Steering engine current-limiting electromagnetic valve

Abstract

The invention discloses an electromagnetic valve body specially designed for a pneumatic robot. The valve body has a flow limiting function, so that the telescopic speed of the air cylinder can be adjusted when the small robot uses the air cylinder. The motion mode of muscles is simulated, and the motion functions of instant acceleration, gradual acceleration and gradual deceleration are achieved. The steering engine is used for driving the flow limiting shaft, and the bionic movement mode, acceleration movement, deceleration movement, explosive force movement and uniform-speed movement of animals are simulated by changing the size of air holes in the flow limiting shaft.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and particularly to the field of pneumatic drive control. Technical Background

[0002] Solenoid valve technology is commonly used in industrial automation equipment and is an important component in industrial control equipment.

[0003] Flow-limiting valves are mainly used in the flow-dividing structures of large hydraulic and pneumatic pipelines; generally, they are relatively large in size, and there is no micro flow-limiting valve suitable for the field of robot control.

[0004] In the field of robot control, electric motors are commonly used in the existing robot control field, and the development of hydraulic and pneumatic drives is relatively slow; however, the corresponding pneumatic and hydraulic drive bionic muscles have developed relatively maturely, and the corresponding supporting industrial control components are still relatively lagging, resulting in a stagnation in the development of robots in this direction. Summary of the Invention

[0005] The present invention proposes a dual-control solenoid valve, a servo solenoid valve designed specifically for robot transmission control technology. Existing solenoid valves cannot achieve the required actions for bionic muscle control, such as explosive force, gradual acceleration, and gradual deceleration actions. To meet the above requirements, a servo flow-limiting solenoid valve is proposed. The flow rate of the air flow is controlled by a servo motor controlling a flow-limiting shaft, and the opening and closing of the air flow are controlled by an electromagnetic coil. To meet the control requirements of pneumatic bionic robots. Brief Description of the Drawings

[0006] As Figure 1-1 shown, this servo flow-limiting solenoid valve is divided into three major parts: a servo module 1, a valve body module 2, and a coil module 3. As Figure 1-2 shown, the servo module 1 contains a high-torque servo motor, a gear 6, and a driving gear 5.

[0007] As Figure 1-3 shown, the coil module 3 contains an electromagnetic coil, a driving iron core plug 8, a return spring 7, and a flow-limiting shaft 4.

[0008] As Figure 1-4 shown, the servo module 1, the valve body module 2, and the coil module 3.

[0009] As Figure 2-1 shown, the transmission gear 5 and the valve body module 2 internally contain an iron core plug 8, a return spring 7, and a flow-limiting shaft 4. Detailed Embodiment

[0010] Example 1 of the explosive force of the servomotor current-limiting solenoid valve of the present invention: The servomotor drives gear 6, which drives gear 5, driving the current-limiting shaft 4 to rotate so that the holes on the current-limiting shaft 4 become fully open; when the maximum flow output position is reached, the coil valve module 3 opens the electromagnetic coil to drive the iron core plug 8, and the air flow is instantaneously released. The air pressure output flow is the maximum value, and the speed is the maximum value.

[0011] Example 2 of the servomotor current-limiting solenoid valve of the present invention: Gradual deceleration; The servomotor drives gear 6, which drives gear 5, driving the current-limiting shaft 4 to rotate so that the current-limiting shaft 4 gradually decreases, the air flow diameter decreases, achieving the effect of gradual deceleration of the movement; To meet the requirements, the coil valve module 3 is adjusted synchronously with the current-limiting shaft 4, and the output flow is gradually reduced and the working speed is gradually reduced when the air pressure is released.

[0012] Example 3 of the servomotor current-limiting solenoid valve of the present invention: Gradual acceleration; The servomotor drives gear 6, which drives gear 5, driving the current-limiting shaft 4 to rotate so that the current-limiting shaft 4 gradually increases the air flow diameter, achieving the effect of gradual acceleration of the movement; To meet the requirements, the coil valve module 3 is adjusted synchronously with the current-limiting shaft 4, and the output flow is gradually increased and the working speed is gradually increased when the air pressure is released.

Claims

1. The steering gear current limiting solenoid valve includes three main modules, namely, a steering gear module 1, a valve body module 2, and a coil module 3; wherein the steering gear module 1 includes a steering gear and a transmission gear 6; wherein the valve body module 2 includes an iron core plug 6, a return spring 7, a current limiting shaft 4, and a transmission gear 5; wherein the module 3 includes an electromagnetic coil.

2. The steering gear current limiting solenoid valve according to claim 1 is characterized in that There are two sets of switches, the coil module 3 controls the valve body switch and the current limiting shaft 4 switch; by controlling the switch of the coil module 3 and cooperating with the current limiting effect of the current limiting shaft 4, different flow rates and release intervals are combined to meet the different flow release requirements of the airflow; the servo module 1 controls the gear 5 through the gear 6 to drive the current limiting shaft 4 to rotate and control the size of the pores, and the pores on the current limiting shaft change according to the angle to change the gas flow size.

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