CN109185554B - A kind of miniature flexible valve of voice coil driving - Google Patents
A kind of miniature flexible valve of voice coil driving Download PDFInfo
- Publication number
- CN109185554B CN109185554B CN201811153557.3A CN201811153557A CN109185554B CN 109185554 B CN109185554 B CN 109185554B CN 201811153557 A CN201811153557 A CN 201811153557A CN 109185554 B CN109185554 B CN 109185554B
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- Prior art keywords
- valve
- aggressive
- servo
- valve body
- film
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K99/00—Subject matter not provided for in other groups of this subclass
- F16K99/0001—Microvalves
- F16K99/0003—Constructional types of microvalves; Details of the cutting-off member
- F16K99/0015—Diaphragm or membrane valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K99/00—Subject matter not provided for in other groups of this subclass
- F16K99/0001—Microvalves
- F16K99/0034—Operating means specially adapted for microvalves
- F16K99/0042—Electric operating means therefor
- F16K99/0046—Electric operating means therefor using magnets
Abstract
The invention discloses a kind of miniature flexible valves of voice coil driving.Including aggressive valve and servo valve two parts, upper film overlays on the upper surface of aggressive valve upper valve body, lower film is equipped in aggressive valve between lower valve body, aggressive valve upper valve body is provided with level ventilation pipeline and vertical valve opening, sliding block is mounted in valve opening and slides up and down, vent line is truncated as two parts sliding block, and two parts are connected to through aggressive valve control gas circuit；Aggressive valve lower valve body is provided with valve chamber, voice coil boss and coil is equipped in valve chamber, magnet steel is in bottom, and coil is through wire power connection source；Servo valve upper valve body is provided with horizontal gas channel, and servo valve air inlet/outlet is connected to gas by squeezing passage, and servo valve lower valve body is provided with horizontal gas access and controls gas circuit to the underface of squeezing passage as servo valve and penetrate through upper top surface；Servo valve control gas circuit is connected with active valve air gate.The present invention and soft robot have good compatibility, and resistance external impact is strong, improve the adaptability of valve.
Description
Technical field
The present invention relates to a kind of flexible valves, a kind of miniature flexible valve of voice coil driving have been specifically related to, for controlling gas
The movement of dynamic soft robot.
Background technique
In recent years traditional solenoid valve is made of metal material, and hardness is larger, it is difficult to it is integrated in soft robot, and
In the condition of bad environments or after being impacted, these are easily damaged with the solenoid valve that hard material makes.For asking above
Topic, it is necessary to study a kind of miniature flexible valve of novel voice coil driving to solve these problems.
Summary of the invention
In order to solve the problems, such as background technique, the object of the present invention is to provide a kind of the micro- of completely new voice coil driving
Type flexible valve, for controlling the movement of pneumatic soft robot.
The technical scheme adopted by the invention is that:
The present invention includes aggressive valve and servo valve two parts, aggressive valve mainly by film in aggressive valve, aggressive valve upper valve body,
Film, aggressive valve lower valve body, voice coil boss, coil and magnet steel are constituted under sliding block, aggressive valve, and film overlays on aggressive valve in aggressive valve
The upper surface of upper valve body is equipped with thin under aggressive valve between the lower surface of aggressive valve upper valve body and the upper surface of aggressive valve lower valve body
Film.
The vent line of horizontal perforation is provided in the middle part of aggressive valve upper valve body, aggressive valve upper valve body is provided with perpendicular to vent line
The valve opening penetrated through vertically, sliding block are mounted in valve opening and directly contact with film under film in aggressive valve and aggressive valve, sliding block edge
Valve opening in aggressive valve under film and aggressive valve between film slides up and down, and it is disconnected two that vent line is truncated sliding block
Point, a part is used as aggressive valve air inlet, and another part is provided with horizontal tubular passageway as active valve air gate, sliding block middle part
Gas circuit is controlled as aggressive valve, aggressive valve air inlet is connected to through aggressive valve control gas circuit with active valve air gate, to realize gas
Body flowing；Aggressive valve lower valve body is provided with the valve chamber with aggressive valve upper valve body valve opening coaxial line, be equipped in valve chamber voice coil boss and
The upper surface of coil, voice coil boss is boss, and the top of boss is in contact with film under aggressive valve, and the lower end of voice coil boss is fixed
It is connected with coil, magnet steel is fixed on the bottom of aggressive valve lower valve body, and coil is only contacted with magnet steel, it is not fixed connection, the one of conducting wire
End is connected with coil, and the other end of conducting wire is pierced by aggressive valve lower valve body connection external power supply.
Servo valve mainly by servo valve upper valve body, servo valve lower valve body and is located at servo valve upper valve body and servo valve lower valve body
Between servo valve film composition, the lower part of servo valve upper valve body is provided with the gas passage of horizontal perforation, and gas passage includes position
Into outlet passageway and it is located in the middle squeezing passage in two sides, two sides are used as servo valve air inlet into outlet passageway is one of
Mouthful, as servo-actuated valve air gate, squeezing passage penetrates into the bottom surface of servo valve upper valve body for another, servo valve air inlet with
Dynamic valve air gate is connected to gas by squeezing passage, and the top of servo valve lower valve body is provided with horizontal non-through gas passage conduct
Servo valve controls gas circuit, and servo valve control gas circuit is connected with active valve air gate；Servo valve control gas circuit extends to squeezing passage
Underface and penetrate into the upper top surface of servo valve lower valve body；By aggressive valve and servo valve two-step evolution, to realize use
The miniature flexible valve arrangement of voltage control low pressure and mass flow gas.
When conducting wire is not connected to external power supply, aggressive valve controls gas circuit connection aggressive valve air inlet and active valve air gate, main
The gas of dynamic valve air inlet flows through aggressive valve control gas circuit, active valve air gate, servo valve control gas circuit, and servo valve is made to control gas
The servo valve film expansion of road corresponding position deforms, and squeezing passage is closed, to close servo valve air inlet and servo valve goes out
The connection of port；When conducting wire is connected to external power supply, repulsive force is generated between coil and magnet steel, propelling coil and voice coil boss are upward
Movement, raises upward to squeeze deformation of thin membrane under aggressive valve, moves upwards sliding block, then make film in aggressive valve upward convex
It rises, the connection that aggressive valve controls gas circuit and aggressive valve air inlet, active valve air gate disconnects, and the pressure of active valve air gate starts
Decline, so that the pressure of servo valve control gas circuit be made to decline together, servo valve film reverts to original shape by swelling state, with
Dynamic valve air inlet is connected to servo-actuated valve air gate.
Preferably, the gas pressure that aggressive valve air inlet is passed through is larger, flow is smaller, the gas that servo valve air inlet is passed through
Pressure is smaller, flow is larger.
Preferably, miniature flexible valve is made of flexible material: film and servo valve are thin under film, aggressive valve in aggressive valve
Film is made of softer silica gel material；Aggressive valve upper valve body, sliding block, aggressive valve lower valve body, servo valve upper valve body and servo valve
Lower valve body is made of harder silica gel material.
The beneficial effects of the present invention are:
The miniature flexible valve of the voice coil driving is made of flexible material, has good compatibility with soft robot,
Convenient for being integrated in soft robot, and flexible valve can resist external impact, improve the adaptability of valve, in pneumatic software
Robot field has vast market prospect.
Detailed description of the invention
Fig. 1 is the three dimensional sectional view of aggressive valve；
Fig. 2 is the three dimensional sectional view of servo valve；
Fig. 3 is aggressive valve operation schematic diagram；
Fig. 4 is servo valve operation schematic diagram.
In figure: film in 1. aggressive valves, 2. aggressive valve upper valve bodies, 3. sliding blocks, film under 4. aggressive valves, 5. aggressive valve lower valves
Body, 6. voice coil boss, 7. coils, 8. magnet steel, 9. conducting wires, 10. servo valve upper valve bodies, 11. servo valve films, under 12. servo valves
Valve body；13. aggressive valve air inlet, 14. aggressive valves control gas circuit, 15. active valve air gates；16. servo valve air inlet, 17. with
Dynamic valve controls gas circuit, 18. servo-actuated valve air gates.
Specific embodiment
The present invention is further described with embodiment with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, the present invention includes aggressive valve and servo valve two parts.Film 1 covers in the aggressive valve of aggressive valve
In the upper surface of aggressive valve upper valve body 2, it is equipped between the lower surface of aggressive valve upper valve body 2 and the upper surface of aggressive valve lower valve body 5
Film 4 under aggressive valve.
As shown in Figure 1, being provided with the vent line of horizontal perforation in the middle part of this aggressive valve upper valve body 2, aggressive valve upper valve body 2 is vertical
It is provided with the valve opening penetrated through vertically in vent line, sliding block 3 is mounted in valve opening and the film under film 1 and aggressive valve in aggressive valve
Valve opening between 4 slides up and down, and vent line is truncated as disconnected two parts sliding block 3, and a part is used as aggressive valve air inlet
Mouthfuls 13, another part is used as active valve air gate 15, and horizontal tubular passageway is provided in the middle part of sliding block 3 as aggressive valve control gas circuit
14, aggressive valve air inlet 13 is connected to through aggressive valve control gas circuit 14 with active valve air gate 15, to realize that gas flows.
Aggressive valve lower valve body 5 is provided with the valve chamber with 2 valve opening coaxial line of aggressive valve upper valve body, is equipped with voice coil boss in valve chamber
6 and coil 7, the upper surface of voice coil boss 6 is boss, and the top of boss is in contact with film 4 under aggressive valve, voice coil boss 6
Lower end is fixedly connected with coil 7, and magnet steel 8 is fixed on the bottom of aggressive valve lower valve body 5, and coil 7 is only contacted with magnet steel 8, is not fixed
Connection, one end of conducting wire 9 are connected with coil 7, and the other end of conducting wire 9 is pierced by aggressive valve lower valve body 5 and connects external power supply.
As shown in Fig. 2, servo valve mainly by servo valve upper valve body 10, servo valve lower valve body 12 and is located at servo valve upper valve body
Servo valve film 11 between 10 and servo valve lower valve body 12 forms, and the lower part of servo valve upper valve body 10 is provided with the gas of horizontal perforation
Body channel, gas passage include into outlet passageway and being located in the middle squeezing passage positioned at two sides, two sides into outlet passageway
One of to be used as servo valve air inlet 16, another penetrates into servo valve upper valve as servo-actuated valve air gate 18, squeezing passage
The bottom surface of body 10, servo valve air inlet 16 are connected to gas by squeezing passage with servo-actuated valve air gate 18.
The top of servo valve lower valve body 12 is provided with horizontal non-through gas passage as servo valve and controls gas circuit 17, is servo-actuated
Valve control gas circuit 17 is connected with active valve air gate 15；Servo valve control gas circuit 17 extends to the underface of squeezing passage and passes through
Lead to the upper top surface of servo valve lower valve body 12；
By aggressive valve and servo valve two-step evolution, to realize the miniature flexible of the voltage-controlled low pressure and mass flow gas processed of electricity consumption
Valve arrangement.
In specific implementation, the gas pressure that aggressive valve air inlet 13 is passed through is larger, flow is smaller, and servo valve air inlet 16 is logical
The gas pressure entered is smaller, flow is larger.
In specific implementation, miniature flexible valve is made of flexible material.Further, in aggressive valve under film 1, aggressive valve
Film 4 and servo valve film 11 are made of softer silica gel material；Aggressive valve upper valve body 2, sliding block 3, aggressive valve lower valve body 5,
Servo valve upper valve body 10 and servo valve lower valve body 12 are made of harder silica gel material.
Specific implementation process of the invention is as follows:
When conducting wire 9 is not connected to external power supply, aggressive valve controls gas circuit 14 and is connected to aggressive valve air inlet 13 and aggressive valve outlet
Mouthfuls 15, as shown in Fig. 3 left figure, the gas of aggressive valve air inlet 13 flow through aggressive valve control gas circuit 14, active valve air gate 15, with
Dynamic valve controls gas circuit 17, makes the servo valve film 11 of servo valve control 17 corresponding position of gas circuit to external dilatancy, to squeeze
The squeezing passage for pressing top so that squeezing passage is closed, as shown in Fig. 4 right figure, thus close servo valve air inlet 16 and with
The connection of dynamic valve air gate 18.
Conducting wire 9 be connected to external power supply when, generated between coil 7 and magnet steel 8 repulsive force, propelling coil 7 and voice coil boss 6 to
Upper movement raises upward to squeeze the deformation of film 4 under aggressive valve, moves upwards sliding block 3, then make film 1 in aggressive valve
It raises upward, the connection that aggressive valve controls gas circuit 14 and aggressive valve air inlet 13, active valve air gate 15 disconnects, such as Fig. 3 right figure
Shown, the pressure of active valve air gate 15 is begun to decline, thus decline the pressure of servo valve control gas circuit 17 together, servo valve
Film 11 reverts to original shape by swelling state, and as shown in Fig. 4 left figure, servo valve air inlet 16 and servo-actuated valve air gate 18 connect
It is logical.
Claims (4)
1. a kind of miniature flexible valve of voice coil driving, it is characterised in that: including aggressive valve and servo valve two parts, aggressive valve is main
By film (4), aggressive valve lower valve body (5), sound under film in aggressive valve (1), aggressive valve upper valve body (2), sliding block (3), aggressive valve
It encloses boss (6), coil (7) and magnet steel (8) to constitute, film (1) overlays on the upper surface of aggressive valve upper valve body (2) in aggressive valve, main
Film (4) under aggressive valve is equipped between the lower surface of dynamic valve upper valve body (2) and the upper surface of aggressive valve lower valve body (5)；Aggressive valve
The vent line of horizontal perforation is provided in the middle part of upper valve body (2), aggressive valve upper valve body (2) is provided with vertical perforation perpendicular to vent line
Valve opening, sliding block (3) is mounted in valve opening and above and below the valve opening in aggressive valve under film (1) and aggressive valve between film (4)
Vent line is truncated as disconnected two parts, a part of to be used as aggressive valve air inlet (13), another portion for sliding, sliding block (3)
It is allocated as active valve air gate (15), horizontal tubular passageway is provided in the middle part of sliding block (3) as aggressive valve control gas circuit (14), is led
Dynamic valve air inlet (13) are connected to through aggressive valve control gas circuit (14) with active valve air gate (15), to realize that gas flows；It is main
Dynamic valve lower valve body (5) are provided with the valve chamber with aggressive valve upper valve body (2) valve opening coaxial line, be equipped in valve chamber voice coil boss (6) and
The upper surface of coil (7), voice coil boss (6) is boss, and the top of boss is in contact with film under aggressive valve (4), voice coil boss
(6) lower end is fixedly connected with coil (7), and magnet steel (8) is fixed on the bottom of aggressive valve lower valve body (5), coil (7) and magnet steel
(8) it only contacts, is not fixed connection, one end of conducting wire (9) is connected with coil (7), and the other end of conducting wire (9) is pierced by aggressive valve lower valve
Body (5) connects external power supply；Servo valve mainly by servo valve upper valve body (10), servo valve lower valve body (12) and is located on servo valve
Servo valve film (11) composition between valve body (10) and servo valve lower valve body (12), the lower part of servo valve upper valve body (10) is provided with
The gas passage of level perforation, gas passage include into outlet passageway and being located in the middle squeezing passage, two sides positioned at two sides
Be used as servo valve air inlet (16) into outlet passageway is one of, another is as servo-actuated valve air gate (18), squeezing passage
The bottom surface of servo valve upper valve body (10) is penetrated into, servo valve air inlet (16) and servo-actuated valve air gate (18) pass through squeezing passage
It is connected to gas, the top of servo valve lower valve body (12) is provided with horizontal non-through gas passage as servo valve and controls gas circuit
(17), servo valve control gas circuit (17) is connected with active valve air gate (15)；It is logical that servo valve control gas circuit (17) extends to extruding
The underface in road and the upper top surface for penetrating into servo valve lower valve body (12)；By aggressive valve and servo valve two-step evolution, thus
Realize the miniature flexible valve arrangement of the voltage-controlled low pressure and mass flow gas processed of electricity consumption；
Film (4) and servo valve film (11) are made of flexible material under film (1), aggressive valve in aggressive valve；In aggressive valve
Valve body (2), sliding block (3), aggressive valve lower valve body (5), servo valve upper valve body (10) and servo valve lower valve body (12) are using flexible material
Material production.
2. a kind of miniature flexible valve of voice coil driving according to claim 1, it is characterised in that: the conducting wire (9) is no
Be connected to external power supply when, the gas of aggressive valve air inlet (13) flow through aggressive valve control gas circuit (14), active valve air gate (15),
Servo valve controls gas circuit (17), makes servo valve film (11) dilatancy of servo valve control gas circuit (17) corresponding position, squeezes
Channel is closed, to close the connection of servo valve air inlet (16) and servo-actuated valve air gate (18)；Conducting wire (9) is connected to external electrical
When source, voice coil boss (6) is moved upwards, and is raised upward to squeeze film under aggressive valve (4) deformation, is transported sliding block (3) upwards
Dynamic, the connection that aggressive valve controls gas circuit (14) and aggressive valve air inlet (13), active valve air gate (15) disconnects, servo valve film
(11) original shape is reverted to by swelling state, servo valve air inlet (16) is connected to servo-actuated valve air gate (18).
3. a kind of miniature flexible valve of voice coil driving according to claim 1, it is characterised in that: the aggressive valve air inlet
The gas pressure that mouthful (13) are passed through is larger, flow is smaller, the gas pressure that servo valve air inlet (16) is passed through is smaller, flow compared with
Greatly.
4. a kind of miniature flexible valve of voice coil driving according to claim 1, it is characterised in that: thin in the aggressive valve
Film (4) and servo valve film (11) are made of softer silica gel material under film (1), aggressive valve；Aggressive valve upper valve body (2),
Sliding block (3), aggressive valve lower valve body (5), servo valve upper valve body (10) and servo valve lower valve body (12) use harder silica gel material
Production.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811153557.3A CN109185554B (en) | 2018-09-30 | 2018-09-30 | A kind of miniature flexible valve of voice coil driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811153557.3A CN109185554B (en) | 2018-09-30 | 2018-09-30 | A kind of miniature flexible valve of voice coil driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109185554A CN109185554A (en) | 2019-01-11 |
| CN109185554B true CN109185554B (en) | 2019-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811153557.3A Active CN109185554B (en) | 2018-09-30 | 2018-09-30 | A kind of miniature flexible valve of voice coil driving |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11198125B1 (en) * | 2019-02-19 | 2021-12-14 | Facebook Technologies, Llc | Microfluidic valves, systems, and related methods |
| CN113007384B (en) * | 2021-03-16 | 2022-01-04 | 山东大学 | Small pneumatic three-way soft switch valve |
| CN113007385B (en) * | 2021-03-16 | 2022-03-04 | 山东大学 | Soft switching valve with bistable state and adjustable middle position |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3926647A1 (en) * | 1989-08-11 | 1991-02-14 | Bosch Gmbh Robert | METHOD FOR PRODUCING A MICROVALVE |
| SE501713C2 (en) * | 1993-09-06 | 1995-05-02 | Pharmacia Biosensor Ab | Diaphragm-type valve, especially for liquid handling blocks with micro-flow channels |
| US5865417A (en) * | 1996-09-27 | 1999-02-02 | Redwood Microsystems, Inc. | Integrated electrically operable normally closed valve |
| CN2287241Y (en) * | 1996-11-15 | 1998-08-05 | 袁晓明 | Flexible membrane of aerating actuator |
| EP2625434A4 (en) * | 2010-10-08 | 2017-06-21 | Aavid Thermalloy, LLC | Force-equalization stationary-coil actuator for fluid movers |
| EP2479466A1 (en) * | 2011-01-21 | 2012-07-25 | Biocartis SA | Micro-Pump or normally-off micro-valve |
| CN202100824U (en) * | 2011-06-01 | 2012-01-04 | 浙江师范大学 | Piezoelectric drive type micro-flow valve |
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2018
- 2018-09-30 CN CN201811153557.3A patent/CN109185554B/en active Active
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| CN109185554A (en) | 2019-01-11 |
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