Pneumatic rotary motor and application system thereof

Abstract

The application discloses a kind of pneumatic rotary motor and its application system, pneumatic rotary motor includes shell, and bubble driver, rotating shaft, position pointer and cross-modal sensor being located in shell;Wherein bubble driver is gas charging and discharging shape change structure, its gas charging and discharging are used to pull rope to make rotating shaft autorotation;And autorotation of rotating shaft is used to drive position pointer to carry out circumferential rotation, to generate extrusion to cross-modal sensor, to facilitate monitoring the rotating speed of pneumatic rotary motor according to pressure change, provides condition for subsequent rotating speed regulation and control;Therefore, the gas of this scheme will not produce any contact with rotating shaft, i.e. without removing impurities and adding lubricating oil to working gas source, so that rotor blockage, wear and corrosion and other problems do not occur, practically solve the difficulties existing in prior art.

Description

Technical Field

[0001] This invention relates to the technical field of pneumatic motors, and particularly to a pneumatic rotary motor and its application system. Background Technology

[0002] Compared to electric motors that perform the same function, pneumatic motors are characterized by their lightweight casing, ease of operation, and the fact that their working medium is air, eliminating concerns about fire hazards. Pneumatic motors can automatically stop when overloaded, maintaining a balance with the supply pressure, and have low temperature rise. Therefore, pneumatic motors are widely used in mining machinery, flammable and explosive liquids, and pneumatic tools.

[0003] However, for existing pneumatic motors, the rotor is in direct contact with the working medium, so the working air source needs to be purified and lubricated. Otherwise, the rotor is prone to blockage, wear and corrosion, which requires cleaning or replacement of the rotor, making maintenance cumbersome and costly. Summary of the Invention

[0004] The purpose of this invention is to provide a pneumatic rotary motor and its application system to solve the problems of blockage, wear and corrosion that are common in existing pneumatic motors.

[0005] To address the aforementioned technical problems, this invention provides a pneumatic rotary motor, including a housing, and a bubble actuator, a rotating shaft, a position pointer, and a transmodal sensor disposed within the housing. The bubble actuator is connected to a rope, which is connected to the rotating shaft. The bubble actuator is an inflation / deflation deformation structure, with its inflation / deflation port located on the housing. The deformation of the bubble actuator is used to pull the rope, causing the rotating shaft to rotate. One end of the rotating shaft is connected to the position pointer, and a reset component is mounted on the rotating shaft. When the bubble actuator stops pulling the rotating shaft, the reset component drives the rotating shaft to rotate back to its initial state. The position pointer is used to rotate circumferentially under the drive of the rotating shaft. The transmodal sensor includes a flexible film and a camera. One surface of the flexible film elastically abuts against the position pointer, and the opposite surface of the flexible film has multiple protruding indicators. The camera's shooting area is aligned with the multiple indicators, and the camera is used to capture deformation images of the multiple indicators.

[0006] In one embodiment, the bubble actuator is arranged in an arc-shaped strip structure around the circumference of the rotating shaft. One end of the bubble actuator is configured as a movable structure, and the rope is connected to this end of the bubble actuator. The other end of the bubble actuator is connected to the inflation / deflation port. The bubble actuator is used to perform expansion and contraction deformation in the inflation / deflation state.

[0007] In one embodiment, the bubble actuator includes a plurality of thin-film bubbles connected in series, with one end of the thin-film bubble connected to the rope and the other end of the thin-film bubble connected to the inflation / deflation port, the plurality of thin-film bubbles being used to perform expansion and contraction deformation in the inflation / deflation state.

[0008] In one embodiment, the reset element is a coil spring, which is sleeved on the outside of the rotating shaft. One end of the coil spring is connected and fixed to the rotating shaft, and the other end of the coil spring is connected and fixed inside the outer casing.

[0009] In one embodiment, the position pointer includes a needle plate and a needle post. One side of the needle plate is connected to the rotating shaft, and the needle post is provided on the outer periphery of the needle plate on the rotating shaft. The needle post elastically abuts against the flexible film.

[0010] In one embodiment, the flexible film is a bulging membrane structure, the bulging surface of the flexible film elastically abuts against the position pointer, and the concave surface of the flexible film is provided with a plurality of the indicators.

[0011] In one embodiment, the indicator includes a protrusion and an indicator mark, one end of the protrusion being connected to the flexible film, and the indicator mark being provided on the end face of the other end of the protrusion.

[0012] In one embodiment, a plurality of the indicators are arranged in an equally spaced array on the flexible film.

[0013] To address the aforementioned technical problems, the present invention also provides an application system for a pneumatic rotary motor, comprising an air source, a controller, an inflation / deflation mechanism, and the aforementioned pneumatic rotary motor; the air supply end of the air source is connected to the inflation / deflation port, and the inflation / deflation mechanism is provided in the passage connecting the air source and the inflation / deflation port; the controller is connected to the camera for signal transmission, and the controller is used to adjust the working state of the inflation / deflation mechanism according to the content captured by the camera; the inflation / deflation mechanism is used to control the inflation, deflation, and inflation / deflation rate of the pneumatic rotary motor.

[0014] In one embodiment, the controller includes a signal acquisition module, a comparison module, a control module, and an output module. The signal acquisition module analyzes the content captured by the camera to determine the current position of the position pointer. The comparison module compares the current position of the position pointer with its initial position to calculate the rotational speed of the pneumatic rotary motor. The control module compares the current rotational speed of the pneumatic rotary motor with the desired control speed to generate a control command. The inflation / deflation mechanism controls the inflation, deflation, and inflation / deflation rate of the pneumatic rotary motor according to the control command to ensure that the rotational speed of the pneumatic rotary motor reaches the set speed.

[0015] The beneficial effects of this invention are as follows: Since the deformation of the bubble actuator is used to pull the rope to make the shaft rotate, the gas will not come into any contact with the shaft. That is, there is no need to remove impurities from the working gas source or add lubricating oil. Therefore, problems such as rotor blockage, wear and corrosion will not occur, effectively solving the dilemmas existing in the prior art. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure provided in an embodiment of the present invention; Figure 2 yes Figure 1 A schematic diagram of the frontal sectional view of the structure; Figure 3 yes Figure 1 A top-down perspective structural diagram; Figure 4 yes Figure 1 A schematic diagram of the cross-modal sensor structure; Figure 5 yes Figure 4 A schematic diagram of a flexible thin film structure; Figure 6 yes Figure 2 A schematic diagram of the position pointer structure; Figure 7 This is a schematic diagram of the pneumatic rotary motor application system provided in an embodiment of the present invention.

[0018] The attached figures are labeled as follows: 10. Outer shell; 11. Upper shell; 12. Lower shell; 13. Inner cavity; 14. Outer cavity; 15. Deep groove ball bearing; 20. Bubble actuator; 21. Rope; 22. Inflation / depression port; 23. Thin film bubble; 24. Hook; 25. V-bearing; 30. Rotating shaft; 31. Reset component; 40. Position pointer; 41. Needle plate; 42. Needle post; 50. Cross-modal sensor; 51. Flexible thin film; 52. Camera; 53. Indicator; 531. Protrusion; 532. Indicating mark; 61. Gas source; 62. Controller; 63. Solenoid valve; 64. Control valve. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0020] For existing pneumatic motors, in order to achieve their drive control, gas must be used to drive the rotor to rotate, and the speed can be adjusted by the change in air pressure. However, if there are impurities in the input gas, the blockage and wear corrosion problems mentioned above are likely to occur.

[0021] Therefore, in order to solve the above problems, the existing technology has adopted the method of gas purification and impurity removal for optimization. However, the purification and impurity removal operations cannot completely eliminate impurities in the gas. In order to completely solve this problem, the present invention completely isolates the gas from the rotor, which not only has a better effect, but also eliminates the cumbersome operations of gas purification and impurity removal.

[0022] Specifically, an embodiment of the pneumatic rotary motor of the present invention is as follows: Figures 1 to 6 As shown, it includes a housing 10, and a bubble driver 20, a rotating shaft 30, a position pointer 40 and a transmodal sensor 50 disposed within the housing 10.

[0023] Regarding the outer casing 10, as Figure 1 As shown, its main function is to realize the installation and protection of various components of the pneumatic rotary motor. Generally, the outer shell 10 can be designed according to the shape of each component and the installation requirements. In this embodiment, the outer shell 10 includes an upper shell 11 and a lower shell 12. The upper shell 11 and the lower shell 12 are spliced ​​together to form a whole, and its internal space is used to store various components.

[0024] For example, in Figure 1 and Figure 2 In the indicated direction, the interior of the outer casing 10 is divided into an inner cavity 13 and an outer cavity 14 that are separated from each other. The inner cavity 13 is placed in the space surrounded by the outer cavity 14. The inner cavity 13 is used to install the rotating shaft 30, while the outer cavity 14 is used to install the bubble driver 20, thereby placing the rotating shaft 30 in a relatively closed space and avoiding contamination of the rotating shaft 30.

[0025] To achieve stable and smooth rotation of the rotating shaft 30, such as Figure 2 As shown, both the upper shell 11 and the outer shell 10 are equipped with deep groove ball bearings 15, and the two deep groove ball bearings 15 are respectively fitted on the upper and lower ends of the rotating shaft 30; of course, the choice of bearings is not unique, and other types of bearings can also be selected as substitutes.

[0026] Regarding the bubble driver 20, as Figures 1 to 3As shown, its main function is to control the rotation of the rotating shaft 30. To achieve this purpose, in this embodiment, the bubble actuator 20 is connected to the rope 21, the rope 21 is connected to the rotating shaft 30, and the bubble actuator 20 is a deflation structure. The deflation port 22 of the bubble actuator 20 is located on the outer shell 10. Therefore, the deformation of the bubble actuator 20 can be used to pull the rope 21 to make the rotating shaft 30 rotate.

[0027] Specifically, the bubble actuator 20 mainly utilizes its own inflation and deflation to generate deformation, and under the action of deformation, it pulls the rope 21 to move, thereby realizing the rotation control of the rotating shaft 30. Therefore, when inflation is required, gas can be input into the bubble actuator 20 through the inflation / deflation port 22, and when deflation is required, it is only necessary to connect the inflation / deflation port 22 to the atmosphere. For example, the end of the bubble actuator 20 connected to the rope 21 can be set to a free-moving state, and several fixed points can be selected on the bubble actuator 20 to fix the bubble actuator 20 inside the outer shell 10. Since the working principle of the bubble actuator 20 is similar to that of a balloon, inflation can cause the bubble actuator 20 to shorten axially, and deflation can cause the bubble actuator 20 to lengthen axially. Therefore, this expansion and contraction will cause the end of the bubble actuator 20 to move, thereby using the rope 21 to pull the rotating shaft 30 to rotate, thereby realizing the rotation control of the rotating shaft 30.

[0028] In order to better control the deformation of the bubble actuator 20, this embodiment sets the bubble actuator 20 to be arranged in an arc-shaped strip structure around the rotating shaft 30. One end of the bubble actuator 20 is set as a movable structure, and a rope 21 is connected to this end of the bubble actuator 20. The other end of the bubble actuator 20 is connected to the inflation / deflation port 22. The bubble actuator 20 is used to perform expansion and contraction deformation in the inflation / deflation state.

[0029] Because the bubble actuator 20 can expand and contract during inflation and deflation, it indicates that the bubble actuator 20 itself has a certain elastic deformation capability. Therefore, by bending it into an arc-shaped strip structure, the space occupied by the bubble actuator 20 can be reduced, thereby improving the structural compactness of the pneumatic rotary motor.

[0030] Furthermore, since the bubble actuator 20 is arranged in an arc-shaped strip structure around the outside of the rotating shaft 30, when the bubble actuator 20 extends or retracts, it will drive the rope 21 to move circumferentially around the rotating shaft 30. For example, if the bubble actuator 20 extends, it can drive the rope 21 to rotate clockwise, thus realizing the clockwise rotation of the rotating shaft 30. If the bubble actuator 20 shortens, it can drive the rope 21 to rotate counterclockwise, thus realizing the counterclockwise rotation of the rotating shaft 30, thereby enabling the forward and reverse rotation of the rotating shaft 30.

[0031] Of course, if rotational speed control is required, it can be achieved by controlling the inflation and deflation rate of the bubble actuator 20. For example, when the inflation and deflation rate of the bubble actuator 20 is increased, the expansion and contraction deformation of the bubble actuator 20 will be faster, thereby increasing the rotational speed of the rotating shaft 30 by pulling the rope 21. When the inflation and deflation rate of the bubble actuator 20 is decreased, the expansion and contraction deformation of the bubble actuator 20 will be slower, thereby reducing the rotational speed of the rotating shaft 30 by using the rope 21.

[0032] The rope 21 is mainly used to transmit force between the bubble driver 20 and the rotating shaft 30. Therefore, the rope 21 only needs to ensure a stable connection with the bubble driver 20 and the rotating shaft 30. There are no special restrictions on the connection method. For example, adhesive or knotting can be used. In this embodiment, hooks 24 are set at the end of the bubble driver 20 and the peripheral wall of the rotating shaft 30 (the hooks of the rotating shaft 30 are not shown in the figure because they are small) to fix the two ends of the rope 21. In addition, this embodiment also provides a V-bearing 25 to guide the rope 21.

[0033] It should also be noted that although the bubble actuator 20 can be a single bubble structure bent into an arc, in order to ensure more precise control over the contraction of each area of ​​the bubble actuator 20, it is preferable to divide the bubble actuator 20 into multi-segment control. For example, in this embodiment, the bubble actuator 20 is configured to include multiple film bubbles 23 connected in series. The film bubble 23 at one end is connected to the rope 21, and the film bubble 23 at the other end is connected to the inflation / deflation port 22. The multiple film bubbles 23 are used to perform expansion and contraction deformation in the inflation / deflation state. In this embodiment, the film bubble 23 is made of high-temperature resistant polyester film, thereby enhancing the durability of the film bubble 23.

[0034] Regarding the aforementioned rotating shaft 30, as Figures 1 to 3 As shown, it is the power output component of the pneumatic rotary motor, so the upper end of the rotating shaft 30 will extend out of the upper housing 11 to facilitate connection with the device that needs to obtain power; while the lower end of the rotating shaft 30 is connected to the position pointer 40, and a reset member 31 is installed on the rotating shaft 30. When the bubble driver 20 stops pulling the rotating shaft 30, the reset member 31 is used to drive the rotating shaft 30 to rotate back to the initial state.

[0035] For example, when the bubble actuator 20 is inflating, it will be in a state of radial expansion and axial contraction, thereby pulling the rotating shaft 30 to rotate counterclockwise. When the bubble actuator 20 is deflating, it will be in a state of radial contraction and axial extension, thereby pushing the rotating shaft 30 to rotate clockwise.

[0036] Although the rope 21 can be made rigid enough to drive the shaft 30 to rotate, there is no power input during the process because the bubble driver 20 is in a deflated state. Therefore, it is still difficult to ensure that the rope 21 can drive the shaft 30 to return to its initial state, which will bring difficulties to the precise control of the pneumatic rotary motor.

[0037] Therefore, this embodiment also includes a reset member 31. Even if the bubble driver 20 has no power input, the reset member 31 can still apply force to reset the rotating shaft 30 to its initial state, thus ensuring the precise control of the pneumatic rotary motor. Specifically, the reset member 31 in this embodiment is a coil spring. The coil spring is sleeved on the outside of the rotating shaft 30. One end of the coil spring is connected and fixed to the rotating shaft 30, and the other end of the coil spring is connected and fixed inside the outer casing 10.

[0038] For example, in this embodiment, the coil spring is fixed to the circumference of the rotating shaft 30 by the end of its inner ring and to the inside of the lower shell 12 by the end of its outer ring. So when the bubble driver 20 drives the rotating shaft 30 to rotate clockwise, the rotating shaft 30 will drive the coil spring to rotate together, so that the coil spring is in a state of accumulating potential energy. When the bubble driver 20 releases air, the coil spring will release potential energy to restore the rotating shaft 30 to its initial position, thereby avoiding the problem that the rotating shaft 30 cannot be reset to its initial position.

[0039] Regarding the position pointer 40, as Figure 2 and Figure 6 As shown, the position pointer 40 is used to rotate circumferentially under the drive of the rotating shaft 30 to indicate the current rotation position of the rotating shaft 30. For example, after the position pointer 40 makes elastic contact with the transmodal sensor 50, since the position pointer 40 can move circumferentially under the drive of the rotating shaft 30, the elastic contact position between the position pointer 40 and the transmodal sensor 50 will continuously change. By monitoring the current position of the position pointer 40 and performing relevant data processing, the current working state of the pneumatic rotary motor can be known.

[0040] There are many ways in which the position pointer 40 can rotate circumferentially. For example, when the position pointer 40 is a structure with an immutable shape, the circumferential rotation of the position pointer 40 is essentially a circular motion. However, if the position pointer 40 is a structure with a variable shape, the circumferential motion of the position pointer 40 may be a closed-loop motion of other shapes.

[0041] For example, if the position pointer 40 has a telescopic function to adjust the distance between itself and the peripheral wall of the rotating shaft 30, then the change in this distance can be controlled to make the position pointer 40 perform circumferential movements such as elliptical movements. Of course, for the sake of structural simplicity and accurate control and monitoring, the position pointer 40 in this embodiment does not adopt the above-mentioned complex control method, but rather... Figure 2 and Figure 6 As shown, the position pointer 40 includes a needle plate 41 and a needle post 42. One side of the needle plate 41 is connected to the rotating shaft 30. The needle plate 41 has a needle post 42 on the outer side of the rotating shaft 30. The needle post 42 elastically abuts against the flexible film 51 of the transmodal sensor 50.

[0042] For example, in the direction shown in the figure, the needle plate 41 is connected and fixed to the lower end face of the rotating shaft 30 via its upper right surface and to the needle column 42 via its lower left surface. Therefore, when the rotating shaft 30 rotates, it can drive the needle column 42 to perform circular motion, thereby realizing the movement of the needle column 42 on the transmodal sensor 50.

[0043] In order to avoid puncturing the flexible film 51 of the cross-modal sensor 50, this embodiment also sets the part of the needle post 42 that elastically contacts the flexible film 51 to be hemispherical, so as to reduce the damage to the flexible film 51.

[0044] Regarding the aforementioned cross-modal sensor 50, as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, its main function is to monitor the working status of the pneumatic rotary motor. Therefore, this embodiment sets up a cross-modal sensor 50 including a flexible film 51 and a camera 52. One surface of the flexible film 51 is elastically abutting against the position pointer 40, and the other surface of the flexible film 51 is provided with a plurality of protruding indicators 53. The shooting area of ​​the camera 52 is aligned with the plurality of indicators 53, and the camera 52 is used to capture the deformation images of the plurality of indicators 53.

[0045] For example, in the illustrated direction, the flexible film 51 uses its upper surface to elastically contact the position pointer 40 and uses its lower surface to set the indicator 53. The flexible film 51 will be in a depressed state at the contact point with the position pointer 40, thereby causing the indicator 53 at that point to deform. Therefore, by comparing the current deformation image of the indicator 53 with the initial image of the indicator 53, it can be determined which position of the flexible film 51 is in a depressed state. Then, by performing relevant data analysis and conversion, the current working state of the pneumatic rotary motor can be accurately determined.

[0046] In order to make the deformation image of the indicator 53 more obvious, this embodiment sets the flexible film 51 as a bulging film structure. The bulging surface of the flexible film 51 elastically abuts against the position pointer 40, and the concave surface of the flexible film 51 is provided with multiple indicators 53.

[0047] For example, in the illustrated direction, the flexible film 51 is in an upward bulging state. Therefore, when the position pointer 40 contacts the flexible film 51, it is in a horizontal setting relative to the flexible film 51. At this time, the downward pressure of the position pointer 40 on the flexible film 51 will be greater, making the deformation of the indicator 53 more obvious. This makes it easier to compare the current deformation image of the indicator 53 with the initial image of the indicator 53 more accurately.

[0048] In addition, to further improve the accuracy of identifying the indicator 53, it is necessary to ensure that the arrangement of the indicator 53 is regular and that the indicator 53 is easy to identify. Therefore, this embodiment not only sets multiple indicators 53 to be arranged in an equally spaced array on the flexible film 51, but also sets the indicator 53 to include a protrusion 531 and an indicator mark 532. One end of the protrusion 531 is connected to the flexible film 51, and the end face of the other end of the protrusion 531 is provided with an indicator mark 532, so that the designer can set the required indicator mark 532 according to the needs, so as to facilitate identification and judgment.

[0049] It should be noted that, when applying this technology, users can install the aforementioned pneumatic rotary motor in the desired application scenario. For example, to provide a detailed explanation of the application method, see [link to relevant documentation]. Figure 2 and Figure 7 This embodiment also provides an application system for a pneumatic rotary motor, including an air source 61, a controller 62, an inflation / deflation mechanism, and the aforementioned pneumatic rotary motor; the air supply end of the air source 61 is connected to the inflation / deflation port 22, and an inflation / deflation mechanism is provided in the passage connecting the air source 61 and the inflation / deflation port 22; the controller 62 is connected to the camera 52 for signal transmission, and the controller 62 is used to adjust the working state of the inflation / deflation mechanism according to the content captured by the camera 52; the inflation / deflation mechanism is used to control the inflation, deflation, and inflation / deflation rate of the pneumatic rotary motor.

[0050] The aforementioned inflation / deflation mechanism primarily controls the opening and closing of the valve. Therefore, the inflation / deflation mechanism in this embodiment includes a solenoid valve 63 and a control valve 64 connected in series. The solenoid valve 63 is mainly used to switch between inflation and deflation states, while the control valve 64 is mainly used to control the flow rate. Of course, the inflation / deflation mechanism is not limited to this; it can also be composed of other valves or components with similar functions. Technicians can choose according to actual needs.

[0051] In addition, the aforementioned controller 62 is the main component for realizing automatic control. It includes a signal acquisition module, a comparison module, a control module, and an output module. The signal acquisition module is used to analyze the content captured by the camera 52 to determine the current position of the position pointer 40. The comparison module is used to compare the current position of the position pointer 40 with the initial position to calculate the rotational speed of the pneumatic rotary motor. The control module is used to compare the current rotational speed of the pneumatic rotary motor with the desired control speed to generate control commands. The inflation / deflation mechanism is used to control the inflation, deflation, and inflation / deflation rate of the pneumatic rotary motor according to the control commands so that the rotational speed of the pneumatic rotary motor reaches the set speed.

[0052] Specifically, the inflation process of a pneumatic rotary motor is roughly as follows: When controller 62 sends an inflation signal to solenoid valve 63 and a specified signal to control valve 64, solenoid valve 63 connects the air passage between air source 61 and bubble actuator 20, and control valve 64 regulates the inflation rate of the air passage. Bubble actuator 20 begins to inflate at the specified rate, and bubble actuator 20 undergoes axial shortening. Since the top end of bubble actuator 20 is fixed to the lower shell 12, the axial contraction motion of the pneumatic actuator is generated at the end of bubble actuator 20 connected to rope 21. The end of bubble actuator 20 drives the rotating shaft 30 to rotate through rope 21. The rotating shaft 30 drives the position pointer 40 to move, and at the same time drives the coil spring to rotate. The needle 4 of position pointer 40... 2. The action is applied to the cross-modal sensor 50, causing the flexible film 51 to deform at the corresponding position. The camera 52 captures the deformation image of the circular indicator mark 532 on the flexible film 51 and transmits the captured image to the controller 62. Through the tactile mode to the visual mode, the value of the position pointer 40 at a certain moment / initial position is obtained, thereby obtaining the relative / absolute position value of the pneumatic rotary motor. Furthermore, through data processing, the rotation speed of the pneumatic rotary motor can be obtained. The controller 62 compares the obtained position and rotation speed with the expected value and controls the solenoid valve 63 and the control valve 64 to reach the target position and target speed.

[0053] The venting process of a pneumatic rotary motor is roughly as follows: When controller 62 sends a venting signal to solenoid valve 63 and a specified signal to control valve 64, solenoid valve 63 connects the air passage between the atmosphere and bubble actuator 20, and control valve 64 adjusts the venting rate of the air passage. Bubble actuator 20 begins to vent at the specified rate. The spring force of the coil spring drives the rotating shaft 30 to rotate. The rotating shaft 30 pulls the end of bubble actuator 20 back to its initial position via rope 21. At the same time, the rotating shaft 30 drives the position pointer 40 to move. The pin 42 of the position pointer 40 acts on the transmodal sensor 50, causing deformation of the flexible film 51 at the corresponding position. This deformation is detected by camera 52. The deformation image of the circular indicator mark 532 on the flexible film 51 is acquired and transmitted to the controller 62. The current position of the position pointer 40 is obtained through the tactile mode to the visual mode. The controller 62 obtains the value of the current position of the position pointer 40 and the value of a certain moment / initial position, thereby obtaining the relative / absolute position value of the pneumatic rotary motor. The rotation speed of the pneumatic rotary motor can be obtained through data processing. The controller 62 compares the obtained position and rotation speed with the expected value and controls the solenoid valve 63 and the control valve 64 to reach the target position and target speed.

[0054] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A pneumatic rotary motor, characterized in that, Includes a housing, and a bubble driver, a rotating shaft, a position pointer, and a transmodal sensor disposed within the housing; The bubble actuator is connected to a rope, which is connected to the rotating shaft. The bubble actuator is a gas-filling and gas-deforming structure. The gas-filling and gas-deforming port of the bubble actuator is located on the outer shell. The deformation of the bubble actuator is used to pull the rope to make the rotating shaft rotate. One end of the rotating shaft is connected to the position pointer, and a reset component is installed on the rotating shaft. When the bubble driver stops pulling the rotating shaft, the reset component is used to drive the rotating shaft to rotate back to the initial state. The position pointer is used to rotate circumferentially under the drive of the rotating shaft; The cross-modal sensor includes a flexible film and a camera; one surface of the flexible film elastically abuts against the position pointer, and the opposite surface of the flexible film is provided with a plurality of raised indicators; the shooting area of ​​the camera is aligned with the plurality of indicators, and the camera is used to capture deformation images of the plurality of indicators.

2. The pneumatic rotary motor according to claim 1, characterized in that, The bubble actuator is arranged in an arc-shaped strip structure around the circumference of the rotating shaft. One end of the bubble actuator is set as a movable structure and the rope is connected to this end of the bubble actuator. The other end of the bubble actuator is connected to the inflation / deflation port. The bubble actuator is used to perform expansion and contraction deformation in the inflation / deflation state.

3. The pneumatic rotary motor according to claim 2, characterized in that, The bubble actuator includes multiple thin-film bubbles connected in series. The thin-film bubble at one end is connected to the rope, and the thin-film bubble at the other end is connected to the inflation / deflation port. The multiple thin-film bubbles are used to perform expansion and contraction deformation in the inflation / deflation state.

4. The pneumatic rotary motor according to claim 1, characterized in that, The reset component is a coil spring, which is sleeved on the outside of the rotating shaft. One end of the coil spring is connected and fixed to the rotating shaft, and the other end of the coil spring is connected and fixed inside the outer casing.

5. The pneumatic rotary motor according to claim 1, characterized in that, The position pointer includes a needle plate and a needle post. One side of the needle plate is connected to the rotating shaft, and the needle post is provided on the outer periphery of the needle plate around the rotating shaft. The needle post elastically abuts against the flexible film.

6. The pneumatic rotary motor according to claim 1, characterized in that, The flexible film is a bulging membrane structure, and the bulging surface of the flexible film elastically abuts against the position pointer. The concave surface of the flexible film is provided with a plurality of the indicators.

7. The pneumatic rotary motor according to claim 1, characterized in that, The indicator includes a protrusion and an indicator mark. One end of the protrusion is connected to the flexible film, and the other end of the protrusion is provided with the indicator mark.

8. The pneumatic rotary motor according to claim 1, characterized in that, Multiple indicators are arranged in an equally spaced array on the flexible film.

9. An application system for a pneumatic rotary motor, characterized in that, It includes an air source, a controller, an air filling and emptying mechanism, and a pneumatic rotary motor as described in any one of claims 1 to 8; The gas supply end of the gas source is connected to the gas filling and discharging port, and the gas filling and discharging mechanism is provided in the passage connecting the gas source and the gas filling and discharging port. The controller is connected to the camera for signal transmission, and the controller is used to adjust the working state of the inflation and deflation mechanism according to the content captured by the camera. The inflation / deflation mechanism is used to control the pneumatic rotary motor to inflate, deflate, and control the inflation / deflation rate.

10. The application system according to claim 9, characterized in that, The controller includes a signal acquisition module, a comparison module, a control module, and an output module; The signal acquisition module is used to analyze the content captured by the camera to determine the current position of the position pointer; The comparison module is used to compare the current position of the position pointer with the initial position in order to calculate the rotational speed of the pneumatic rotary motor. The control module is used to compare the current speed of the pneumatic rotary motor with the desired control speed to obtain control commands; The inflation / deflation mechanism is used to regulate the pneumatic rotary motor to inflate, deflate, and inflate at the inflation / deflation rate according to the control command, so that the rotation speed of the pneumatic rotary motor reaches the set speed.

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