A solenoid valve, a manipulator control circuit and a control method thereof

Abstract

The present invention relates to a solenoid valve and a control circuit for a manipulator and a control method thereof. The circuit includes: a first input module, a second input module, and a power supply module. The input end of the first input module is used to receive a first control signal. When the first control signal is at a high level, the output end of the first input module outputs a low-level signal. The input end of the second input module is used to receive a second control signal. The power supply module includes a first switching tube, a second switching tube, a first resistor, a second resistor, a third resistor, and a first capacitor. The first input module of the solenoid valve and the control circuit for the manipulator is used to control the manipulator, and the second input module is used to control the solenoid valve. By controlling the levels of the first control signal and the second control signal, the control of the manipulator or the solenoid valve can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of circuit detection, and particularly relates to a solenoid valve and a manipulator control circuit and a control method thereof. Background Art

[0002] With the rapid development of economy and science and technology, people pay more and more attention to the improvement of living environment and the improvement of living quality. The use of flammable gases such as liquefied gas and coal gas entering families has brought great convenience to people and also improved the environment of surrounding cities. However, at the same time, the safety problems caused by the existence of flammable gases have also brought potential safety hazards to people. In a colorless and odorless or low-concentration gas environment, it is very difficult to be detected by people. Therefore, it is very necessary to install a gas alarm in the family.

[0003] At present, the gas alarm output control closing devices sold on the market are mainly products with the functions of solenoid valves and manipulators. However, most gas alarms are single-control outputs, which can only control solenoid valves or only control manipulators. For users, if they buy a gas alarm with one type of output and need to replace the closing device later, they need to buy another gas alarm with the other type of output, and the adaptability of the gas alarm is low. Summary of the Invention

[0004] Based on this, it is necessary to provide a solenoid valve and a manipulator control circuit and a control method thereof for existing problems.

[0005] In a first aspect, the present application provides a circuit, and the circuit includes: a first input module, a second input module, and a power supply module.

[0006] The first input module, the input end of the first input module is used to receive a first control signal. When the first control signal is at a high level, the output end of the first input module outputs a low-level signal.

[0007] The second input module, the input end of the second input module is used to receive a second control signal. When the second control signal is at a high level, the output end of the second output module outputs a low-level signal.

[0008] The power supply module includes a first switching tube, a second switching tube, a first resistor, a second resistor, a third resistor, and a first capacitor.

[0009] The power supply is connected to the first end of the first resistor and the first end of the first switching tube. The second end of the first resistor is connected to the first end of the first capacitor, and the second end of the first capacitor is grounded.

[0010] The first end of the second resistor is connected to the cathode of the first diode and the output end of the first input module, and the second end of the second resistor is connected to the third end of the first switching tube; the first end of the third resistor is connected to the output end of the second input module and the anode of the first diode, and the second end of the third resistor is connected to the third end of the second switching tube; the second end of the first switching tube is connected to the first end of the second switching tube and the first end of the first capacitor, and the second end of the second switching tube is connected to the positive extreme of the load device.

[0011] Preferably, it further includes a detection module, and the detection module includes an eleventh resistor and a twelfth resistor; the negative extreme of the load device is connected to the first end of the eleventh resistor and the first end of the twelfth resistor, the second end of the twelfth resistor is grounded, and the second end of the eleventh resistor is the detection end.

[0012] Preferably, the detection module further includes a tenth resistor and a fifth switching tube; the first end of the tenth resistor is used to receive a third control signal, the second end of the tenth resistor is connected to the third end of the fifth switching tube, the first end of the fifth switching tube is connected to the negative extreme of the load device, and the second end of the fifth switching tube is grounded.

[0013] Preferably, the power supply module further includes a second diode; the anode of the second diode is connected to the negative extreme of the load device, and the cathode of the second diode is connected to the positive extreme of the load device.

[0014] Preferably, the first input module includes a sixth resistor and a third switching tube; the first end of the sixth resistor is the input end of the first input module, the second end of the sixth resistor is connected to the third end of the third switching tube, the second end of the third switching tube is grounded, and the first end of the third switching tube is the output end of the first input module.

[0015] Preferably, the second input module includes an eighth resistor and a fourth switching tube; the first end of the eighth resistor is the input end of the second input module, the second end of the eighth resistor is connected to the third end of the fourth switching tube, the second end of the fourth switching tube is grounded, and the first end of the fourth switching tube is the output end of the second input module.

[0016] Preferably, the power supply module further includes a fourth resistor and a fifth resistor; the first end of the fourth resistor is connected to the second end of the first switching tube, and the second end of the fourth resistor can be connected to the second end of the third resistor; the first end of the fifth resistor is connected to the second end of the second resistor, and the second end of the fifth resistor is connected to the power supply.

[0017] Preferably, the detection module further includes a thirteenth resistor, the first end of the thirteenth resistor is connected to the second end of the tenth resistor, and the second end of the thirteenth resistor is grounded.

[0018] In a second aspect, the present application provides a method, and the method includes:

[0019] S1. Control the second control signal to be a high-level signal first and then a low-level signal.

[0020] S2. Control the first control signal to be a high-level signal with intermittent pulses; synchronously detect the voltage at the detection terminal of the detection module, and determine whether the load device is a solenoid valve or a manipulator according to the voltage at the detection terminal of the detection module.

[0021] S3. If the load device is a manipulator, control the first control signal to remain at a high-level signal until the voltage at the detection terminal of the detection module becomes 0.

[0022] Preferably, determining whether the load device is a solenoid valve or a manipulator according to the voltage at the detection terminal of the detection module includes: if the voltage at the detection terminal of the detection module is in a fluctuating state, the load device is a solenoid valve; control the first control signal to be a high-level signal, and if the voltage at the detection terminal of the detection module is less than the first set voltage, the load device is a manipulator.

[0023] In the embodiment of the present application, the first input module is used to control the manipulator, and the second input module is used to control the solenoid valve. By controlling the levels of the first control signal and the second control signal, the control of the load device is realized. Using the voltage at the detection terminal of the detection module for feedback, the automatic identification and control of the load device can be achieved. Description of the Drawings

[0024] The following further elaborates on the present invention in detail in conjunction with the drawings and specific embodiments.

[0025] Figure 1 It is the circuit diagram of the solenoid valve and manipulator control circuit in the embodiment of the present application.

[0026] Figure 2 It is the flowchart of the control method for the solenoid valve and manipulator control circuit in the embodiment of the present application.

[0027] Reference Signs:

[0028] 1. First input module; 2. Second input module; 3. Power supply module; 4. Detection module;

[0029] R1. First resistor; R2. Second resistor; R3. Third resistor; R4. Fourth resistor; R5. Fifth resistor; R6. Sixth resistor; R7. Seventh resistor; R8. Eighth resistor; R9. Ninth resistor; R10. Tenth resistor; R11. Eleventh resistor; R12. Twelfth resistor; R13. Thirteenth resistor;

[0030] Q1. First switching tube; Q2. Second switching tube; Q3. Third switching tube; Q4. Fourth switching tube; Q5. Fifth switching tube;

[0031] D1, the first diode; D2, the second diode;

[0032] C1, the first capacitor. Specific implementation mode

[0033] Next, the technical solution of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] In the first aspect, referring to Figure 1 As shown, an embodiment of the present application provides a solenoid valve and a manipulator control circuit, and the circuit includes: a first input module 1, a second input module 2, a power supply module 3, and a detection module 4.

[0035] The first input module 1, the input end of the first input module 1 is connected to the first IO port of the single-chip microcomputer, and is used to receive the first control signal sent by the first IO port of the single-chip microcomputer. When the first control signal is at a high level, the output end of the first input module 1 outputs a low-level signal.

[0036] The first input module 1 includes a sixth resistor R6, a seventh resistor R7, and a third switching tube Q3. The third switching tube Q3 is a triode. The first end of the third switching tube Q3 is the collector of the triode, the second end of the third switching tube Q3 is the emitter of the triode, and the third end of the third switching tube Q3 is the base of the triode; the first end of the sixth resistor R6 is the input end of the first input module 1, the second end of the sixth resistor R6 is connected to the first end of the third switching tube Q3 and the first end of the seventh resistor R7, the second end of the third switching tube Q3 and the second end of the seventh resistor R7 are grounded, and the first end of the third switching tube Q3 is the output end of the first input module 1.

[0037] In this embodiment, the first input module 1 is used to control the manipulator. The fifth resistor R5 and the seventh resistor R7 belong to protection devices to prevent the circuit from being affected by EMC interference.

[0038] The second input module 2, the input end of the second input module 2 is connected to the second IO port of the single-chip microcomputer, and is used to receive the second control signal sent by the second IO port of the single-chip microcomputer. When the second control signal is at a high level, the output end of the second output module outputs a low-level signal.

[0039] Specifically, the second input module 2 includes an eighth resistor R8, a ninth resistor R9, and a fourth switching transistor Q4. The fourth switching transistor Q4 is a triode. The first end of the fourth switching transistor Q4 is the collector of the triode, the second end of the fourth switching transistor Q4 is the emitter of the triode, and the third end of the fourth switching transistor Q4 is the base of the triode. The first end of the eighth resistor R8 is the input end of the second input module 2. The second end of the eighth resistor R8 is connected to the third end of the fourth switching transistor Q4 and the first end of the ninth resistor R9. The second end of the fourth switching transistor Q4 and the second end of the ninth resistor R9 are grounded. The first end of the fourth switching transistor Q4 is the output end of the second input module 2.

[0040] In this embodiment, the second control module is used to control the solenoid valve. The ninth resistor R9 belongs to a protection device to prevent the operation of the circuit from being affected by EMC interference.

[0041] The power supply module 3 includes a first switching transistor Q1, a second switching transistor Q2, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first diode D1, a first capacitor C1, and a second diode D2. The first switching transistor Q1 and the second switching transistor Q2 are field effect transistors. The first end of the first switching transistor Q1 is the source of the field effect transistor, the second end of the first switching transistor Q1 is the drain of the field effect transistor, and the third end of the first switching transistor Q1 is the gate of the field effect transistor. The first end of the second switching transistor Q2 is the source of the field effect transistor, the second end of the second switching transistor Q2 is the drain of the field effect transistor, and the third end of the second switching transistor Q2 is the gate of the field effect transistor.

[0042] The power supply is connected to the first end of the first resistor R1, the first end of the first switching transistor Q1, and the first end of the fifth resistor R5. The first end of the first capacitor C1 is connected to the second end of the first resistor R1, the second end of the first switching transistor Q1, the first end of the fourth resistor R4, and the first end of the second switching transistor Q2. The second end of the first capacitor C1 is grounded. The first capacitor C1 is a polarized capacitor. The first end of the first capacitor C1 is the positive electrode of the first capacitor C1, and the second end of the first capacitor C1 is the negative electrode of the first capacitor C1. The first end of the second resistor R2 is connected to the output end of the first input module 1 and the cathode of the first diode D1. The second end of the second resistor R2 is connected to the third end of the first switching transistor Q1 and the second end of the fifth resistor R5. The first end of the third resistor R3 is connected to the output end of the second input module 2 and the anode of the first diode D1. The second end of the third resistor R3 is connected to the third end of the second switching transistor Q2 and the second end of the fourth resistor R4. The second end of the second switching transistor Q2 is connected to the positive extreme of the load device. The anode of the second diode is connected to the negative extreme of the load device, and the cathode of the second diode is connected to the positive extreme of the load device.

[0043] In this embodiment, the fourth resistor R4 and the fifth resistor R5 are protection devices to prevent the operation of the circuit from being affected by EMC interference; the power supply is a 12V power supply.

[0044] A first diode D1 is provided in the power supply module 3. When the first control signal is a high-level signal and the third switch Q3 is turned on, the first switch Q1 and the second switch Q2 can be synchronously turned on. The first switch Q1 and the second switch Q2 do not require the single-chip microcomputer to provide a separate IO port for control, reducing the use of the IO ports of the single-chip microcomputer. The second diode D2 is a protection device. When the second control signal and the third control signal both change from high level to low level simultaneously, the solenoid valve is an inductive load and needs to discharge the loop through the second diode D2. Therefore, the second diode D2 can prevent a spike voltage from occurring after the solenoid valve is closed, resulting in damage to the field effect transistor and contamination of the circuit of the power supply module 3.

[0045] The solenoid valve requires pulsed power supply. If it is powered for a long time, it will cause loss of the internal heating coil. Therefore, a first resistor R1 and a first capacitor C1 are provided in the power supply module 3. The power supply charges the first capacitor C1 through the first resistor R1. When the second control signal is a high-level signal and the fourth switch Q4 is turned on, the second switch Q2 is turned on. The power supply module 3 uses the first resistor R1 and the first capacitor C1 to supply power to the solenoid valve in the way of RC charging. When the voltage of the first capacitor C1 is released completely, due to the existence of the first resistor R1, the conduction time of the second switch Q2 will not be different due to different design parameters of the solenoid valve manufacturers, avoiding damage to the solenoid valve or resetting of the entire machine circuit due to large current.

[0046] The detection module 4 includes a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13 and a fifth switch Q5. The fifth switch Q5 is a field effect transistor. The first end of the fifth switch Q5 is the drain of the field effect transistor, the second end of the fifth switch Q5 is the source of the field effect transistor, and the third end of the fifth switch Q5 is the gate of the field effect transistor.

[0047] The first end of the eleventh resistor R11 is connected to the first end of the twelfth resistor R12, the negative terminal of the load device, and the first end of the fifth switch Q5. The second end of the eleventh resistor R11 is the detection end of the detection module 4. The detection end of the detection module 4 is connected to the fourth IO port of the single-chip microcomputer; the first end of the tenth resistor R10 is connected to the third IO port of the single-chip microcomputer. The first end of the tenth resistor R10 is used to receive the third control signal output by the third IO port of the single-chip microcomputer. The second end of the tenth resistor R10 is connected to the third end of the fifth switch Q5 and the first end of the thirteenth resistor R13; the second end of the fifth switch Q5, the second end of the thirteenth resistor R13, and the second end of the twelfth resistor R12 are grounded.

[0048] In this embodiment, the thirteenth resistor R13 belongs to a protection device to prevent the operation of the circuit from being affected by EMC interference.

[0049] Since the solenoid valve operates in a pulsed manner and has a small internal structure, a fifth switching transistor Q5 is provided in the detection module 4. When the third control signal is at a high level, the fifth switching transistor Q5 conducts, and the negative terminal of the solenoid valve bypasses the twelfth resistor R12 and is grounded, which can avoid the situation that the solenoid valve fails to tightly attract and then releases after being divided by the twelfth resistor R12.

[0050] The twelfth resistor R12 is a sampling resistor. The current state of the twelfth resistor R12 can be obtained by detecting the voltage at the detection terminal of the detection module 4. According to the current state of the twelfth resistor R12, it can be determined whether the load device is a manipulator device or a solenoid valve device, and it can also be determined whether the load device is online and whether the load device has a fault.

[0051] Working principle of the manipulator: There is a motor inside the manipulator. When powered on in the forward direction, the motor rotates forward, and at this time, the manipulator is in the open state; when powered on in the reverse direction, the motor rotates in the reverse direction, and at this time, the manipulator is in the closed state. When the manipulator is opened or closed in place, the travel switch inside the manipulator is disconnected.

[0052] Working principle of the solenoid valve: There is a coil inside the solenoid valve. When powered on in the forward direction, the coil generates a magnetic field, and through the magnetic force effect generated by the magnetic field, the armature inside the solenoid valve is attracted, making the solenoid valve permanently closed. During the secondary operation, the closed state is manually released. Since there is a coil inside the solenoid valve, there is inductance. When the coil is in a saturated state, the inductive reactance is approximately equal to zero ohms, and the solenoid valve is in a short-circuit state.

[0053] The method for online detection of a load device using the control circuit provided in this embodiment is as follows:

[0054] Control the first control signal to be a high-level signal, and the high-level signal lasts for several hundred nanoseconds to several milliseconds, forming a micro-conduction for the first switching transistor Q1 and the second switching transistor Q2. The power supply passes through the first switching transistor Q1 and the second switching transistor Q2, and then through the load device and the twelfth resistor R12 to form a complete loop. If current is detected in the twelfth resistor R12 through the detection terminal of the detection module 4, the load device is online; otherwise, the power supply module 3, the load device, and the detection module 4 do not form a loop, and the load device is not online. In this embodiment, the detection interval time does not exceed 2 seconds to prevent voltage accumulation caused by frequent detection. In the case where the load device is a solenoid valve, it may cause the device to be closed.

[0055] During the operation of the control circuit, if the voltage at the detection terminal of the detection module 4 is greater than the second set voltage, the load device is in a fault state. At this time, both the first control signal and the second control signal are set to low-level signals, and the power supply to the load device is stopped. The second set voltage can be set according to the actual usage status, thereby setting the protection current, so that the power supply can be cut off in time when the device fails, preventing the load device from being damaged due to overload. In this embodiment, the fault detection is only applied when the load device is a manipulator.

[0056] The control circuit provided in this embodiment controls the levels of the first control signal, the second control signal, and the third control signal, and uses the fourth IO port of the single-chip microcomputer to detect the current of the twelfth resistor R12, so as to distinguish whether the load device is a solenoid valve or a manipulator, and at the same time complete the control of the load device. The control process is as follows:

[0057] Control the second control signal and the third control signal to be high-level signals first, and then the second control signal and the third control signal to be low-level signals. When the second control signal is at a high level, the fourth switching tube Q4 and the second switching tube Q2 are turned on. When the third control signal is at a high level, the fifth switching tube is turned on. If the load device is a solenoid valve, the solenoid valve is closed; if the load device is a manipulator, the second control signal is a high-level signal first and then a low-level signal, and the manipulator is in a state where it is not fully opened or not fully closed.

[0058] Control the first control signal to output a high-level signal with intermittent pulses, that is, the first control signal is a high-level signal multiple times, and each high-level signal lasts for several hundred nanoseconds; synchronously detect the voltage at the detection terminal of the detection module 4, and judge whether the load device is a solenoid valve or a manipulator according to the voltage at the detection terminal of the detection module 4;

[0059] If the voltage at the detection terminal of the detection module 4 is in a fluctuating state, the load device is a solenoid valve. Due to the inductance effect inside the solenoid valve, if the load device is a solenoid valve, when the high-level signal of the first control signal is controlled multiple times, the current passing through the twelfth resistor R12 shows a fluctuating state, and then the voltage at the detection terminal of the detection module 4 is in a fluctuating state, and it can be preliminarily determined that the load device is a solenoid valve.

[0060] If the voltage at the detection terminal of the detection module 4 is less than the first set voltage, the load device is a manipulator; when it is judged that the load device is a manipulator, control the first control signal to be continuously at a high level until the voltage at the detection terminal of the detection module 4 is 0. By controlling the first control signal to be continuously at a high level, the manipulator continues to open or close. When the voltage at the detection terminal of the detection module 4 is 0, the manipulator is in a fully opened or fully closed state. At this time, control the first control signal to be at a low level; in this embodiment, the time for the first control signal to be continuously at a high level can also be set, so that the power supply is cut off when the manipulator is in a fully opened or fully closed state.

[0061] During this process, by controlling the levels of the first control signal, the second control signal, and the third control signal, and using the voltage at the detection terminal of the detection module 4 for feedback, the identification and control of the load device are automatically realized. This can avoid the need to replace the alarm again due to the upgrade and transformation of the load device, improving the adaptability and circulation of the alarm device. It can also detect whether the load device is online and whether the load device has a fault. When a fault occurs, the power supply can be cut off in a timely manner to achieve fault protection for the load device.

[0062] The control circuit provided in this embodiment includes three field effect transistors, actually forming three-way protection. When one of the field effect transistors is damaged, it will not cause damage to the single-chip microcomputer. The power of the switching transistor can be adjusted according to actual use to meet the power of the load device.

[0063] Refer to Figure 2 , specifically, in the second aspect, the embodiment of the present application provides a device identification control method for a solenoid valve and a manipulator control circuit. The method includes the following steps:

[0064] S1. Control the second control signal to be a high-level signal first and then a low-level signal.

[0065] If the load device is a solenoid valve, when the second control signal is a high-level signal, the fourth switching transistor Q4 and the second switching transistor Q2 are turned on, and the solenoid valve is closed; if the load device is a manipulator, the second control signal is a high-level signal first and then a low-level signal, and the manipulator is in a state where it is not fully opened or not fully closed.

[0066] S2. Control the first control signal to be a high-level signal with intermittent pulses output, that is, the first control signal is a high-level signal multiple times, and each high-level signal lasts for several hundred nanoseconds; synchronously detect the voltage at the detection terminal of the detection module 4, and judge whether the load device is a solenoid valve or a manipulator according to the voltage at the detection terminal of the detection module 4;

[0067] If the voltage at the detection terminal of the detection module 4 is in a fluctuating state, the load device is a solenoid valve; due to the inductance effect inside the solenoid valve, when the high-level signal of the first control signal is controlled multiple times, if the load device is a solenoid valve, the current passing through the twelfth resistor R12 is in a fluctuating state, so that the voltage at the detection terminal of the detection module 4 is in a fluctuating state.

[0068] If the voltage at the detection terminal of the detection module 4 is less than the first set voltage, the load device is a manipulator.

[0069] S3. If the load device is a manipulator, control the first control signal to be continuously a high-level signal until the voltage at the detection terminal of the detection module 4 is 0.

[0070] By controlling the first control signal to continuously be a high-level signal, the mechanical arm continues to open or close until the mechanical arm is in the fully open state or the fully closed state.

[0071] In this process, by controlling the levels of the first control signal and the second control signal, the identification and control of the load device are automatically achieved.

[0072] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A solenoid valve and a manipulator control circuit, characterized in that, It includes a first input module, a second input module and a power supply module; The first input module, the input end of the first input module is used to receive a first control signal. When the first control signal is at a high level, the output end of the first input module outputs a low-level signal; The second input module, the input end of the second input module is used to receive a second control signal. When the second control signal is at a high level, the output end of the second output module outputs a low-level signal; The power supply module includes a first switching tube, a second switching tube, a first resistor, a second resistor, a third resistor and a first capacitor; The power supply is connected to the first end of the first resistor and the first end of the first switching tube. The second end of the first resistor is connected to the first end of the first capacitor, and the second end of the first capacitor is grounded; The first end of the second resistor is connected to the cathode of the first diode and the output end of the first input module. The second end of the second resistor is connected to the third end of the first switching tube; The first end of the third resistor is connected to the output end of the second input module and the anode of the first diode. The second end of the third resistor is connected to the third end of the second switching tube; The second end of the first switching tube is connected to the first end of the second switching tube and the first end of the first capacitor. The second end of the second switching tube is connected to the positive terminal of the load device; It further includes a detection module, and the detection module includes an eleventh resistor and a twelfth resistor; The negative terminal of the load device is connected to the first end of the eleventh resistor and the first end of the twelfth resistor. The second end of the twelfth resistor is grounded, and the second end of the eleventh resistor is the detection end; The detection module further includes a tenth resistor and a fifth switching tube; The first end of the tenth resistor is used to receive a third control signal. The second end of the tenth resistor is connected to the third end of the fifth switching tube. The first end of the fifth switching tube is connected to the negative terminal of the load device, and the second end of the fifth switching tube is grounded; The solenoid valve and the manipulator control circuit are used to control the load device through the following method steps: S1. Control the second control signal to be a high-level signal first and then a low-level signal; S2. Control the first control signal to be a high-level signal with interval pulses and synchronously detect the voltage at the detection end of the detection module. Judge whether the load device is a solenoid valve or a manipulator according to the voltage at the detection end of the detection module; S3. If the load device is a manipulator, control the first control signal to be continuously at a high level until the voltage at the detection end of the detection module is 0.

2. The solenoid valve and the manipulator control circuit according to claim 1, wherein The power supply module further includes a second diode; The anode of the second diode is connected to the negative terminal of the load device, and the cathode of the second diode is connected to the positive terminal of the load device.

3. A solenoid valve and a manipulator control circuit according to claim 1, characterized in that, The first input module includes a sixth resistor and a third switching tube; The first end of the sixth resistor is the input end of the first input module. The second end of the sixth resistor is connected to the third end of the third switching tube. The second end of the third switching tube is grounded, and the first end of the third switching tube is the output end of the first input module.

4. The solenoid valve and the manipulator control circuit according to claim 1, characterized in that The second input module includes an eighth resistor and a fourth switching tube; The first end of the eighth resistor is the input end of the second input module. The second end of the eighth resistor is connected to the third end of the fourth switching tube. The second end of the fourth switching tube is grounded, and the first end of the fourth switching tube is the output end of the second input module.

5. A solenoid valve and a manipulator control circuit according to any one of claims 1-4, characterized in that, The power supply module further includes a fourth resistor and a fifth resistor; The first end of the fourth resistor is connected to the second end of the first switching tube, and the second end of the fourth resistor is connected to the second end of the third resistor; The first end of the fifth resistor is connected to the second end of the second resistor, and the second end of the fifth resistor is connected to the power supply.

6. The solenoid valve and the manipulator control circuit according to claim 1, characterized in that, The detection module further includes a thirteenth resistor, the first end of the thirteenth resistor is connected to the second end of the tenth resistor, and the second end of the thirteenth resistor is grounded.

7. A control method for the solenoid valve and the manipulator control circuit according to claim 1, characterized in that, Judging whether the load device is a solenoid valve or a manipulator according to the voltage at the detection end of the detection module includes: If the voltage at the detection end of the detection module is in a fluctuating state, the load device is a solenoid valve; controlling the first control signal to be a high-level signal, if the voltage at the detection end of the detection module is less than the first set voltage, the load device is a manipulator.

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