Flow control valve suitable for air pressure swing motion

Abstract

The utility model discloses a flow control valve suitable for air pressure swing motion. The flow control valve comprises a permanent magnet stepping motor stator, a permanent magnet stepping motor rotor, a sealing device A and a sealing device B, the sealing device A and the sealing device B are installed at the two ends of the rotor iron core respectively, two through holes which are symmetrical about a rotor center shaft are formed in the rotor iron core, four air pipes are arranged on each of the sealing device A and the sealing device B and are divided into two groups, each group comprises two air pipes which are symmetrical about the rotor center shaft, and the distances from the centers of the air pipes and the through holes to the rotor center shaft are equal. And the positions of the air pipes on the two sealing devices are symmetrical to the central section of the rotor iron core. The permanent magnet stepping motor rotor rotates to control the position relation between the through hole in the rotor iron core and the air pipes on the sealing device A and the sealing device B, and the purpose of controlling the air flow and the flow direction of air pressure swing motion is achieved. When a plurality of the novel arm-mounted arm-mounted fixing devices are combined together, the occupied space is small, and the purpose of being mounted in an arm can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to valve control equipment especially applicable to flow control valve of gas pressure swing motion. BACKGROUND

[0002] Patent No. 2023215088185, a kind of rotation flow control valve suitable for swing motion, discloses a kind of technical scheme of rotation flow control valve, it uses simple method, realized the flow change and flow direction change of two gas flow inlet and outlet of control swing motion pneumatic equipment.

[0003] However, when the patent technology is used to drive the swing of the finger joint of the humanoid robot, the joints of the fingers are many, the combined volume of multiple patent products is relatively large, cannot be directly installed in the arm, can only be installed in the chest or abdomen of the humanoid robot, the distance of the air pipe from the patent product to the finger joint power device is long, leading to long delay from receiving action instruction to action implementation of the finger joint, slow action response of the finger joint. SUMMARY

[0004] In view of the above situation, the purpose of the utility model is to provide a flow control valve which can meet the requirement of controlling the finger joint with gas pressure power and can be combined and installed in the arm.

[0005] In order to achieve the above purpose, a flow control valve suitable for gas pressure swing motion, comprising a permanent magnet stepping motor stator, a permanent magnet stepping motor rotor, a sealing device A, a sealing device B, and

[0006] The permanent magnet stepping motor rotor is composed of a rotating shaft and a rotor core, two through holes are opened on the rotor core, which are through hole A and through hole B, the positions of the two through holes are symmetrical to the center axis of the rotor; sealing device A and sealing device B are respectively installed at both ends of the rotor core, sealing device A is located at the air inlet end, sealing device B is located at the end connected with the power device, four air pipes are installed in sealing device A and sealing device B, respectively, to form four air inlet and outlet channels of sealing device A and sealing device B, the four air pipes are divided into two groups, each group has two air pipes, the positions of the two air pipes in each group are symmetrically arranged to the center axis of the rotor, and the distances from the center of the air pipe orifice of the end of sealing device A and sealing device B to the rotor core to the center axis of the rotor are equal, the positions of the air pipes of sealing device A and sealing device B are symmetrically arranged to the center section of the rotor core, the two adjacent air pipes of sealing device A belonging to different groups are connected with the air inlet, and the other two adjacent air pipes of sealing device A are air outlets, the two air pipes in each group of sealing device B are connected with the air inlet and outlet pipes of cylinder A and cylinder B, in order to make the through hole of the rotor core be between the two groups of air pipes, the rotor core can completely cut off the air pipe communication between sealing device A and sealing device B, and the net distance between the two groups of air pipes should be greater than the orifice length of the through hole of the rotor core; and

[0007] When the permanent magnet stepping motor rotor rotates to a certain position, through hole A and through hole B connect a group of air pipes on sealing device A and sealing device B which are symmetrically arranged to the center section of the rotor core, and the other group of air pipes on sealing device A and sealing device B is cut off by the rotor core, at this time, the air pressure of the cylinder connected with the air inlet increases, and pushes the piston to move, when the through hole on the rotor core is located between the two groups of air pipes, the two groups of air pipes on sealing device A and sealing device B are cut off, and the gases in cylinder A and cylinder B are in a closed state.

[0008] As a further improvement of the above scheme, the sealing device A comprises a cover plate A, a spring A, a positioning rod A, a sealing column A and four air pipes, the cover plate A is fixed on the end of the permanent magnet stepping motor stator by fixing bolts, the sealing column A is located on one side of the rotor core, and has a cylindrical shape, the diameter of the cylinder is matched with the inner diameter of the permanent magnet stepping motor stator, the spring A is located between the cover plate A and the sealing column A, and the two ends of the spring A are fixed on the cover plate A and the sealing column A respectively, in order to prevent the sealing column A from rotating relative to the cover plate A, at least one positioning rod A is fixed on the inner side of the cover plate A, the positioning rod A is inserted into the sealing column A, the cover plate A is provided with holes at the corresponding positions of the fixing bolts, air pipes and rotating shaft, and the cross sections of the holes are matched with the cross sections of the fixing bolts, air pipes and rotating shaft, the sealing column A is provided with holes at the corresponding positions of the air pipes, rotating shaft and positioning rod A, and the cross sections of the holes are matched with the cross sections of the air pipes, rotating shaft and positioning rod A, the air pipes are fixed in the corresponding holes of the cover plate A and sealing column A, and the rotating shaft passes through the corresponding holes of the cover plate A and sealing column A.

[0009] As a further improvement of the above scheme, the sealing device B comprises a cover plate B, a spring B, a positioning rod B, a sealing column B and four air tubes, the cover plate B is fixed on the end of the permanent magnet stepping motor stator by fixing bolts, the sealing column B is located on one side of the rotor core and has a cylindrical shape, the diameter of the cylinder is matched with the inner diameter of the permanent magnet stepping motor stator, the spring B is located between the cover plate B and the sealing column B, and the two ends of the spring B are fixed on the cover plate B and the sealing column B respectively, in order to prevent the relative rotation between the sealing column B and the cover plate B, at least one positioning rod B is fixed on the inner side of the cover plate B and inserted into the sealing column B, the cover plate B is provided with holes at the corresponding positions of the fixing bolts, air tubes and rotating shaft, and the cross section of the holes is matched with the cross section of the fixing bolts, air tubes and rotating shaft, the sealing column B is provided with holes at the corresponding positions of the air tubes, rotating shaft and positioning rod B, and the cross section of the holes is matched with the cross section of the air tubes, rotating shaft and positioning rod B, the air tubes are fixed in the corresponding holes of the cover plate B and the sealing column B, and the rotating shaft passes through the corresponding holes of the cover plate B and the sealing column B.

[0010] As a further improvement of the above scheme, the sealing column A and the sealing column B are both made of composite materials, the end close to the rotor core of the sealing column A is an elastic sealing material cylinder, and the end close to the spring A of the sealing column B is a hard material circular plate.

[0011] As a further improvement of the above scheme, the two ends of the rotor core are rotor wear-resistant dynamic sealing pads.

[0012] The beneficial effects of the present application compared with the prior art are as follows:

[0013] 1. The patent number 2023215088185 (a rotary flow control valve suitable for swing motion) realizes the airflow control of two cylinders of the swing motion air pressure power device, but the volume of the product combination of the patent is relatively large, and the present application cannot be directly installed in the arm. The effect of the present application is to provide a flow control valve suitable for air pressure swing motion, and a plurality of flow control valves are combined together and can be installed in the arm, which will shorten the action reaction time of the finger joint and increase the market competitiveness of the air pressure power finger of the humanoid robot.

[0014] The present application will be further described in detail below in combination with the drawings and examples. DRAWINGS

[0015] The drawings forming part of the present application serve to provide a further understanding of the present application, and the schematic embodiments of the present application and the description thereof serve to explain the present application and do not constitute an improper limitation on the present application.

[0016] Figure 1 A three-dimensional schematic view of a flow control valve suitable for air pressure swing motion in the present application.

[0017] Figure 2This is a schematic diagram of a flow control valve structure suitable for pneumatic oscillating motion according to the present invention.

[0018] Figure 3 This is a side view of a flow control valve suitable for pneumatic oscillating motion according to the present invention.

[0019] Figure 4 for Figure 2 Schematic diagram of section 1-1.

[0020] Figure 5 for Figure 2 Schematic diagram of section 2-2.

[0021] Figure 6 This is a three-dimensional schematic diagram of the stator of the permanent magnet stepper motor of this utility model.

[0022] Figure 7 This is a three-dimensional schematic diagram of the rotor of the permanent magnet stepper motor of this utility model.

[0023] Figure 8 This is a three-dimensional schematic diagram of the sealing device A of this utility model.

[0024] Figure 9 This is a side view of the sealing device A of this utility model.

[0025] Figure 10 for Figure 9 Schematic diagram of section 3-3.

[0026] Figure 11 This is a three-dimensional schematic diagram of the sealing device B of this utility model.

[0027] Figure 12 This is a side view of the sealing device B of this utility model.

[0028] Figure 13 for Figure 12 Schematic diagram of section 4-4.

[0029] Figure 14 This is a schematic diagram showing the arrangement of the 19 flow control valves of this utility model.

[0030] Figure 15 This is a schematic diagram of the pneumatic swing power device of this utility model.

[0031] In the figure: 1 permanent magnet stepping motor stator, 2 permanent magnet stepping motor rotor, 21 rotating shaft, 22 rotor core, 23 through hole A, 24 through hole B, 25 rotor wear-resistant dynamic sealing pad, 3 sealing device A, 31 cover plate A, 32 spring A, 33 positioning rod A, 34 sealing column A, 35 cylinder A gas inlet pipe, 36 cylinder A gas outlet pipe, 37 cylinder B gas inlet pipe, 38 cylinder B gas outlet pipe, 4 sealing device B, 41 cover plate B, 42 spring B, 43 positioning rod B, 44 sealing column B, 45 cylinder A inlet and outlet pipe A, 46 cylinder A inlet and outlet pipe B, 47 cylinder B inlet and outlet pipe A, 48 cylinder B inlet and outlet pipe B, 5 fixing bolt, 6 cylinder A, 61 cylinder A inlet and outlet pipe, 7 cylinder B, 71 cylinder B inlet and outlet pipe. DETAILED DESCRIPTION

[0032] REFERENCE Figures 1-15 The utility model is thus implemented: a flow control valve suitable for air pressure swing motion, which comprises a permanent magnet stepping motor stator 1, a permanent magnet stepping motor rotor 2, a sealing device A 3, and a sealing device B 4.

[0033] The permanent magnet stepping motor rotor 2 is composed of a rotating shaft 21 and a rotor core 22, two through holes are formed in the rotor core 22, which are a through hole A 23 and a through hole B 24, and the positions of the two through holes are symmetrical to the center axis of the rotor; the sealing device A 3 and the sealing device B 4 are respectively installed at the two ends of the rotor core 22, the sealing device A 3 is located at the air inlet end, the sealing device B 4 is located at the end connected to the power device, four gas pipes are installed in the sealing device A 3 and the sealing device B 4, respectively, to form four inlet and outlet gas passages of the sealing device A 3 and the sealing device B 4, the four gas pipes are divided into two groups, each group has two gas pipes, the positions of the two gas pipes in each group are symmetrical to the center axis of the rotor, and the distances from the center orifices of the gas pipe orifices at the end of the rotor core 22 and the through hole orifices on the rotor core 22 to the center axis of the rotor are equal, the positions of the gas pipes of the sealing device A 3 and the sealing device B 4 are symmetrical to the center section of the rotor core 22, the two adjacent gas pipes belonging to different groups of the sealing device A 3 are connected to the air inlet, the other two adjacent gas pipes of the sealing device A 3 are air outlets, each group of two gas pipes of the sealing device B 4 is connected to the inlet and outlet pipes of the cylinder A 6 and the cylinder B 7, in order to enable the rotor core 22 to completely cut off the communication between the gas pipes of the sealing device A 3 and the sealing device B 4 when the through hole of the rotor core 22 is between the two groups of gas pipes, the clear distance between the two groups of gas pipes should be greater than the orifice length of the through hole of the rotor core 22; and

[0034] When the permanent magnet stepper motor rotor 2 rotates to a certain position, through holes A23 and B24 connect a set of air pipes on sealing devices A3 and B4 that are symmetrically arranged with respect to the central cross section of the rotor core 22. The other set of air pipes on sealing devices A3 and B4 is blocked by the rotor core 22. At this time, the air pressure in the cylinder connected to the air inlet increases, pushing the piston to move. When the through hole on the rotor core 22 is located between the two sets of air pipes, both sets of air pipes on sealing devices A3 and B4 are blocked, and the gas in cylinders A6 and B7 is in a closed state.

[0035] refer to Figures 1-13 As shown, the sealing device A3 includes a cover plate A31, a spring A32, a positioning rod A33, a sealing column A34, and four air pipes. The cover plate A31 is fixed to the end of the stator 1 of the permanent magnet stepper motor using fixing bolts 5. The sealing column A34 is located on one side of the rotor core 22 and is cylindrical in shape, with a diameter matching the inner diameter of the stator 1 of the permanent magnet stepper motor. The spring A32 is located between the cover plate A31 and the sealing column A34, with both ends of the spring A32 fixed to the cover plate A31 and the sealing column A34, respectively. To prevent the sealing column A34 from rotating relative to the cover plate A31, the sealing device A31 is positioned on the cover plate A31. At least one positioning rod A33 is fixed inside the cover plate A31. The positioning rod A33 is inserted into the sealing column A34. The cover plate A31 has holes at the corresponding positions of the mounting bolt 5, the air pipe and the rotating shaft 21. The cross-section of the holes matches the cross-section of the mounting bolt 5, the air pipe and the rotating shaft 21. The sealing column A34 has holes at the corresponding positions of the mounting air pipe, the rotating shaft 21 and the positioning rod A33. The cross-section of the holes matches the cross-section of the air pipe, the rotating shaft 21 and the positioning rod A33. The air pipe is fixed in the corresponding holes of the cover plate A31 and the sealing column A34. The rotating shaft 21 passes through the corresponding holes of the cover plate A31 and the sealing column A34.

[0036] refer to Figures 1-13As shown, the sealing device B4 includes a cover plate B41, a spring B42, a positioning rod B43, a sealing column B44, and four air pipes. The cover plate B41 is fixed to the end of the stator 1 of the permanent magnet stepper motor using fixing bolts 5. The sealing column B44 is located on one side of the rotor core 22 and is cylindrical in shape, with a diameter matching the inner diameter of the stator 1 of the permanent magnet stepper motor. The spring B42 is located between the cover plate B41 and the sealing column B44, with both ends of the spring B42 fixed to the cover plate B41 and the sealing column B44, respectively. To prevent the sealing column B44 and the cover plate B41 from rotating relative to each other, the sealing device B41 is positioned on the cover plate B41. At least one positioning rod B43 is fixed inside the cover plate B41. The positioning rod B43 is inserted into the sealing column B44. The cover plate B41 has holes at the corresponding positions of the mounting bolt 5, the air pipe and the rotating shaft 21. The cross-section of the holes matches the cross-section of the mounting bolt 5, the air pipe and the rotating shaft 21. The sealing column B44 has holes at the corresponding positions of the mounting air pipe, the rotating shaft 21 and the positioning rod B43. The cross-section of the holes matches the cross-section of the air pipe, the rotating shaft 21 and the positioning rod B43. The air pipe is fixed in the corresponding holes of the cover plate B41 and the sealing column B44. The rotating shaft 21 passes through the corresponding holes of the cover plate B41 and the sealing column B44.

[0037] refer to Figures 8-13 As shown, both sealing column A34 and sealing column B44 are made of composite materials. The end of B44 near the rotor core 22 is a cylindrical material of elastic sealing material, and the end of B44 near the spring A32 is a cylindrical plate of hard material.

[0038] refer to Figure 2 and Figure 7 As shown, the rotor core 22 has wear-resistant dynamic sealing gaskets 25 at both ends.

[0039] Combination Figures 1-15 As shown, the working principle of this utility model is as follows:

[0040] This application discloses a flow control valve for pneumatic oscillating motion, which is installed on a gas delivery pipeline for oscillating motion. The pneumatic power device for oscillating motion generally uses a reciprocating cylinder or a pneumatic oscillating wheel. Such a pneumatic power device generally has two cylinders, cylinder A6 and cylinder B7. Each cylinder has an inlet / outlet pipe, namely inlet / outlet pipe 61 for cylinder A and inlet / outlet pipe 71 for cylinder B.

[0041] The permanent magnet stepper motor includes a permanent magnet stepper motor stator 1 and a permanent magnet stepper motor rotor 2. The permanent magnet stepper motor rotor 2 is composed of a rotating shaft 21 and a rotor core 22. Two through holes are opened on the rotor core, namely through hole A23 and through hole B24. The positions of the two through holes are symmetrical with the central axis of the rotor. Sealing device A3 and sealing device B4 are installed at both ends of the rotor core 22, respectively. Sealing device A3 is located at the air inlet end, and sealing device B4 is located at the end connected to the power device. Four air pipes are installed in both sealing device A3 and sealing device B4, forming four air inlet and outlet channels for each of sealing device A3 and sealing device B4. The four air pipes on the sealing device A3 can be respectively configured as cylinder A inlet pipe 35, cylinder A outlet pipe 36, cylinder B inlet pipe 37, and cylinder B outlet pipe 38. Cylinder A inlet pipe 35 and cylinder B inlet pipe 37 are both connected to the air pressure generating device (or air storage device). The four air pipes on the sealing device B4 can be respectively configured as cylinder A inlet / outlet pipe A45, cylinder A inlet / outlet pipe B46, cylinder B inlet / outlet pipe A47, and cylinder B inlet / outlet pipe B48. Cylinder A inlet / outlet pipe A45 and cylinder A inlet / outlet pipe B46 are both connected to cylinder A inlet / outlet pipe 61, and cylinder B inlet / outlet pipe A47 and cylinder B inlet / outlet pipe B48 are both connected to cylinder B inlet / outlet pipe 71.

[0042] The positions of the air pipes of sealing device A3 and sealing device B4 are symmetrically arranged with respect to the central cross-section of rotor core 22; the positions of the air inlet pipe 35 of cylinder A and the air inlet / outlet pipe A45 of cylinder A are symmetrically arranged with respect to the central cross-section of rotor core 22; the positions of the air outlet pipe 36 of cylinder A and the air inlet / outlet pipe B46 of cylinder A are symmetrically arranged with respect to the central cross-section of rotor core 22; the positions of the air inlet pipe 37 of cylinder B and the air inlet / outlet pipe A47 of cylinder B are symmetrically arranged with respect to the central cross-section of rotor core 22; and the positions of the air outlet pipe 38 of cylinder B and the air inlet / outlet pipe B48 of cylinder B are symmetrically arranged with respect to the central cross-section of rotor core 22. The four air pipes of sealing devices A3 and B4 are divided into two groups of two air pipes each. The positions of these two air pipes in each group are symmetrically arranged with respect to the rotor's central axis. For sealing device A, the two groups of air pipes can be: one group consisting of cylinder A inlet pipe 35 and cylinder B outlet pipe 38; and another group consisting of cylinder B inlet pipe 37 and cylinder A outlet pipe 36. Correspondingly, for sealing device B, the two groups of air pipes can be: one group consisting of cylinder A inlet / outlet pipe A45 and cylinder B inlet / outlet pipe B48; and another group consisting of cylinder B inlet / outlet pipe A47 and cylinder A inlet / outlet pipe B46. This arrangement allows two adjacent air pipes from different groups in sealing device A3 to connect to the inlet, and the other two adjacent air pipes in sealing device A3 to serve as outlets. Similarly, each group of two air pipes in sealing device B4 connects to the inlet / outlet pipes of cylinders A6 and B7, respectively.

[0043] In order for through holes A23 and B24 to connect the air pipes of sealing device A and sealing device B when the permanent magnet stepper motor rotor 2 rotates, the design requires that the distances from the center of the air pipe opening at the end of the rotor core 22 of sealing device A3 and sealing device B4, as well as the distance from the center of the through hole opening on the rotor core 22 to the rotor central axis, are all equal.

[0044] In order to ensure that the rotor core 22 can completely isolate the air pipe connection between the sealing device A3 and the sealing device B4 when the through hole of the rotor core 22 is located between the two sets of air pipes, the design requires that the net distance between the two sets of air pipes be greater than the orifice length of the through hole of the rotor core 22.

[0045] When the permanent magnet stepper motor rotor 2 rotates to a certain position, through holes A23 and B24 connect to a set of air pipes on sealing devices A3 and B4 that are symmetrically arranged with respect to the central cross section of the rotor core 22. For example, through hole A23 connects to the air inlet pipe 35 of cylinder A and the air inlet / outlet pipe A45 of cylinder A, and through hole B24 connects to the air outlet pipe 38 of cylinder B and the air inlet / outlet pipe B48 of cylinder B. At the same time, another set of air pipes on sealing devices A3 and B4 are blocked by the rotor core 22. At this time, the air pressure in cylinder A6, which is connected to the air inlet pipe 35 of cylinder A, increases, pushing the piston to move towards cylinder B7. Meanwhile, the gas in cylinder B7, which is connected to the air outlet pipe 38 of cylinder B, is pressurized and discharged from the air outlet pipe 38 of cylinder B. When the through hole on the rotor core 22 is located between the two sets of air pipes, both sets of air pipes on sealing device A3 and sealing device B4 are isolated, and the gas in cylinder A6 and cylinder B7 is in a closed state.

[0046] To ensure a dynamic seal at both ends of the rotor core 22, a dynamic sealing structure consisting of a spring, a sealing post, and a positioning rod is constructed between the cover plate and the rotor core 22. The cover plate is fixed to the end of the stator 1 of the permanent magnet stepper motor. The cover plate, the dynamic sealing structure, and the rotor wear-resistant dynamic sealing gasket 25 fixed at both ends of the rotor core 22 together achieve the dynamic sealing function. The cover plate and the dynamic sealing structure constitute sealing device A and sealing device B. The spring force ensures tight contact between the sealing post and the rotor wear-resistant dynamic sealing gasket 25. The sealing post is made of composite material; its end near the rotor core 22 is a cylindrical elastic sealing material, and its end near the spring A32 is a cylindrical hard material. The cylindrical hard material allows the elastic force to be evenly distributed on the sealing post, and the elastic sealing material deforms under pressure, blocking the air passage. One end of the positioning rod is fixed to the cover plate, and the other end is inserted into the sealing post to prevent the sealing post from rotating relative to the cover plate.

[0047] like Figure 1 and Figure 14 As shown, this utility model has a long strip structure, and the air tubes are all located at both ends of the long strip structure. Therefore, when multiple of these structures are combined together, their volume can meet the requirements for installation on the arm.

[0048] In summary, this utility model can realize the function of controlling the airflow and airflow direction of the swing power device, and can meet the requirement of combining and installing multiple of this patented products on the arm.

[0049] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A flow control valve suitable for pneumatic oscillating motion, characterized in that, include: The permanent magnet stepper motor stator (1), the permanent magnet stepper motor rotor (2), the sealing device A (3), the sealing device B (4); and The permanent magnet stepper motor rotor (2) consists of a shaft (21) and a rotor core (22). Two through holes are opened on the rotor core (22), namely through hole A (23) and through hole B (24). The positions of the two through holes are symmetrical with respect to the rotor central axis. Sealing device A (3) and sealing device B (4) are installed at both ends of the rotor core (22). Sealing device A (3) is located at the air inlet end, and sealing device B (4) is located at the end connected to the power device. Four air pipes are installed in both sealing device A (3) and sealing device B (4), forming four air inlet and outlet channels for sealing device A (3) and sealing device B (4). The four air pipes are divided into two groups, with two air pipes in each group. The positions of the two air pipes in each group are symmetrical with respect to the rotor central axis. Sealing device A (3) and sealing device B (4) are close to the rotor core (22). The distances from the center of the air pipe opening at the end of the rotor core (22) and the center of the through hole opening on the rotor core (22) to the rotor central axis are equal. The positions of the air pipes of sealing device A (3) and sealing device B (4) are symmetrically arranged with respect to the central cross section of the rotor core (22). The two adjacent air pipes of sealing device A (3) belonging to different groups are connected to the air inlet, and the other two adjacent air pipes of sealing device A (3) are the air outlets. The two air pipes of each group of sealing device B (4) are connected to the air inlet and outlet pipes of cylinder A (6) and cylinder B (7) respectively. In order to completely isolate the air pipe connection between sealing device A (3) and sealing device B (4) when the through hole of the rotor core (22) is between the two groups of air pipes, the net distance between the two groups of air pipes should be greater than the length of the through hole opening of the rotor core (22); and When the permanent magnet stepper motor rotor (2) rotates to a certain position, through hole A (23) and through hole B (24) connect a set of air pipes on sealing device A (3) and sealing device B (4) that are symmetrically arranged with the central cross section of the rotor core (22). The other set of air pipes on sealing device A (3) and sealing device B (4) is blocked by the rotor core (22). At this time, the air pressure of the cylinder connected to the air inlet increases, pushing the piston to move. When the through hole on the rotor core (22) is located between the two sets of air pipes, both sets of air pipes on sealing device A (3) and sealing device B (4) are blocked, and the gas in cylinder A (6) and cylinder B (7) is in a closed state.

2. The flow control valve for pneumatic oscillating motion according to claim 1, characterized in that, The sealing device A (3) includes a cover plate A (31), a spring A (32), a positioning rod A (33), a sealing column A (34), and four air pipes. The cover plate A (31) is fixed to the end of the permanent magnet stepper motor stator (1) with fixing bolts (5). The sealing column A (34) is located on one side of the rotor core (22) and is cylindrical in shape. The diameter of the cylinder matches the inner diameter of the permanent magnet stepper motor stator (1). The spring A (32) is located between the cover plate A (31) and the sealing column A (34). The two ends of the spring A (32) are fixed to the cover plate A (31) and the sealing column A (34) respectively. In order to prevent the sealing column A (34) and the cover plate A (31) from rotating relative to each other, the sealing column A (34) is positioned on the cover plate A (31) and the sealing column A (34). 1) Fix at least one positioning rod A (33) on the inner side. The positioning rod A (33) is inserted into the sealing column A (34). The cover plate A (31) has holes at the corresponding positions of the mounting bolt (5), air pipe and rotating shaft (21). The cross-section of the holes matches the cross-section of the mounting bolt (5), air pipe and rotating shaft (21). The sealing column A (34) has holes at the corresponding positions of the mounting air pipe, rotating shaft (21) and positioning rod A (33). The cross-section of the holes matches the cross-section of the air pipe, rotating shaft (21) and positioning rod A (33). The air pipe is fixed in the corresponding holes of the cover plate A (31) and sealing column A (34). The rotating shaft (21) passes through the corresponding holes of the cover plate A (31) and sealing column A (34).

3. The flow control valve for pneumatic oscillating motion according to claim 1, characterized in that, The sealing device B(4) includes a cover plate B(41), a spring B(42), a positioning rod B(43), a sealing column B(44), and four air pipes. The cover plate B(41) is fixed to the end of the stator (1) of the permanent magnet stepper motor with fixing bolts (5). The sealing column B(44) is located on one side of the rotor core (22) and is cylindrical in shape. The diameter of the cylinder matches the inner diameter of the stator (1) of the permanent magnet stepper motor. The spring B(42) is located between the cover plate B(41) and the sealing column B(44). The two ends of the spring B(42) are fixed to the cover plate B(41) and the sealing column B(44) respectively. In order to prevent the sealing column B(44) and the cover plate B(41) from rotating relative to each other, the sealing column B(44) is positioned on the cover plate B(41) and the sealing column B(44). 1) Fix at least one positioning rod B (43) on the inner side. The positioning rod B (43) is inserted into the sealing column B (44). The cover plate B (41) has holes at the corresponding positions of the mounting bolt (5), air pipe and rotating shaft (21). The cross-section of the holes matches the cross-section of the mounting bolt (5), air pipe and rotating shaft (21). The sealing column B (44) has holes at the corresponding positions of the mounting air pipe, rotating shaft (21) and positioning rod B (43). The cross-section of the holes matches the cross-section of the air pipe, rotating shaft (21) and positioning rod B (43). The air pipe is fixed in the corresponding holes of the cover plate B (41) and sealing column B (44). The rotating shaft (21) passes through the corresponding holes of the cover plate B (41) and sealing column B (44).

4. The flow control valve suitable for pneumatic oscillating motion according to claim 1, characterized in that, Both sealing column A (34) and sealing column B (44) are composite materials. The end of the sealing column near the rotor core (22) is a cylindrical material with elastic sealing material, and the end of the sealing column near the spring A (32) is a cylindrical material with hard material.

5. A flow control valve suitable for pneumatic oscillating motion according to claim 1, characterized in that, The rotor core (22) has wear-resistant dynamic sealing gaskets (25) at both ends.

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