CN102182718B - Miniature triggered binary actuation pneumatic unit - Google Patents
Miniature triggered binary actuation pneumatic unit Download PDFInfo
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- CN102182718B CN102182718B CN 201110119264 CN201110119264A CN102182718B CN 102182718 B CN102182718 B CN 102182718B CN 201110119264 CN201110119264 CN 201110119264 CN 201110119264 A CN201110119264 A CN 201110119264A CN 102182718 B CN102182718 B CN 102182718B
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Abstract
The invention relates to a miniature triggered binary actuation pneumatic unit in the technical field of pneumatic control. The pneumatic unit comprises an air cylinder assembly, two groups of platforms, miniature air valves and electromagnetic chucks; the two ends of the air cylinder assembly are respectively connected with the two platforms; one side of each miniature air valve is in clamping connection with the corresponding platform; and the corresponding electromagnetic chucks are pressed on the surfaces of the other sides of the miniature air valves and are limited by the platforms. The pneumatic unit has the characteristics of small size, light weight, high power, low power consumption of a solenoid valve and the like, and has important application values for developing a novel binary actuation hyper-redundant robot.
Description
Technical field
What the present invention relates to is the device in a kind of Pneumatic Control Technology field, specifically a kind of Miniature triggered binary actuation pneumatic unit.
Background technique
Binary/binary states/discrete drive (binary actuation) is a kind of new driving mode that proposes nineteen sixties, and this driving mode is switched " 0 " and " 1 " that can be analogous in the Digital Electronic Technique between two kinds of steady states.Than traditional motor Continuous Drive mode, binary drives does not need feedback control to have the outstanding advantages such as control is simple, repeatability is high, price is low, lightweight.But the operating range of single binary driver can only covering space several points, along with the increase of driver number n, binary drive machines people increases (2 in accessible spatial position
nIndividual discrete point), action is also more flexible.Therefore, only have super redundancy (hyper-redundant) robot system that comprises the series parallel connection combination of a large amount of binary drivers by foundation, the advantage that binary drives just can manifest.The binary driver of research mostly is motor, cylinder, electromagnetic coil or marmem at present, the robot system of developing thus such as snake-shaped robot, polypody climbing robot, trunk mechanical arm, operator etc., have that volume weight is excessive, platform bearer is indifferent and the problem such as energy supply continuation of the journey, be difficult to move towards market and use.
Find through the retrieval to prior art, energy consumption is little to be used at space industry with characteristics reliable operation the bistable state self-holding electromagnetic valve to some extent owing to having, and the realization of self-retaining function mainly contains three kinds of modes: mechanical spring keeps, permanent magnet keeps and air pressure keeps.All comprise permanent magnet, twin coil, spring element in the structure of these bistable state self-holding electromagnetic valves, so that such valve is difficult to microminiaturization, can not adapt to the application that drives super redundant robot for binary.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of Miniature triggered binary actuation pneumatic unit is provided, solve binary and drive the super problem that redundant robot's system bulk weight is large, platform bearer is indifferent and power consumption is large, have little, lightweight, large, the characteristics such as solenoid valve is low in energy consumption of exerting oneself of volume, drive super redundant robot for the binary of development of new and have important using value.
The present invention is achieved by the following technical solutions, the present invention includes: cylinder assembly and two group platforms, miniature air valve and electromagnetic chuck, wherein: the two ends of cylinder assembly link to each other with two platforms respectively, the platform clamping that one side of miniature air valve is corresponding with it, corresponding electromagnetic chuck are pressed on the opposite side surface of miniature air valve and are undertaken spacing by platform.
Described cylinder assembly comprises: hollow piston rod, cylinder barrel and hollow support rails, wherein: hollow piston rod is done axially movable setting and the male cone (strobilus masculinus) of hollow piston rod and the inner conical surface of cylinder barrel end and is fitted fully in cylinder barrel, hollow support rails is fixedly connected with the cylinder barrel end and the male cone (strobilus masculinus) of hollow support rails and the inner conical surface of hollow piston rod are fitted fully, one end and first platform of hollow piston rod are rotationally connected, and an end and second platform of hollow support rails are rotationally connected.
The body of rod of described hollow piston rod is provided with some radial holes that are connected with body of rod center and cylinder barrel, and the center hole of described hollow support rails is communicated with cylinder barrel.
Described radial hole partly is positioned on the male cone (strobilus masculinus) of hollow piston rod.
Have inlet hole and air outlet hole on the described platform, wherein: the center hole of the first miniature Air Valve Control hollow piston rod is communicated with the inlet hole of platform or air outlet hole; The center hole of the second miniature Air Valve Control hollow support rails is communicated with the inlet hole of platform or air outlet hole.
Described miniature air valve comprises: with the first valve seat of inlet hole, the valve base sealing pad, the second valve seat with air outlet hole, spool and seal spool pad, wherein: the first valve seat, the setting that superposes successively of valve base sealing pad and the second valve seat, valve core rotation is arranged in the center hole of the first valve seat, seal spool pad and spool clamping, the first platform or the second platform and corresponding second valve seat of hollow piston rod or hollow support rails and the first miniature air valve or the second miniature air valve consist of respectively two corresponding control chambers, inlet hole passes through spool successively during work, the seal spool pad, the valve base sealing pad, the center hole of the second valve seat is communicated with control chamber, or air outlet hole is communicated with control chamber with the slit of the second valve base chamber and the center hole of the second valve seat by the valve base sealing pad successively.
This device working principle is as follows: the energising of the first electromagnetic chuck produces suction, the inlet hole of the second platform is communicated with the center hole of hollow support rails and the air outlet hole of the first platform is communicated with the center hole of hollow piston rod, hollow piston rod moves to the other end from an end of cylinder barrel, the current"on"time of the first electromagnetic chuck can be very short, hollow piston rod is triggered after the action, in the situation of the first electromagnetic chuck outage, hollow piston rod still can move to the other end of cylinder barrel fully.The energising of the second electromagnetic chuck produces suction, the inlet hole of the first platform is communicated with the center hole of hollow piston rod and the air outlet hole of the second platform is communicated with the center hole of hollow support rails, hollow piston rod moves to an end from the other end of cylinder barrel, the current"on"time of the second electromagnetic chuck can be very short, hollow piston rod is triggered after the action, in the situation of the second electromagnetic chuck outage, hollow piston rod still can move to an end of cylinder barrel fully.The first electromagnetic chuck and the second electromagnetic chuck alternately trigger, and hollow piston rod can switch back and forth in two positions of stretching out fully and retract fully.
Description of drawings
Fig. 1 is embodiment 1 structural representation;
Fig. 2 is the structural representation of miniature air valve;
Among the figure: 1 cylinder assembly, 2 first platforms, 3 second platforms, 4 first miniature air valves, 5 second miniature air valves, 6 first electromagnetic chucks, 7 second electromagnetic chucks, 8 hollow piston rods, 9 cylinder barrels, 10 hollow support rails, 11 radial holes, 12 inlet holes, 13 air outlet holes, 14 first valve seats, 15 valve base sealing pads, 16 second valve seats, 17 spools, 18 seal spool pads, 19 control chambers.
Embodiment
The below elaborates to embodiments of the invention, and present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed mode of execution and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment
As shown in Figure 1, present embodiment comprises: cylinder assembly 1 and two group platforms 2,3, miniature air valve 4,5 and electromagnetic chuck 6,7, wherein: the two ends of cylinder assembly 1 link to each other with two platforms 2,3 respectively, miniature air valve 4 or 5 side platform 2 or 3 clampings corresponding with it, corresponding electromagnetic chuck 6 or 7 are pressed on the opposite side surface of miniature air valve 4 or 5 and are undertaken spacing by corresponding platform 2 or 3.
Described cylinder assembly 1 comprises: hollow piston rod 8, cylinder barrel 9 and hollow support rails 10, wherein: hollow piston rod 8 is axial movable arrange and the male cone (strobilus masculinus) of hollow piston rod 8 and the inner conical surface of cylinder barrel 9 ends are fitted fully of cylinder barrel 9 interior works, hollow support rails 10 is fixedly connected with cylinder barrel 9 ends and the male cone (strobilus masculinus) of hollow support rails 10 and the inner conical surface of hollow piston rod 8 are fitted fully, one end and first platform of hollow piston rod 8 are rotationally connected, and an end and second platform of hollow support rails 10 are rotationally connected.
The body of rod of described hollow piston rod 8 is provided with some radial holes 11 that are connected with body of rod center and cylinder barrel 9, and the center hole of described hollow support rails 10 is communicated with cylinder barrel 9.
Described radial hole 11 parts are positioned on the male cone (strobilus masculinus) of hollow piston rod 8.
All have inlet hole 12 and air outlet hole 13 on the described platform 2 or 3, wherein: the center hole of the first miniature Air Valve Control hollow piston rod 8 is communicated with the inlet hole of platform 12 or air outlet hole 13; The center hole of the second miniature Air Valve Control hollow support rails 10 is communicated with the inlet hole of platform 12 or air outlet hole 13.
Described miniature air valve comprises: the first valve seat 14, valve base sealing pad 15, the second valve seat 16, spool 17 and seal spool pad 18, wherein: the first valve seat 14, the setting that superposes successively of valve base sealing pad 15 and the second valve seat 16, spool 17 rotates and is arranged in the center hole of the first valve seat 14, seal spool pad 18 and spool 17 clampings, the first platform 2 or the second platform 3 and corresponding second valve seat of hollow piston rod 8 or hollow support rails 10 and the first miniature air valve 4 or the second miniature air valve 5 consist of respectively two corresponding control chambers 19, inlet hole 12 is successively by spool 17 during work, seal spool pad 18, valve base sealing pad 15, the center hole of the second valve seat 16 is communicated with control chamber 19, or air outlet hole 13 is communicated with control chamber 19 with the slit of 16 of the second valve seats and the center hole of the second valve seat 16 by valve base sealing pad 15 successively.
This device working procedure is as follows:
In the initial position situation shown in Figure 1, the energising of the first electromagnetic chuck produces suction, the spool 17 of the first miniature air valve and seal spool pad 18 are inhaled in the bottom surface of the first electromagnetic chuck, the inlet hole 12 of the first platform is sealed, the air outlet hole 13 of the first platform passes through the air outlet hole 13 of the first miniature air valve successively, curved section in the middle of the valve base sealing pad 15 and the slit between the second valve seat 16, the center hole of the second valve seat 16 and two waist shaped holes, the bulb of the taper hole on the first platform and hollow piston rod 8 radially inclined hole and center hole is communicated with, this moment, the rod chamber of cylinder barrel 9 led to atmosphere, without pressure; The second electromagnetic chuck no electric circuit is without suction, the spool 17 of the second miniature air valve and seal spool pad 18 are pressed on valve base sealing pad 15 and the second valve seat 16 by high pressure air, the inlet hole 12 of the second platform passes through the inlet hole 12 of the second miniature air valve successively, the center hole of spool 17 and seal spool pad 18, the center hole of valve base sealing pad 15, the center hole of the second valve seat 16 and two waist shaped holes, the bulb of the taper hole on the second platform and hollow support rails 10 radially inclined hole and center hole is communicated with, this moment, high pressure air pressure acted on the piston base of hollow piston rod 8, active area is the sectional area of the center hole of hollow support rails 10, the piston two ends of hollow piston rod 8 are subjected to force unbalance, hollow piston rod 8 begins to move to the other end from an end of cylinder barrel 9, in case the piston base of hollow piston rod 8 is separated with hollow support rails 10, the active area of high pressure air pressure namely becomes the sectional area of piston; The first electromagnetic chuck outage this moment suction disappears, because the high pressure air pressure pushing piston of piston base moves, gas in the rod chamber of cylinder barrel 9 is the certain back pressure of generation during with the slit between the second valve seat 16 by the curved section in the middle of the valve base sealing pad 15, this pressure-acting is on a lateral area of spool 17, acted on the power on the small annulus area of seal spool pad 18 outer rings by high pressure air pressure greater than opposite side, spool 17 and seal spool pad 18 are pressed on the bottom surface of the first electromagnetic chuck, until hollow piston rod 8 moves to the other end of cylinder barrel 9 fully, discharging back pressure without gas in the rod chamber of cylinder barrel 9 disappears, high pressure air pressure presses spool 17 and seal spool pad 18 on valve base sealing pad 15 and the second valve seat 16, the inlet hole 12 of the first platform passes through the inlet hole 12 of the first miniature air valve successively, the center hole of spool 17 and seal spool pad 18, the center hole of valve base sealing pad 15, the center hole of the second valve seat 16 and two waist shaped holes, the bulb of the taper hole on the first platform and hollow piston rod 8 radially inclined hole and center hole is communicated with, this moment hollow piston rod 8 fit fully inner conical surface on the end cap of cylinder barrel 9 of the male cone (strobilus masculinus) of piston shoulder, high pressure air pressure acts on the male cone (strobilus masculinus) of the piston shoulder of hollow piston rod 8, active area is the piston radial hole 11 of hollow piston rod 8 and the cross section area of piston shoulder male cone (strobilus masculinus), and the active area of piston base high pressure air pressure is the sectional area of piston, and piston is pressed on the end cap inner conical surface of cylinder barrel 9.
The energising of the second electromagnetic chuck produces suction, the spool 17 of the second miniature air valve and seal spool pad 18 are inhaled in the bottom surface of the second electromagnetic chuck, the inlet hole 12 of the second platform is sealed, the air outlet hole 13 of the second platform successively the bulb of the taper hole on the center hole of the slit between the curved section in the middle of the air outlet hole 13 by the second miniature air valve, the valve base sealing pad 15 and the second valve seat 16, the second valve seat 16 and two waist shaped holes, the second platform and hollow support rails 10 radially inclined hole and center hole are communicated with, this moment, the rodless cavity of cylinder barrel 9 led to atmosphere, without pressure; The first electromagnetic chuck no electric circuit is without suction, the spool 17 of the first miniature air valve and seal spool pad 18 are pressed on valve base sealing pad 15 and the second valve seat 16 by high pressure air, the inlet hole 12 of the first platform passes through the inlet hole 12 of the first miniature air valve successively, the center hole of spool 17 and seal spool pad 18, the center hole of valve base sealing pad 15, the center hole of the second valve seat 16 and two waist shaped holes, taper hole on the first platform and the bulb of box type piston radially inclined hole and center hole are communicated with, this moment, high pressure air pressure acted on the male cone (strobilus masculinus) of the piston shoulder of hollow piston rod 8, active area is the piston radial hole 11 of hollow piston rod 8 and the cross section area of piston shoulder male cone (strobilus masculinus), the piston two ends of hollow piston rod 8 are subjected to force unbalance, hollow piston rod 8 begins to move to an end from the other end of cylinder barrel 9, in case the piston male cone (strobilus masculinus) of hollow piston rod 8 separates with the inner end taper of cylinder barrel 9, the active area of high pressure air pressure namely becomes the annulus area of piston and piston rod; The second electromagnetic chuck outage this moment suction disappears, because the high pressure air pressure pushing piston of rod end chamber moves, gas in the rodless cavity of cylinder barrel 9 is the certain back pressure of generation during with the slit between the second valve seat 16 by the curved section in the middle of the valve base sealing pad 15, this pressure-acting is on a lateral area of spool 17, acted on the power on the small annulus area of seal spool pad 18 outer rings by high pressure air pressure greater than opposite side, spool 17 and seal spool pad 18 are pressed on the bottom surface of the second electromagnetic chuck, until hollow piston rod 8 moves to an end of cylinder barrel 9 fully, discharging back pressure without gas in the rodless cavity of cylinder barrel 9 disappears, high pressure air pressure presses spool 17 and seal spool pad 18 on valve base sealing pad 15 and the second valve seat 16, the inlet hole 12 of the second platform passes through the inlet hole 12 of the second miniature air valve successively, the center hole of spool 17 and seal spool pad 18, the center hole of valve base sealing pad 15, the center hole of the second valve seat 16 and two waist shaped holes, the bulb of the taper hole on the second platform and hollow support rails 10 radially inclined hole and center hole is communicated with, the male cone (strobilus masculinus) of hollow support rails 10 and the piston base inner conical surface of hollow piston rod 8 are fitted fully at this moment, high pressure air pressure acts on the piston base of hollow piston rod 8, active area is the sectional area of the center hole of hollow support rails 10, and the active area of piston opposite side high pressure air pressure is the annulus area of piston and piston rod, and piston is pressed on the male cone (strobilus masculinus) of hollow support rails 10.
The energising of the first electromagnetic chuck produces suction, hollow piston rod 8 moves to the other end from an end of cylinder barrel 9, the current"on"time of the first electromagnetic chuck can be very short, hollow piston rod 8 is triggered after the action, in the situation of the first electromagnetic chuck outage, hollow piston rod 8 still can move to the other end of cylinder barrel 9 fully.The energising of the second electromagnetic chuck produces suction, hollow piston rod 8 moves to an end from the other end of cylinder barrel 9, the current"on"time of the second electromagnetic chuck can be very short, hollow piston rod 8 is triggered after the action, in the situation of the second electromagnetic chuck outage, hollow piston rod 8 still can move to an end of cylinder barrel 9 fully.The first electromagnetic chuck and the second electromagnetic chuck alternately trigger, and hollow piston rod 8 can switch back and forth in two positions of stretching out fully and retract fully.
Claims (4)
1. Miniature triggered binary actuation pneumatic unit, it is characterized in that, comprise: cylinder assembly and two group platforms, miniature air valve and electromagnetic chuck, wherein: the two ends of cylinder assembly link to each other with two platforms respectively, the platform clamping that one side of miniature air valve is corresponding with it, corresponding electromagnetic chuck are pressed on the opposite side surface of miniature air valve and are undertaken spacing by platform;
Have inlet hole and air outlet hole on the described platform, wherein: the center hole of the first miniature Air Valve Control hollow piston rod is communicated with the inlet hole of platform or air outlet hole; The center hole of the second miniature Air Valve Control hollow support rails is communicated with the inlet hole of platform or air outlet hole;
Described miniature air valve comprises: with the first valve seat of inlet hole, the valve base sealing pad, the second valve seat with air outlet hole, spool and seal spool pad, wherein: the first valve seat, the setting that superposes successively of valve base sealing pad and the second valve seat, valve core rotation is arranged in the center hole of the first valve seat, seal spool pad and spool clamping, the first platform or the second platform and corresponding second valve seat of hollow piston rod or hollow support rails and the first miniature air valve or the second miniature air valve consist of respectively two corresponding control chambers, inlet hole passes through spool successively during work, the seal spool pad, the valve base sealing pad, the center hole of the second valve seat is communicated with control chamber, or air outlet hole is communicated with control chamber with the slit of the second valve base chamber and the center hole of the second valve seat by the valve base sealing pad successively.
2. Miniature triggered binary actuation pneumatic unit according to claim 1, it is characterized in that, described cylinder assembly comprises: hollow piston rod, cylinder barrel and hollow support rails, wherein: hollow piston rod is done axially movable arrange and the inner conical surface of the end of the male cone (strobilus masculinus) of hollow piston rod and cylinder barrel is fitted fully in cylinder barrel, hollow support rails is fixedly connected with the end of cylinder barrel and the male cone (strobilus masculinus) of hollow support rails and the inner conical surface of hollow piston rod are fitted fully, one end and first platform of hollow piston rod are rotationally connected, and an end and second platform of hollow support rails are rotationally connected.
3. Miniature triggered binary actuation pneumatic unit according to claim 2 is characterized in that, the body of rod of described hollow piston rod is provided with some radial holes that are connected with body of rod center and cylinder barrel, and the center hole of described hollow support rails is communicated with cylinder barrel.
4. Miniature triggered binary actuation pneumatic unit according to claim 3 is characterized in that, described radial hole partly is positioned on the male cone (strobilus masculinus) of hollow piston rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110119264 CN102182718B (en) | 2011-05-10 | 2011-05-10 | Miniature triggered binary actuation pneumatic unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110119264 CN102182718B (en) | 2011-05-10 | 2011-05-10 | Miniature triggered binary actuation pneumatic unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102182718A CN102182718A (en) | 2011-09-14 |
| CN102182718B true CN102182718B (en) | 2013-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110119264 Expired - Fee Related CN102182718B (en) | 2011-05-10 | 2011-05-10 | Miniature triggered binary actuation pneumatic unit |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86101916A (en) * | 1985-02-25 | 1986-12-03 | Tdk株式会社 | The device of inserting electronic components |
| CN101672306A (en) * | 2009-06-17 | 2010-03-17 | 北京市劳动保护科学研究所 | Six-way valve automatic switching device and confluence plate therein |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5128794B1 (en) * | 1970-03-30 | 1976-08-21 | ||
| JPS5943206A (en) * | 1982-09-03 | 1984-03-10 | Kayaba Ind Co Ltd | Fluid cylinder |
-
2011
- 2011-05-10 CN CN 201110119264 patent/CN102182718B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86101916A (en) * | 1985-02-25 | 1986-12-03 | Tdk株式会社 | The device of inserting electronic components |
| CN101672306A (en) * | 2009-06-17 | 2010-03-17 | 北京市劳动保护科学研究所 | Six-way valve automatic switching device and confluence plate therein |
Non-Patent Citations (2)
| Title |
|---|
| JP昭51-28794B 1976.08.21 |
| JP昭59-43206A 1984.03.10 |
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| CN102182718A (en) | 2011-09-14 |
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Granted publication date: 20130501 Termination date: 20160510 |