Electromagnetic valve and device for controlling action of artificial muscle

Abstract

The embodiment of the utility model provides an electromagnetic valve and a device used for controlling the action of artificial muscle, and relates to the technical field of electromagnetic valves, the electromagnetic valve is provided with a valve shell and air inlet control assemblies, air inlet holes used for being communicated with the outside are arranged in the valve shell, the air inlet control assemblies are in one-to-one correspondence with the air inlet holes, and the air inlet control assemblies are arranged in the valve shell. The air inlet control assembly comprises a first movable iron core and a first sealing piece, the first sealing piece is arranged at the end, close to the air inlet hole, of the first movable iron core, the air inlet control assembly is used for opening and closing the air inlet hole by moving the first movable iron core, and a first annular boss is arranged at the end, close to the corresponding first movable iron core, of the air inlet hole. Each first sealing piece is provided with a first annular groove matched with the corresponding first annular boss. When the air inlet needs to be closed, the first annular boss is matched with the first annular groove, the surface quality of a contact area is improved, the contact area is controlled, and the sealing effect of the electromagnetic valve is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of electromagnetic valves, in particular to a electromagnetic valve and a device for controlling artificial muscle movements. Background Art

[0002] Solenoid valves are electromagnetically controlled industrial devices. They are fundamental automation components used to control fluids. They are actuators, not limited to hydraulic or pneumatic systems. They are primarily used in industrial control systems to adjust the direction, flow, speed, and other parameters of media. For example, in the field of humanoid robots, solenoid valves are often used to control the movement of artificial muscles.

[0003] Current solenoid valves usually use a valve stem moving within the valve body to switch between various passages. The gap between the valve stem and the valve body can easily lead to gas leakage. The solenoid valve has low sealing performance and cannot achieve the maintenance function of artificial muscles in the intermediate state. Utility Model Content

[0004] The embodiments of the present utility model provide a solenoid valve and a device for controlling the movement of an artificial muscle, so as to solve the technical problem of low sealing performance of the solenoid valve in the related art.

[0005] In a first aspect, an embodiment of the present utility model provides a solenoid valve, comprising a valve housing, wherein an air inlet hole for communicating with the outside is provided in the valve housing;

[0006] an air intake control assembly corresponding to the air intake hole, disposed in the valve housing, the air intake control assembly comprising a first movable iron core and a first sealing member, the first sealing member being disposed at an end of the first movable iron core close to the air intake hole, the air intake control assembly being configured to open and close the air intake hole by moving the first movable iron core;

[0007] A first annular boss is provided on one end of the air inlet hole close to the corresponding first moving iron core, and a first annular groove matching the first annular boss is provided on each of the first sealing members.

[0008] In some embodiments, the valve housing comprises:

[0009] An upper end cover, wherein the upper end cover is provided with an artificial muscle interface and the air inlet in communication;

[0010] A lower end cover, wherein the lower end cover is provided with a first through hole, wherein the first through hole connects the external air and the air intake control assembly;

[0011] The valve body is arranged between the upper end cover and the lower end cover, and the upper end cover, the lower end cover and the valve body cooperate to form a first accommodating chamber for accommodating the intake control component.

[0012] In some embodiments, the air intake control assembly further comprises:

[0013] A first fixed iron core is disposed in the first accommodating cavity, wherein the bottom end of the first fixed iron core is connected to the lower end cover, a first air transmission through hole is provided in the first fixed iron core, the first air transmission through hole is communicated with the first through hole, and a first groove is further provided on the top of the first fixed iron core for accommodating the first moving iron core, the first groove being communicated with the first air transmission through hole;

[0014] a first electromagnetic coil disposed in the first accommodating cavity and wound around the outer circumference of the first fixed iron core, the first electromagnetic coil being configured to cooperate with the first fixed iron core to drive the first movable iron core to move so as to open and close the air inlet when energized;

[0015] A first spring, wherein a first step is provided on the outer periphery of one end of the first movable iron core close to the air inlet hole, and two ends of the first spring respectively abut against the first step and the first fixed iron core.

[0016] In some embodiments, the air intake control assembly further comprises:

[0017] A first sealing ring is sleeved on the outer periphery of the bottom end of the first fixed iron core.

[0018] In some embodiments, the first sealing ring is made of rubber.

[0019] In some embodiments, the solenoid valve further comprises:

[0020] An air intake connector is connected to the lower end cover and communicated with the first through hole.

[0021] In some embodiments, the lower end cover is further provided with an exhaust hole for communicating with the outside;

[0022] The upper end cover, the lower end cover and the valve body cooperate to form a second accommodating chamber, wherein an exhaust control assembly corresponding to the exhaust hole is disposed in the second accommodating chamber, the exhaust control assembly comprising a second movable iron core and a second sealing member, the second sealing member being disposed at one end of the second movable iron core close to the exhaust hole, the exhaust control assembly being configured to open and close the exhaust hole by moving the second movable iron core;

[0023] A second annular boss is provided on one end of the exhaust hole close to the corresponding second moving iron core, and a second annular groove matching the second annular boss is provided on each of the second sealing members.

[0024] In some embodiments, the exhaust control assembly includes:

[0025] A second fixed iron core is disposed in the second accommodating cavity, the top end of the second fixed iron core is connected to the upper end cover, a second air transmission through hole is provided in the second fixed iron core, the second air transmission through hole is communicated with the second through hole, the second through hole is provided in the upper end cover and is connected to the artificial muscle interface, and a second groove is further provided at the bottom of the second fixed iron core for accommodating the second moving iron core, the second groove is communicated with the second air transmission through hole;

[0026] a second electromagnetic coil disposed in the second accommodating cavity and wound around the outer circumference of the second fixed iron core, the second electromagnetic coil being configured to cooperate with the second fixed iron core to drive the second movable iron core to move so as to open and close the exhaust hole when energized;

[0027] A second spring, a second step is provided on the outer periphery of one end of the second movable iron core close to the exhaust hole, and two ends of the second spring respectively abut against the second step and the second fixed iron core.

[0028] In some embodiments, the solenoid valve further comprises:

[0029] An exhaust connector is connected to the lower end cover and communicated with the exhaust hole.

[0030] In a second aspect, an embodiment of the present invention further provides a device for controlling artificial muscle movements, the device comprising the aforementioned solenoid valve.

[0031] The beneficial effects brought about by the technical solution provided by the utility model include:

[0032] The present invention provides a solenoid valve and a device for controlling artificial muscle movement. The solenoid valve includes a valve housing and an air intake control assembly. The valve housing is provided with an air intake hole for communicating with the outside. The air intake control assembly corresponds to the air intake hole one-to-one. The air intake control assembly is provided in the valve housing. The air intake control assembly includes a first movable iron core and a first sealing member. The first sealing member is provided at one end of the first movable iron core near the air intake hole. The air intake control assembly is used to open and close the air intake hole by moving the first movable iron core. The air intake hole is provided with a first annular boss at one end of the first movable iron core near the corresponding first movable iron core. Each first sealing member is provided with a first annular groove that cooperates with the first annular boss. When the air intake hole needs to be closed, the first sealing member on the first movable iron core contacts the first annular boss of the air intake hole. The first sealing member is provided with a first annular groove that cooperates with the first annular boss. The cooperation between the first annular boss and the first annular groove improves the surface quality of the contact area, controls the contact area, and ensures the sealing effect of the solenoid valve. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic structural diagram of a solenoid valve provided in an embodiment of the present utility model;

[0035] Figure 2 A schematic diagram of a partial structure of a solenoid valve provided in an embodiment of the utility model;

[0036] Reference numerals:

[0037] 1. Valve housing; 11. Valve body; 12. Upper end cover; 121. Air inlet; 1211. First annular boss; 122. Artificial muscle interface; 123. Second through hole; 13. Lower end cover; 131. First through hole; 132. Exhaust hole;

[0038] 2. Intake control assembly; 21. First moving iron core; 211. First step; 22. First sealing member; 221. First annular groove; 23. First fixed iron core; 231. First air transmission hole; 232. First groove; 24. First electromagnetic coil; 25. First spring; 26. First sealing ring;

[0039] 3. Exhaust control assembly; 31. Second moving iron core; 32. Second sealing member; 33. Second fixed iron core; 331. Second air transmission hole; 332. Second groove; 34. Second electromagnetic coil; 35. Second spring;

[0040] 4. Air intake connector;

[0041] 5. Exhaust connector. DETAILED DESCRIPTION

[0042] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0043] The embodiment of the utility model provides a solenoid valve, which can solve the technical problem of low sealing performance of the solenoid valve in the prior art.

[0044] See also Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a solenoid valve, which is provided with a valve housing 1 and an air intake control component 2, and the valve housing 1 is provided with an air intake hole 121 for communicating with the outside, and the air intake control component 2 corresponds one-to-one to the air intake hole 121, and the air intake control component 2 is arranged in the valve housing 1, and the air intake control component 2 includes a first moving iron core 21 and a first sealing member 22, and the first sealing member 22 is provided at one end of the first moving iron core 21 close to the air intake hole 121, and the air intake control component 2 is used to open and close the air intake hole 121 by moving the first moving iron core 21, and the air intake hole 121 is provided with a first annular boss 1211 at one end of the first moving iron core 21 close to the corresponding air intake hole 121, and each of the first sealing members 22 is provided with a first annular groove 221 that cooperates with the first annular boss 1211. When the air inlet 121 needs to be closed, the first sealing member 22 on the first moving iron core 21 contacts the first annular boss 1211 of the air inlet 121. A first annular groove 221 that cooperates with the first annular boss 1211 is provided on the first sealing member 22. The first annular boss 1211 and the first annular groove 221 cooperate to improve the surface quality of the contact area, control the contact area, and ensure the sealing effect of the solenoid valve.

[0045] As an optional implementation, in a utility model embodiment, see Figure 1 As shown, the valve housing 1 is provided with an upper end cover 12, a lower end cover 13 and a valve body 11. The upper end cover 12 is provided with an artificial muscle interface 122 and the air inlet 121, which are connected. The artificial muscle interface 122 is used to connect the artificial muscle. The lower end cover 13 is provided with a first through hole 131, which connects the external air to the air intake control assembly 2. The valve body 11 is provided between the upper end cover 12 and the lower end cover 13. The upper end cover 12, the lower end cover 13 and the valve body 11 cooperate to form a first accommodating chamber for accommodating the air intake control assembly 2. The valve housing 1 of the present utility model is formed by the upper end cover 12, the lower end cover 13 and the valve body 11. The lower end cover 13 is provided with a first through hole 131 connected to the outside so that the solenoid valve can inflate the artificial muscle. The valve housing has a simple structure and strong sealing performance, ensuring the stability and sealing of the solenoid valve.

[0046] As an optional implementation, in a utility model embodiment, see Figure 1As shown, the intake control assembly 2 is provided with a first fixed iron core 23, a first electromagnetic coil 24 and a first spring 25. The first fixed iron core 23 is provided in the first accommodating cavity. The bottom end of the first fixed iron core 23 is connected to the lower end cover 13. A first air delivery hole 231 is provided in the first fixed iron core 23. The first air delivery hole 231 is connected to the first through hole 131. The top of the first fixed iron core 23 is further provided with a first groove 232 for accommodating the first moving iron core 21. The first groove 232 is connected to the first air delivery hole 231. The first electromagnetic coil 2 The first electromagnetic coil 24 is located within the first accommodating cavity and wound around the outer circumference of the first fixed iron core 23. When energized, it cooperates with the first fixed iron core 23 to drive the first movable iron core 21 to move, thereby opening and closing the air inlet 121. A first step 211 is provided on the outer circumference of the end of the first movable iron core 21 closest to the air inlet 121. The two ends of the first spring 25 respectively abut against the first step 211 and the first fixed iron core 23. The first spring 25 is always compressed, providing a certain preload on the first movable iron core 21 and improving the reliability of the solenoid valve. When inflation is required, the first electromagnetic coil 24 is energized, drawing the first movable iron core 21 downward. This connects the air inlet 121 to the artificial muscle interface 122, allowing the solenoid valve to function as an air inlet. When energized, the first electromagnetic coil 24 controls the duty cycle, adjusting the valve opening time per unit cycle to adjust the air inlet speed.

[0047] As an optional implementation, in a utility model embodiment, see Figure 1 As shown, the intake control assembly 2 is also provided with a first sealing ring 26, which is sleeved on the outer periphery of the bottom end of the first fixed iron core 23 to improve the sealing of the solenoid valve, avoid gas leakage caused by the gap between the bottom end of the first fixed iron core 23 and the lower end cover 13, and improve the sealing.

[0048] As an optional implementation, in one embodiment of the utility model, the first sealing ring 26 is made of rubber material, which has good sealing performance, ensuring a more reliable sealing effect.

[0049] As an optional implementation, in a utility model embodiment, see Figure 1 As shown, the solenoid valve further includes an air intake connector 4, which is connected to the lower end cover 13 and communicates with the first through hole 131. The air intake connector 4 has a compact structure and a tight connection, thereby improving the sealing performance of the solenoid valve.

[0050] As an optional implementation, in a utility model embodiment, see Figure 1As shown, the lower end cover 13 is further provided with an exhaust hole 132 for communicating with the outside, and the upper end cover 12, the lower end cover 13 and the valve body 11 cooperate to form a second accommodating chamber, and the second accommodating chamber is provided with an exhaust control component 3 corresponding to the exhaust hole 132, and the exhaust control component 3 includes a second moving iron core 31 and a second sealing member 32, and the second sealing member 32 is provided at one end of the second moving iron core 31 close to the exhaust hole 132, and the exhaust control component 3 is used to open and close the exhaust hole 132 by moving the second moving iron core 31, and the exhaust hole 132 is provided with a second annular boss at one end of the second moving iron core 31 close to the corresponding exhaust hole, and each second sealing member 32 is provided with a second annular groove that cooperates with the second annular boss. When the exhaust hole 132 needs to be closed, the second sealing member 32 on the second moving iron core 31 contacts the second annular boss of the exhaust hole 132. A second annular groove that cooperates with the second annular boss is provided on the second sealing member 32. The second annular boss and the second annular groove cooperate to improve the surface quality of the contact area, control the contact area, and ensure the sealing effect of the solenoid valve.

[0051] As an optional implementation, in a utility model embodiment, see Figure 1As shown, the exhaust control assembly 3 further comprises a second fixed iron core 33, a second electromagnetic coil 34, and a second spring 35. This solenoid valve has three operating states: inflation, holding, and deflation. These different operating states are achieved by controlling the power on and off of the first and second electromagnetic coils 24 and 34. In the inflation state, the first electromagnetic coil 24 is energized, pulling the first movable iron core 21 downward, connecting the air inlet 121 to the artificial muscle interface 122. The second electromagnetic coil 34 is de-energized, and the second movable iron core 31 is compressed in its reset state by the second spring 35 and the internal high-pressure gas. The artificial muscle interface 122 and the exhaust vent 132 are blocked, and the artificial muscle expands. In the holding state, both the first and second electromagnetic coils 24 and 34 are de-energized, and the first and second movable iron cores 21 and 31 are respectively rebounded to their reset states by the first and second springs 25 and 35. The air inlet 121 and exhaust vent 132 are closed, and the artificial muscle maintains its hold state. During deflation, the second electromagnetic coil 34 is energized, pulling the second movable core 31 upward. This connects the exhaust port 132 to the artificial muscle interface 122. The first electromagnetic coil 24 is de-energized, and the first movable core 21 is compressed in its reset state by the first spring 25 and the high-pressure gas in the air inlet 121. The artificial muscle interface 122 and the air inlet 121 are disconnected, and the artificial muscle shrinks. During normal operation, the pressure at the air inlet 121 is no less than the pressure at the artificial muscle interface 122, and the pressure at the artificial muscle interface 122 is no less than the pressure at the exhaust port 132. The spring pressure and the gas pressure are in the same direction. The sealing surfaces of the first and second movable cores 21 and 31 are equipped with a first seal 22 and a second seal 32. When the first and second electromagnetic coils 24 and 34 are de-energized, they ensure that gas does not leak when the valve is closed. When the first electromagnetic coil 24 and the second electromagnetic coil 34 are energized, the duty cycle is controlled to adjust the opening time of the valve within a unit cycle to adjust the speed of air intake or exhaust, so as to realize the function of controlling the speed of artificial muscle movement and accurately control the speed of artificial muscle movement.

[0052] As an optional implementation, in a utility model embodiment, see Figure 1 As shown, the solenoid valve is further provided with an exhaust connector 5, which is connected to the lower end cover 13 and communicates with the exhaust hole 132. The exhaust connector 5 has a compact structure and a tight connection, thereby improving the sealing performance of the solenoid valve.

[0053] An embodiment of the present invention further provides a device for controlling artificial muscle movements, which uses the aforementioned solenoid valve. The solenoid valve includes a valve housing 1 and an air intake control assembly 2. The valve housing 1 is provided with an air intake hole 121 for communicating with the outside. The air intake control assembly 2 corresponds one-to-one with the air intake hole 121. The air intake control assembly 2 is disposed in the valve housing 1. The air intake control assembly 2 includes a first moving iron core 21 and a first sealing member 22. The first sealing member 22 is disposed at one end of the first moving iron core 21 near the air intake hole 121. The air intake control assembly 2 is configured to open and close the air intake hole 121 by moving the first moving iron core 21. The air intake hole 121 is provided with a first annular boss 1211 at one end of the first moving iron core 21 near the corresponding first moving iron core 21. Each first sealing member 22 is provided with a first annular groove 221 that cooperates with the first annular boss 1211. When the air inlet 121 needs to be closed, the first sealing member 22 on the first moving iron core 21 contacts the first annular boss 1211 of the air inlet 121. A first annular groove 221 that cooperates with the first annular boss 1211 is provided on the first sealing member 22. The first annular boss 1211 and the first annular groove 221 cooperate to improve the surface quality of the contact area, control the contact area, and ensure the sealing effect of the device.

[0054] In the description of the present invention, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0055] It should be noted that, in the present invention, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0056] The foregoing description is intended only to provide specific embodiments of the present invention, intended to enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but rather to be construed in the broadest manner consistent with the principles and novel features of the present invention.

Claims

1. A solenoid valve, characterized in that: include: A valve housing (1), wherein an air inlet (121) for communicating with the outside is provided in the valve housing (1); an air intake control assembly (2) corresponding to the air intake hole (121), which is arranged in the valve housing (1), the air intake control assembly (2) comprising a first moving iron core (21) and a first sealing member (22), the first sealing member (22) being arranged at one end of the first moving iron core (21) close to the air intake hole (121), the air intake control assembly (2) being used to open and close the air intake hole (121) by moving the first moving iron core (21); A first annular boss (1211) is provided at one end of the air inlet (121) close to the corresponding first moving iron core (21), and each first sealing member (22) is provided with a first annular groove (221) that matches the first annular boss (1211).

2. A solenoid valve according to claim 1, characterized in that: The valve housing (1) comprises: An upper end cover (12), the upper end cover (12) being provided with an artificial muscle interface (122) and the air inlet (121) in communication; A lower end cover (13), wherein the lower end cover (13) is provided with a first through hole (131), and the first through hole (131) connects the external air and the air intake control assembly (2); A valve body (11) is provided between the upper end cover (12) and the lower end cover (13); the upper end cover (12), the lower end cover (13) and the valve body (11) cooperate to form a first accommodating chamber for accommodating the intake control assembly (2).

3. The solenoid valve according to claim 2, characterized in that: The air intake control component (2) further comprises: A first fixed iron core (23) is provided in the first accommodating cavity, the bottom end of the first fixed iron core (23) is connected to the lower end cover (13), a first air transmission through hole (231) is provided in the first fixed iron core (23), the first air transmission through hole (231) is communicated with the first through hole (131), and a first groove (232) for accommodating the first moving iron core (21) is further provided on the top of the first fixed iron core (23), the first groove (232) is communicated with the first air transmission through hole (231); a first electromagnetic coil (24) disposed in the first accommodating cavity and wound around the outer circumference of the first fixed iron core (23); the first electromagnetic coil (24) is used to cooperate with the first fixed iron core (23) to drive the first movable iron core (21) to move when energized to open and close the air inlet (121); A first spring (25) is provided with a first step (211) on the outer periphery of one end of the first movable iron core (21) close to the air inlet hole (121), and two ends of the first spring (25) respectively abut against the first step (211) and the first fixed iron core (23).

4. The solenoid valve according to claim 3, characterized in that: The air intake control component (2) further comprises: A first sealing ring (26) is sleeved on the outer periphery of the bottom end of the first fixed iron core (23).

5. The solenoid valve according to claim 4, characterized in that: The first sealing ring (26) is made of rubber.

6. The solenoid valve according to claim 2, characterized in that: The solenoid valve further comprises: An air intake connector (4), the air intake connector (4) is connected to the lower end cover (13) and communicates with the first through hole (131).

7. The solenoid valve according to claim 2, characterized in that: The lower end cover (13) is further provided with an exhaust hole (132) for communicating with the outside; The upper end cover (12), the lower end cover (13) and the valve body (11) cooperate to form a second accommodating chamber, wherein an exhaust control assembly (3) corresponding to the exhaust hole (132) is provided in the second accommodating chamber, wherein the exhaust control assembly (3) comprises a second moving iron core (31) and a second sealing member (32), wherein the second sealing member (32) is provided at one end of the second moving iron core (31) close to the exhaust hole (132), and the exhaust control assembly (3) is used to open and close the exhaust hole (132) by moving the second moving iron core (31); A second annular boss is provided at one end of the exhaust hole (132) close to the corresponding second moving iron core (31), and each second sealing member (32) is provided with a second annular groove matched with the second annular boss.

8. The solenoid valve according to claim 7, characterized in that: The exhaust control component (3) further comprises: A second fixed iron core (33) is provided in the second accommodating cavity, the top end of the second fixed iron core (33) is connected to the upper end cover (12), a second air transmission through hole (331) is provided in the second fixed iron core (33), the second air transmission through hole (331) is communicated with the second through hole (123), the second through hole (123) is provided in the upper end cover (12) and is connected to the artificial muscle interface (122), and a second groove (332) for accommodating the second moving iron core (31) is further provided at the bottom of the second fixed iron core (33), the second groove (332) is communicated with the second air transmission through hole (331); a second electromagnetic coil (34) disposed in the second accommodating cavity and wound around the outer periphery of the second fixed iron core (33); the second electromagnetic coil (34) is used to cooperate with the second fixed iron core (33) to drive the second movable iron core (31) to move when energized to open and close the exhaust hole (132); A second spring (35) is provided with a second step on the outer periphery of one end of the second movable iron core (31) close to the exhaust hole (132), and two ends of the second spring (35) respectively abut against the second step and the second fixed iron core (33).

9. The solenoid valve according to claim 7, characterized in that: The solenoid valve further comprises: An exhaust connector (5) is connected to the lower end cover (13) and communicates with the exhaust hole (132).

10. A device for controlling artificial muscle movement, characterized in that: A solenoid valve comprising any one of claims 1 to 9.

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