressed air, so that the mass flow rate of air flowing to the compressor is increased, the system pressurization performance is enhanced, and the rest time of the compressor is increased, which greatly improves the performance of the pneumatic system. overall efficiency.

2. The soft air supply valve in the present invention adopts an inflatable elastic film bag, which passively stores the energy of compressed air in the form of elastic potential energy when it is filled with gas, thereby improving the pressure relief performance of the pneumatic actuator and avoiding the pressure of the pneumatic actuator. The original control performance of the mechanism has deteriorated, and its own connection plate structure prevents backflow, which further improves the working efficiency of the system.

3. The invention recovers and reuses the compressed air, and also greatly reduces the noise generated by the discharge of high-pressure gas.

4. The soft air supply valve in the present invention is easy to manufacture, and the rigid support through 3D printing can be used as a part and cast as a mold at the same time. This integrated design greatly reduces the manufacturing complexity and improves the performance of the soft air supply valve. air tightness and precision.

5. The application range of the soft air supplement valve in the present invention is relatively wide, not only limited to the field of soft robots, but also can be applied to various pneumatic systems.

Description of drawings

1 is a schematic diagram of the overall structure of an air recirculation system based on a pericardial soft air valve of the present invention;

Fig. 2 is a sectional view of a soft air supplement valve in the present invention;

Fig. 3 is the schematic diagram of rigid support among the present invention;

Fig. 4 is the schematic diagram of connection plate among the present invention;

Fig. 5 is a schematic diagram of a pneumatic system without an air collection device;

Fig. 6 is the schematic diagram of the air recirculation system provided by the present invention;

Fig. 7 is the schematic diagram of the connecting disc mold used when the present invention manufactures the soft air supplement valve;

Fig. 8 is a schematic diagram of the outer mold of the soft valve used in the manufacture of the soft air supplement valve according to the present invention.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing.

As shown in Figure 1, the air recirculation system based on the pericardial soft air valve includes an air compressor 1, an air tank 2, a control valve 3, a pneumatic flexible driver 4, a soft air valve 5 and a one-way valve 6. An air inlet and an air outlet are arranged on the soft air supplement valve 5 . The input port of the one-way valve 6, the air outlet port of the soft air supplement valve 5 and the air inlet port of the air compressor 1 are connected together through a three-way interface and a pipeline. The air outlet of the air compressor 1 is connected to the air inlet of the air tank 2 . The air outlet of the air tank 2 is connected to the first air port of the control valve; the second air port of the control valve is connected to the control air port of the pneumatic flexible driver 4 . The third air port of the control valve is connected to the air inlet of the soft air supplement valve 5 through a pipeline. The control valve 3 is a three-position three-way reversing valve; it has three working positions. In the first working position, the three air ports are all closed; in the second working position, the second air port is connected to the first air port. connected; in the third working position, the second air port communicates with the third air port.

As shown in FIGS. 2 and 3 , the soft air supplement valve 5 includes two rigid brackets 8 , a connection plate 9 and an elastic membrane capsule 10 . The rigid support 8 is in the shape of a revolving body and is manufactured by 3D printing. The specific material is ABS resin polymer, which is used for the circulation of air and supports the elastic membrane capsule 10, preventing the reduction of the volume of the air supply valve from reducing the working efficiency. Lower; the inner end of the rigid support 8 is a circular plane, and the outer end is provided with a circular tube-shaped ventilation joint 8-1. The inner end of the rigid support 8 is provided with a ventilation groove 8-2. Ventilation groove 8-2 is square.

As shown in Figures 2 and 4, the connecting pad 9 is disc-shaped. The two side surfaces of the connection plate 9 are respectively bonded to the inner end surfaces of the two rigid brackets 8 . A central air hole 12 is opened on the connecting plate 9 . A square mounting groove is opened at the center of one side of the connecting plate 9; a backstop piece 13 is connected to one side wall of the mounting groove. In the initial state, the backstop sheet 13 covers the central air hole 12 . The connecting pad 9 is manufactured by 3D printing mold casting. Among the two rigid supports 8 , the rigid support 8 close to the backstop plate 13 is the input side rigid support; the rigid support 8 away from the backstop plate 13 is the output side rigid support. The ventilation interface at the outer end of the rigid support on the input side corresponds to the air inlet of the soft air supplement valve 5; The check piece 13 makes the gas only be transported from the rigid support on the input side to the rigid support on the output side.

An annular groove is opened on the outer peripheral surface of the connection plate 9 . The elastic membrane capsule 10 is wrapped on the connection plate 9 and the two rigid supports 8 . A protruding ring is provided in the middle of the inner surface of the elastic membrane capsule 10 . The protruding ring is embedded in the annular groove. The middle part of the inner surface of the elastic membrane capsule 10 is glued to the connection plate 9; so that the inner cavity of the elastic membrane capsule 10 is divided into two independent chambers. The material of the elastic film capsule 10 is the same as that of the connecting plate 9, and the bonding can be automatically completed when the elastic film capsule 10 is formed. The annular groove can increase the contact area between the elastic membrane capsule 10 and the connection plate 9 to ensure the reliability and sealing of the connection between the annular groove and the elastic membrane capsule 10 . Both the elastic membrane capsule 10 and the connection plate 9 are casted from silicone rubber material, specifically Dragon Skin silica gel. The two ends of the inner surface of the elastic film capsule 10 respectively wrap the ventilation interfaces at the outer ends of the two rigid supports 8, and exceed the ventilation interface of the rigid support 8 by a section; catch.

When the air pressure in the elastic membrane capsule 10 rises, the raised air pressure pushes the part of the elastic membrane capsule 10 beyond the vent interface of the rigid bracket 8 to expand, and then the gas enters the gap between the elastic membrane capsule 10 and the rigid bracket 8, The elastic membrane capsule 10 is inflated. When compressed air is input into the air inlet 11 of the soft air supply valve 5, the backstop piece 13 is pushed open under pressure. If backflow occurs, the backstop piece will automatically close to block the vent hole 12, which can further prevent backflow; the soft air supply valve The elastic film bag 10 of air inlet and outlet. When the compressed gas passes into the soft air supply valve 5, the elastic membrane capsule 10 will expand due to the increase of internal pressure, and convert a part of the pressure potential energy into elastic potential energy for storage, thereby reducing the pressure inside the soft air supply valve 5, It is ensured that the gas in the pneumatic flexible actuator 4 can smoothly enter the soft air supplement valve 5 .

The air compressor 1 inhales external air through the one-way valve 6; the one-way valve 6 is used to prevent the air from flowing back into the atmosphere, and the compressor compresses the external air and stores it in the air tank 2; the air tank in the air tank is controlled by the control valve 3 The high-pressure gas flows into the pneumatic flexible actuator 4, thereby controlling the work of the pneumatic flexible actuator; the present invention uses the common artificial muscle PAM as an example of the pneumatic flexible actuator for illustration. When the gas in the PAM needs to be released and restored to its original state, the present invention adopts a pericardial soft air supply valve to collect the compressed gas, and leads to the air compressor for further recycling, which reduces energy consumption and greatly improves the efficiency of the pneumatic system. work efficiency, and avoid the noise generated by the direct discharge of compressed gas.

The principle of the pneumatic system without the traditional air collection device is compared with the principle of the system of the present invention to further explain the advantages of the present invention. As shown in Figure 6, the mass flow rate of the air recirculation system of the present invention can be derived by the Bernoulli equation:

Among them, P _h is the pressure of the soft air supply valve, ρ is the air density, g is the acceleration of gravity, h _h is the height of the soft air supply valve, v _h is the flow velocity in the soft air supply valve, and P _c is the inlet of the air compressor pressure, h _c is the height of the compressor, and v _c(B) is the flow rate from the soft air supplement valve to the inlet of the air compressor. Assuming v _h =0, h _h =h _c , the formula can be simplified as:

Therefore, in Figure 6, the mass flow rate from the soft air supplement valve to the compressor inlet can be expressed as

是从软体补气阀到压缩机入口的质量流量，A_tube是管道的截面积。in,

is the mass flow rate from the soft air supply valve to the compressor inlet, and A _tube is the cross-sectional area of the pipe.

Similarly, the mass flow rate of the conventional pneumatic system in Figure 5 can be expressed as follows:

是从大气到压缩机入口的质量流率，而P_ATM是大气压的表压。in,

is the mass flow rate from the atmosphere to the compressor inlet, and P _ATM is the gauge pressure of the atmosphere.

When the recirculated compressed air flows into the soft air supply valve, the pressure of the air supply valve is higher than the atmospheric pressure, that is, the following conditions are met: P _h > P _ATM , so from the formula and can be obtained

During the operation of the compressor, the pressure change of the air tank 2 depends on the mass flow rate flowing to the air compressor. The soft air supplement valve of the present invention increases the mass flow rate flowing to the air compressor, enhances the boosting performance, and reduces the rest time of the air compressor. increase, improving the overall efficiency of the pneumatic system.

In addition, direct circulation of high-pressure compressed air into the compressor will easily overload the compressor and cause the residual pressure in the PAM to be too high, which will have a significant impact on the recovery of compressed gas and the working state of the PAM. The invention not only improves the efficiency of the pneumatic system, The decompression treatment is also carried out for the pressure of the residual gas in the PAM, which is convenient for the recovery of the compressed gas and does not affect the working state of the PAM itself.

For a conventional pneumatic system (Fig. 5), the residual pressure (gauge pressure) of the PAM after the compressed air is discharged can be expressed according to Boyle's law as

是大气体积。where P _PAM(A) (t _d ) is the PAM residual pressure after exhaust in a conventional pneumatic system, P _PAM(A) (t _d -dt) is the pressure in the PAM before exhaust in a conventional pneumatic system, V _{PAM(A )} is the volume of PAM, and

is the volume of the atmosphere.

In the same way, in the air recirculation system (Fig. 6) with the soft air supply valve of the present invention, the residual pressure in the PAM after the compressed air is collected can be expressed as

Wherein, P _{PAM (B)} (t _d -dt) is the internal pressure before PAM exhaust of the recirculation system of the present invention, V _{PAM (B)} is the volume of PAM, and V _h is the volume of the soft air supplement valve. From the formula and it can be found that P _{PAM (B)} (t _d )>P _{PAM (A)} (t _d ), the residual pressure in the PAM of the present invention is relatively large after the gas is discharged, and the recirculation system collects compressed gas to improve work efficiency. , increases the residual pressure in the PAM, but since the residual pressure decreases when the elastic membrane capsule 10 expands, the present invention has less negative impact on the control performance of the PAM than using a rigid pressure buffer tank.

Specifically, when the compressed gas is recovered, the elastic membrane capsule 10 expands outwards, and the volume V _h of the air supply valve increases, so that the residual pressure P _PAM(B) (t _d ) in the PAM exhaust decreases, which plays a role The pressure-reducing effect avoids the deterioration of the original control performance of PAM. And when the compressor is working, if there is no rigid support, the volume of the soft air supply valve will be severely reduced due to air loss, which will cause the volume of the air supply valve to be compensated in each cycle, reducing the work efficiency. Pericardium-shaped rigid support to avoid the reduction of work efficiency.

The manufacture method of soft air supplement valve among the present invention is as follows:

Step 1, manufacturing the casting mold. Through 3D printing, the casting mold is made of ABS resin polymer; the casting mold includes a connection plate mold 14, an air supply valve outer mold 15 and two rigid brackets 8; after printing, the mold is sequentially polished with sandpaper. The land mold 14 is used to cast the land 9, and its cavity shape corresponds to the land 9.

As shown in Fig. 7, the land mold 14 is composed of a core 14-1 and two symmetrical land half outer molds 14-2 arranged left and right, so as to facilitate mold opening. The two connecting plate half outer molds 14-2 form a disc-shaped cavity after splicing. The shape of the core 14-1 corresponds to the central air hole on the connection plate and the gap between the backstop plate and the main body of the connection plate, so that only one side edge of the backstop plate is connected to the connection plate, forming the effect of a one-way valve.

As shown in FIG. 8 , the outer mold 15 of the air supply valve is composed of an upper mold and a lower mold; the cavity formed by the upper mold and the lower mold corresponds to the shape of the soft air supply valve.

Step 2, configure the silicone rubber solution. Mix the silica gel solution (Dragon Skin 10) with its corresponding curing agent in a ratio of 50:1, place it in a container, and stir it evenly with an electromagnetic stirrer. Put the prepared silicone rubber solution in a vacuum pump for defoaming treatment.

Step 3, one-time casting. Spray a release agent on the inner wall of the connection plate mold 14, then assemble and fix it, and slowly inject the silicone rubber solution into the connection plate mold 14. Curing at room temperature; after curing, disassemble the land mold 14 to obtain the land 9 . Afterwards, the two side surfaces of the connecting plate 9 are respectively bonded to the inner end surfaces of the two rigid brackets 8 with a silicone adhesive to form the main body of the soft air supplement valve.

Step four, secondary casting. To the outer surface of two rigid supports 8 and the mold cavity spraying mold release agent of the upper and lower molds of the air supply valve outer mold 15, and block the ventilation joint 8-1 at the outer ends of the two rigid supports with stoppers. Then install and fix the cavity of the rigid bracket, the connection plate and the outer mold 15 of the gas supply valve bonded in step 3 (one of the rigid brackets can be supported by the central rod, so that the rigid bracket and the connection plate are wired outside the gas supply valve In the cavity of the mold 15); the silicone rubber solution is slowly injected into the gap between the cavity of the air supply valve outer mold 15 and the rigid support, and cured at room temperature. After the cast silicone rubber is solidified, the air supply valve outer mold 15 is disassembled, vent holes are opened at the two ends of the formed elastic film capsule 10, and the plugs at the two ends of the rigid support 8 are taken out, and the manufacture is completed.

Claims (9)

1. The air recirculation system based on the pericardial soft air compensation valve comprises an air source, a control valve (3) and a pneumatic flexible driver (4); the method is characterized in that: also comprises a soft air supplement valve (5); the air outlet of the air source is connected to the control air port of the pneumatic flexible driver (4) through a control valve; a control air port of the pneumatic flexible driver (4) is connected to an air inlet of the soft air supplement valve (5) through a control valve; the air outlet of the soft air supplement valve (5) is connected to an air source;

the soft air supplement valve (5) comprises a rigid support (8), a connecting disc (9) and an elastic membrane bag (10); two side surfaces of the connecting disc (9) are respectively fixed with the end surfaces of the inner ends of the two rigid supports (8); a central vent hole (12) is formed in the connecting disc (9); the inner cavities of the two rigid supports (8) are connected through a central vent hole (12); the elastic membrane bag (10) is coated on the connecting disc (9) and the two rigid supports (8); the middle part of the inner side surface of the elastic membrane bag (10) is fixed with the connecting disc (9) in a sealing way; two ends of the inner side surface of the elastic membrane sac (10) respectively exceed the ventilation ports of the rigid bracket (8); openings at two ends of the elastic membrane bag (10) are respectively used as an air inlet and an air outlet of the soft air supplement valve (5);

the air source comprises an air compressor (1), an air tank (2) and a one-way valve (6); the input port of the one-way valve (6), the air outlet of the soft air supplement valve (5) and the air inlet of the air compressor (1) are connected together; the air outlet of the air compressor (1) is connected to the air inlet of the air tank (2); an air outlet of the air tank (2) is connected to a first air port of the control valve; the second vent of the control valve is connected to the control vent of the pneumatic flexible driver (4); the third air port of the control valve is connected to the air inlet of the soft air supplement valve (5) through a pipeline.

2. The air recirculation system based on the pericardial soft gulp valve of claim 1, characterized in that: the control valve (3) is a three-position three-way reversing valve; the first working position is provided with three air ports which are all cut off; in the second working position, the second air vent is communicated with the first air vent; and in the third working position, the second air vent is communicated with the third air vent.

3. The air recirculation system based on the pericardial soft gulp valve of claim 1, characterized in that: a mounting groove is formed in the center of the side face of one side of the connecting disc (9); a check sheet (13) is connected to the side wall of one side of the mounting groove; in the initial state, the check sheet (13) covers the central vent hole (12); of the two rigid supports (8), the rigid support (8) close to the check sheet (13) is the input side rigid support; the rigid support (8) far away from the check sheet (13) is an output side rigid support; the ventilation interface at the outer end of the input side rigid support corresponds to the air inlet of the soft air supplement valve (5); the ventilation interface at the outer end of the output side rigid support corresponds to the air outlet of the soft air supplement valve (5).

4. The air recirculation system based on the pericardial soft gulp valve of claim 1, characterized in that: an annular groove is formed in the outer circumferential surface of the connecting disc (9); a convex ring is arranged in the middle of the inner side surface of the elastic membrane bag (10); the convex ring is embedded in the annular groove.

5. The air recirculation system based on the pericardial soft air inlet valve according to claim 1, characterized in that: the elastic membrane bag (10) and the connecting disc (9) are both formed by casting silicon rubber materials.

6. The air recirculation system based on the pericardial soft gulp valve of claim 1, characterized in that: the rigid support (8) is in a hollow rotary body shape, and the end part of the outer end of the rigid support is in a circular tube shape; the end part of the inner end of the rigid support (8) is a circular plane; the inner end of the rigid support (8) is provided with a vent groove (8-2); the connecting disc (9) is disc-shaped.

7. The air recirculation system based on the pericardial soft air inlet valve according to claim 4, wherein: the manufacturing method of the soft gulp valve (5) is as follows:

step one, preparing a connecting disc mold (14), an air compensating valve outer mold (15) and two rigid supports (8) in a 3D printing mode; the connecting disc mold (14) consists of a mold core (14-1) and two symmetrical connecting disc semi-outer molds (14-2) which are arranged left and right; the two connecting disc semi-outer dies (14-2) are spliced to form a disc-shaped cavity; the shape of the mold core (14-1) corresponds to the shape of a central vent hole on the connecting disc and a gap between the check sheet and the connecting disc main body, so that only one side edge of the check sheet is connected with the connecting disc; the shape of the cavity of the air compensating valve outer mold (15) corresponds to the shape of the soft air compensating valve;

step two, preparing a silicon rubber solution and carrying out stirring and defoaming treatment;

step three, primary casting; spraying a release agent on the inner wall of the connecting disc mould (14); then, injecting a silicon rubber solution into the connecting disc mould (14); after curing, disassembling the connecting disc mould (14) to obtain a connecting disc (9); two side surfaces of the connecting disc (9) are respectively bonded with the inner end surfaces of the two rigid supports (8) to form a main body of the soft air supplement valve;

step four, secondary casting; spraying release agents on the outer side surfaces of the two rigid supports (8) and a cavity of the air compensating valve outer mold (15); then, the main body of the soft gulp valve obtained in the step three is fixedly installed with a cavity of an gulp valve outer mold (15); injecting a silicon rubber solution into a gap between a cavity of an air compensating valve outer mold (15) and a rigid support; after curing, the external mold (15) of the gulp valve is disassembled, and air holes are arranged at the two end parts of the formed elastic membrane bag (10).

8. The pericardial-based soft-bodied air-replacement valve air recirculation system of claim 7, wherein: in the first step, after printing of the connecting disc mold (14), the gulp valve outer mold (15) and the rigid support (8) is completed, sand paper is used for polishing.

9. The method of claim 1, wherein the method comprises: the air compressor (1) sucks external air through the one-way valve (6) and compresses and stores the external air into the air tank (2); the control valve (3) is used for controlling the gas in the air tank to flow into the pneumatic flexible driver (4) or the gas in the pneumatic flexible driver (4) to flow into the soft air supplement valve (5) so as to realize the driving of the pneumatic flexible driver (4);

when the gas in the pneumatic flexible driver (4) flows into the soft air supplement valve (5), the air pressure in the elastic membrane bag (10) is increased, so that the elastic membrane bag (10) is expanded; part of pressure potential energy of the gas is converted into elastic potential energy for storage, and the pressure inside the soft gas supplementing valve (5) is reduced, so that the gas in the pneumatic flexible driver (4) can smoothly enter the soft gas supplementing valve (5); when the air compressor (1) is started again, the gas in the soft air supplement valve (5) is input into the air compressor (1), the elastic membrane bag (10) contracts, elastic potential energy is released, and power consumption of the air compressor (1) is reduced.

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