CN205654650U - But pneumatic servo motor's of form device and control system - Google Patents

Abstract

The utility model provides a but pneumatic servo motor's of form device and control system is constituteed and does the both -way communication with the communication unit with pneumatic servo motor driver by pneumatic servo motor. Pneumatic servo motor contains pneumatic motor, stop turning mold piece and sensing module. The turning mold piece of stopping often is in blocking state, and its instruction according to pneumatic servo motor driving ware is opened or is locked. Pneumatic servo motor driving ware contains control module, actuates module and communication module. Pneumatic servo motor driving ware starts torsion, rotational speed and the angle signal of receiving the output of sensing module behind the pneumatic servo motor with continuouslying, actuates the module and then drives pneumatic servo motor and do and promptly stop, just reversing to switching over, add actions such as speed reduction, angle location, inching and torque control, and messenger pneumatic motor does not need the encoder but to possess function and characteristic like electronic servo motor.

Description

The device of programmable air servo-motor and control system

Technical field

This utility model provides device and the control system of a kind of programmable air servo-motor, espespecially a kind of There is electric servomotor characteristic, be not required to encoder but can do emergent stopping, just reverse switching, acceleration and deceleration, The air motor of the action controls such as angle location and torsion control.

Background technology

Electric tool or the torsion of equipment, rotating speed and the control of angle, mainly use electrical servo at present Motor or brushless motor, its torsion, rotating speed and angle signal are mainly via encoder detecting feedback signal To electric servomotor internal drive, after carrying out signal analysis, then write out required via mathematical routine Governing equation control to reach torsion, rotating speed, angle etc..But, in pneumatic tool industry also Air motor without similar servo function.

It addition, the selection of general air motor, it is mainly based upon the consideration of operating environment.Air motor Application surface can extend to all petrochemical factories, high dust place, pit, marine drilling platform, sewer, Wet environment operation etc.. related industry is applied, and is mainly the particular advantages of air motor: one, mistake Carry do not heat up, operate do not have spark, not have electric shock and the risk of short circuit；Two, volume is little and lightweight～gas Dynamic motor is higher compared with the electro-motor outputting torsion of same volume.

But, the shortcoming of air motor is: one, gas has compressibility, high frictional force, is prone to let out Leakage, non-linear to such an extent as to wayward；Two, air motor air pressure after source of the gas cuts off can remain in pipeline In, overbottom pressure can cause air motor to stop at once, therefore cannot accurately control its action；Three, gas The rotating speed of dynamic motor is high, at least more than 6000RPM even more than more than per minute ten thousand turns, therefore without Method use encoder does and controls.Current all of air motor is all difficult to control to rotating speed, rotational angle, torsion Power, is only capable of doing and is simply just reversing switching action.Electronic owing to there being many working environments still cannot use Servo motor does action control, thus results in the industrial circle demand to air motor SERVO CONTROL Related product More and more higher.

Therefore, how utilitarian design novel go out one there is electric servomotor characteristic, can do emergent stopping, The air servo-motor of the operations such as rotating, acceleration and deceleration, angle location, adjusting microinching and torsion control, will be This utility model is intended to actively disclose part.

Utility model content

Because the defect of above-mentioned prior art, utility model people's thoughts its do not reach perfection, then exhaust its heart Intelligence is concentrated one's attention on research and is overcome, and then develops a kind of air servo-motor that can control its action with program coding Device and control system, jerk, rotating, acceleration and deceleration, angle can be done to reaching to be not required to encoder The purpose of the operations such as degree location, adjusting microinching and torsion control.

For reaching above-mentioned purpose and other purposes, this utility model provides a kind of programmable air servo-motor Device and control system, it comprises: an air servo-motor and an air servo-motor driver；Wherein, This air servo-motor comprises: an air motor, and it has an output shaft；One brake module, it connects In this output shaft；And one sensing module, it is connected to this output shaft and has a torsion, rotating speed and angle Degree sensing unit, one first CPU, one first communication unit, one first input and output are single Unit and a power supply unit, this torsion, rotating speed and angle sensing unit are electrically connected with these first central authorities and process single Unit is to sense the outfan of the output shaft of this air motor to export a torsion signal, a rotary speed signal and Angle signal, this first communication unit is electrically connected with this first CPU externally to transmit this torsion Signal, this rotary speed signal and this angle signal, this first input is electrical with output unit and this power supply unit Connect this first CPU；This air servo-motor driver comprises: a start module, a control Molding block and a communication module, this control module has one second CPU, and this communication module has There is one second communication unit and a wire communication unit, this work being electrically connected with this second CPU Dynamic model block has electric connection one supply gas pressure monitoring module of this second CPU, an air pressure is adjusted Joint module, one the 3rd air pressure sensing unit, a rotating electromagnetic valve and a brake electric magnet valve, this makees dynamic model Block rotates forward supply air line via one and a reversion supply air line connects this air motor, and supplies via a brake Air pipe connects this brake module, and in order to connect an air supply unit via a supply air line, and this second leads to News unit receive this torsion signal, this rotary speed signal and this angle signal to this second CPU with Controlling this start module, this wire communication unit is for electrically connecting to a peripheral control unit to control this start Module.

The device of above-mentioned programmable air servo-motor is with control system, and this power supply unit is that utilization has Line charging modes or wireless charging mode.

The device of above-mentioned programmable air servo-motor is with control system, and this air servo-motor drives Utensil has one second input/output module and the supply module being electrically connected with this second CPU, This supply module is for utilizing wired charging modes or wireless charging mode.

The device of above-mentioned programmable air servo-motor is with control system, and this control module has electrically Connect a mnemon of this second CPU, an input block, a display unit, a warning Unit or its combination in any.

The device of above-mentioned programmable air servo-motor is with control system, and the 3rd air pressure senses unit Connect this rotating forward supply air line and this reversion supply air line.

In the device of above-mentioned programmable air servo-motor and control system, this supply gas pressure monitoring module It is that an air pressure limits valve or one first air pressure sensing unit and in order to connect this supply air line.

The device of above-mentioned programmable air servo-motor is with control system, and this air pressure adjustment module has One second air pressure sensing unit, an air pressure proportional control valve and an atmospheric pressure control valve.

In the device of above-mentioned programmable air servo-motor and control system, the of this air pressure adjustment module Two air pressure sensing unit connect this supply gas pressure monitoring module and this air pressure proportional control valve, this air pressure ratio Control valve connects this atmospheric pressure control valve, and this atmospheric pressure control valve connects this rotating electromagnetic valve.

In the device of above-mentioned programmable air servo-motor and control system, this second CPU Controlling this supply gas pressure monitoring module directly provides full admission pressure i.e. to stop with emergency brake in this brake module, Or this brake electric magnet valve of this second central processing unit controls with moment open/close point put mode air inlet with control This brake module.

The device of above-mentioned programmable air servo-motor is with control system, and this rotating electromagnetic valve is phase The most independent rotating forward electromagnetic valve and a reversion electromagnetic valve to coordinate this air pressure adjustment module, for this second The outputting torsion of this air motor forward or reverse of central processing unit controls.

Thus, the device of programmable air servo-motor of the present utility model and control system, it is not required to coding Device can drive air motor to do emergent stopping, rotating, acceleration and deceleration, angle location and torsion control etc. The action of similar electric servomotor.

Accompanying drawing explanation

The device of Fig. 1 system this utility model preferred embodiment programmable air servo-motor and control The schematic diagram of system.

The device of Fig. 2 system this utility model preferred embodiment programmable air servo-motor and control The schematic diagram of system control process.

Reference is: 1 air servo-motor；11 air motors；111 rotate forward supply air line； 112 reversion supply air lines；113 output shafts；12 brake modules；121 brake supply air lines；13 Sensing module；131 first CPU；132 torsion, rotating speed and angle sensing unit； 1321 torsion signals；1322 rotary speed signals；1323 angle signal；133 first communication units； 134 first input-output units；135 power supply units；136 mnemons；137 outfans；14 Transmission module；2 air servo-motor drivers；21 start modules；211 supply gas pressure prisons Control module；2111 first air pressure sensing unit；2112 air pressure limit valve；212 air pressure adjustment moulds Block；2121 second air pressure sensing unit；2122 air pressure proportional control valves；2123 atmospheric pressure controls Valve processed；213 the 3rd air pressure sensing unit；214 rotating electromagnetic valves；2141 rotate forward electromagnetic valve； 2142 reversion electromagnetic valves；215 brake electric magnet valves；22 control modules；221 second central authorities process Unit；222 mnemons；223 input blocks；224 display units；225 alarm unit； 23 communication modules；231 second communication units；232 wire communication unit；24 second inputs are defeated Go out module；25 supply modules；3 air supply units；31 supply air lines；4 peripheral control units.

Detailed description of the invention

It is for being fully understood by the purpose of this utility model, feature and effect, existing by following specific embodiment, And coordinate accompanying drawing, this utility model is described in detail, illustrates as rear:

Refer to Fig. 1 and Fig. 2, as it can be seen, this utility model provides a kind of programmable pneumatic servo horse The device reached and control system, it comprises air servo-motor 1 and an air servo-motor driver 2, This air servo-motor 1 is the device of programmable air servo-motor, this air servo-motor driver 2 Control system for programmable air servo-motor.This air servo-motor 1 comprise an air motor 11, One brake module 12 and a sensing module 13.Wherein, this air motor 11 has an output shaft 113, The free end of this output shaft 113 is that an outfan connects this sensing module 13 to sense this air motor 11 Torsion, rotating speed and the anglec of rotation of output.The outfan 137 of sensing module 13 can connect a transmission mould Block 14；This brake module 12 is connected to another free end of the output shaft 113 of this air motor 11, So that this output shaft 113 stops or rotating, this brake module 12 can be installed in this air motor 11 axle center On the power transmission shaft extended, and this brake module 12 can be drum-type or dish-style；This sensing module 13 has one First CPU 131, torsion, rotating speed and angle sensing unit 132,1 first communication list Unit's 133,1 first input-output unit 134, power supply unit 135 and mnemon 136, should Torsion, rotating speed and angle sensing unit 132 are electrically connected with this first CPU 131, thus with Sense the output shaft 113 of this air motor 11 torsion signal 1321, rotary speed signal 1322 and One angle signal 1323, this torsion, rotating speed and angle sensing unit 132 can pass through a strain gauge (schemes not Show) or other torsion sensing assemblies detect the torsion signal 1321 of this air motor 11 output shaft 113 with And this air motor 11 output shaft can be detected by a gyroscope (not shown) or other rotating speed sensing components The rotary speed signal 1322 of 113 and angle signal 1323.This first CPU 131 can be one micro- Processor and be electrically connected with this mnemon 136 (such as internal memory, Portable disk or memory card) with memory should Torsion signal 1321, this rotary speed signal 1322 and this angle signal 1323, this first communication unit 133 It is electrically connected with this first CPU 131, externally to transmit this torsion signal 1321, this rotating speed news Numbers 1322 and this angle signal 1323, this first communication unit 133 may utilize bluetooth, infrared ray, nothing Line electric wave or WiFi ... wait with communication transmission data or through bus ring (Slip Ring/Rotary Joint) (not shown) does wire communication mode transmission together with this power supply unit 135 and outside Data.It addition, this bus ring also can provide this power supply unit 135 to adopt wired mode charging.Thus, Air servo-motor 1 of the present utility model can be via this brake module 12 so that this air motor 11 defeated Shaft 113 emergent stopping；Furthermore, air servo-motor 1 of the present utility model combines this brake module 12 and via the angle signal 1323 measured by this torsion, rotating speed and angle sensing unit 132, can make The output shaft 113 of this air motor 11 is positioned special angle, or makes this air motor 11 do adjusting microinching； Furthermore, air servo-motor 1 of the present utility model can be via this torsion, rotating speed and angle sensing unit Torsion signal 1321 measured by 132 is to control the outputting torsion of the output shaft 113 of this air motor 11.

Refer again to Fig. 2, as it can be seen, in above-mentioned air servo-motor 1, this power supply unit 135 Available wireless charging mode charge in case continued power in this torsion, rotating speed and angle sensing unit 132, This first CPU 131, this first communication unit 133, this first input-output unit 134 And this mnemon 136.It addition, this power supply unit 135 also may utilize the charging of wired charging modes.

Refer again to Fig. 1 and Fig. 2, as it can be seen, this air servo-motor driver 2 has a start Module 21, one control module 22 and a communication module 23, this control module 22 has one second central authorities Processing unit 221, this second CPU 221 can be a microprocessor；This communication module 23 To be electrically connected with this second CPU 221, it is wired that it includes one second communication unit 231 and Communication unit 232 (such as USB or other electricity ports)；This start module 21 be electrically connected with this second CPU 221, its include supply gas pressure monitoring module 211, air pressure adjustment module 212, One the 3rd air pressure sensing unit 213, rotating electromagnetic valve 214 and a brake electric magnet valve 215, this work Dynamic model block 21 rotates forward supply air line 111 via one and a reversion supply air line 112 connects this air motor 11, and connect this brake module 12 via a brake supply air line 121, and in order to via an air supply pipe Road 31 connects an air supply unit 3.This second communication unit 231 receives from this first communication unit 133 This torsion signal 1321, this rotary speed signal 1322 and this angle signal 1323 are transferred to this in second again Central Processing Unit 221 to control this start module 21, this second communication unit 231 may utilize bluetooth, Infrared ray, radio wave or WiFi ... wait and receive data or with wire communication mode with communication Receive data.It addition, this air servo-motor driver 2 also can be via this wire communication unit 232 electricity Connect a peripheral control unit 4 (such as personal computer or program-controlled device) to control this start module 21, this Time this second CPU 221 this peripheral control unit 4 just can be assisted to control this start module 21 also Link with external control system.Thus, air servo-motor 1 of the present utility model can be pneumatic via this Servomotor drive 2 controls this brake module 12 so that the output shaft 113 of this air motor 11 is urgent Stop or slowing down, and this air motor 11 also can be by controlling maybe this reversion of this rotating forward supply air line 111 The reversely supply of supply air line 112 and promote braking efficiency；Also can be by this second CPU 221 Controlling this supply gas pressure monitoring module 211 directly provides full admission pressure to do urgency in this brake module 12 Stop and i.e. stop, or controlled this brake electric magnet valve 215 by this second CPU 221 and do moment and open/close Point puts mode air inlet to control this brake module 12.It addition, air servo-motor 1 of the present utility model This air motor 11 forward or reverse can be controlled via this air servo-motor driver 2, or accelerate or Slow down；Furthermore, as this second CPU 221 need to control respectively this air motor 11 rotate forward or The outputting torsion of reversion, then this rotating electromagnetic valve 214 also can be a separate rotating forward electromagnetic valve 2141 and one invert electromagnetic valve 2142 to coordinate this air pressure adjustment module 212.

As it has been described above, air servo-motor 1 of the present utility model be not required to encoder can do emergent stopping, The operations such as rotating, acceleration and deceleration, torsion control and angle location.Further, since gas of the present utility model Dynamic servo motor 1 possesses the function of electric servomotor, air servo-motor 1 the most of the present utility model The servo-control mechanism being applied to safety anti-explosive demand can be expanded, such as: petrochemical industry equipment is (as changed Learn agitator tank to control) or the control of explosion-proof exhaust fan or winning equipment etc., wherein use at petrochemical factory, height Dust place, pit, industry such as marine drilling platform, sewer place etc. especially can reduce work peace accident and occur； Furthermore, air servo-motor 1 of the present utility model also can become a high-order have plus reducing gear The pneumatic-static formula wrench of servo motor function, it does more smart by may replace traditional pneumatic-static formula wrench Accurate torsion sensing locks the subsequent derivation sexual function such as angle after even can controlling bolt veneer, and then makes The solid safety of following screwed lock reaches the demand of various countries' statutory standard；Furthermore, programmable of the present utility model The device of air servo-motor can be applied to various air motor with the expansion of module pattern with control system, with Effectively promote its control accuracy and value of the product.

Refer again to Fig. 1 and Fig. 2, as it can be seen, in above-mentioned air servo-motor driver 2, should Air servo-motor driver 2 has one second input being electrically connected with this second CPU 221 Output module 24 (such as USB or other electricity ports) and a supply module 25 (such as civil power).Thus, This air servo-motor driver 2 can connect outside other via the expansion of this second input/output module 24 Electronic installation is with internally transmission data or externally transmits data, and this air servo-motor driver 2 can be via This supply module 25 is powered, and this supply module 25 may utilize the charging of wired charging modes or wireless charging side Formula is charged.

Refer again to Fig. 2, as it can be seen, in above-mentioned air servo-motor driver 2, this control mould Block 22 have be electrically connected with this second CPU 221 a mnemon 222 (such as internal memory, Portable disk or memory card), an input block 223 (such as keyboard or Touch Screen), a display unit 224 (example Such as liquid crystal display), alarm unit 225 (such as warning lamp or warning horn) or its combination in any.Its In, this alarm unit 225 can warn whether air servo-motor 1 of the present utility model occurs exception, should Display unit 224 can show various data or message, and this input block 223 can input braking commands, just Turn or inverted command, acceleration or deceleration order, specific rotation speeds order, special angle order, adjusting microinching order And specific torsion order ... etc., this mnemon 222 can remember this torsion signal 1321, this rotating speed news Numbers 1322 and this angle signal 1323 etc. control relevant program.

Refer again to Fig. 2, as it can be seen, in above-mentioned air servo-motor driver 2, this is for air pressure Power monitoring module 211 connects this air pressure adjustment module 212 and is somebody's turn to do in order to connect via this supply air line 31 Air supply unit 3, this supply gas pressure monitoring module 211 can by one first air pressure sensing unit 2111 or One air pressure limits valve 2112 and whether monitors air pressure that this air supply unit 3 provided in accordance with normal value, as sent out Raw abnormal, this supply gas pressure monitoring module 211 can be via this second CPU 221 or this outside Controller 4 controls this rotating electromagnetic valve 214 and this brake electric magnet valve 215 is closed or controls this warning list Unit 225 sends warning light or warning sound；This air pressure adjustment module 212 can have one second air pressure sense Survey unit 2121, air pressure proportional control valve 2122 and an atmospheric pressure control valve 2123, this second gas It can be an atmospheric pressure sensor that pressure sensitivity surveys unit 2121, this second air pressure sensing unit 2121, this gas Pressure proportional control valve 2122 and this atmospheric pressure control valve 2123 are electrically connected with this second CPU 221, this second air pressure sensing unit 2121 connects this supply gas pressure monitoring module 211 and this air pressure ratio Control valve 2122, this air pressure proportional control valve 2122 connects this atmospheric pressure control valve 2123, this air pressure Pressure-control valve 2123 connects this rotating electromagnetic valve 214 and this brake electric magnet valve 215.Thus, should Air pressure proportional control valve 2122 can be according to the instruction of this second CPU 221 and this second air pressure The air pressure of sensing unit 2121 sensing, the voltage (or electric current) that this second CPU 221 is inputted According to the mode of proportional (Proportional), by the air pressure from this air supply unit 3 with supercharging or pressure release Mode regulates this atmospheric pressure control valve 2123 and exports to this rotating electromagnetic valve 214 and this brake electromagnetism The air pressure of valve 215, and reach to regulate the purpose of air pressure；Second CPU 221 receives from gas Torsion signal 1321 that the sensing module 13 of dynamic servo motor 1 is detected, rotary speed signal 1322, angle Signal 1323, to obtain the real time status of air servo-motor, and is carried out according to this real time status automatically Regulation supply gas pressure, to improve torsion, rotating speed, Angle ambiguity precision.This air pressure adjustment module 212 Connect this rotating electromagnetic valve 214 and this brake electric magnet valve 215 with regulate this rotating electromagnetic valve 214 and The output pressure of this brake electric magnet valve 215, this rotating electromagnetic valve 214 is single via the 3rd air pressure sensing Unit 213, this rotating forward supply air line 111 and this reversion supply air line 112 connect this air motor 11 with Making this air motor 11 forward or reverse, this brake electric magnet valve 215 is then via this brake supply air line 121 Connect this brake module 12 so that output shaft 113 emergent stopping of this air motor 11 or deceleration.Thus, Air servo-motor 1 of the present utility model can be via this start module 21 and this control film group 22 or this is outer Portion's controller 4 make the output shaft 113 of this air motor 11 do correct rotating speed, torsion, turn to, angle Degree controls, or makes the output shaft 113 of this air motor 11 stop.

Refer again to Fig. 2, as it can be seen, in above-mentioned air servo-motor driver 2, the 3rd gas Pressure sensitivity is surveyed unit 213 and is connected this rotating forward supply air line 111 and this reversion supply air line 112, the 3rd gas It can be an atmospheric pressure sensor that pressure sensitivity surveys unit 213.Thus, air servo-motor of the present utility model Whether 1 can exist via the air pressure of the 3rd air pressure sensing unit 213 sensing input to this air motor 11 In permissible range.

Refer again to Fig. 2, as it can be seen, in above-mentioned air servo-motor driver 2, this is for air pressure Power monitoring module 211 can be one first air pressure sensing unit 2111 or air pressure restriction valve 2112, with prison Whether control air pressure that this air supply unit 3 provided in accordance with normal value, this first air pressure sensing unit 2111 It can be an atmospheric pressure sensor；This air pressure adjustment module 212 can have one second air pressure sensing unit 2121, air pressure proportional control valve 2122 and an atmospheric pressure control valve 2123, this second air pressure senses Unit 2121 can be an atmospheric pressure sensor, this second air pressure sensing unit 2121, this air pressure ratio Control valve 2122 and this atmospheric pressure control valve 2123 are electrically connected with this second CPU 221, This second air pressure sensing unit 2121 connects this supply gas pressure monitoring module 211 and this air pressure ratio controls Valve 2122, this air pressure proportional control valve 2122 connects this atmospheric pressure control valve 2123, this atmospheric pressure Control valve 2123 connects this rotating electromagnetic valve 214 and this brake electric magnet valve 215.Thus, this air pressure Proportional control valve 2122 can sense with this second air pressure according to the instruction of this second CPU 221 The air pressure of unit 2121 sensing, the voltage (or electric current) this second CPU 221 inputted depends on The mode of proportional (Proportional), by the air pressure from this air supply unit 3 with supercharging or the side of pressure release Formula regulates this atmospheric pressure control valve 2123 and exports to this rotating electromagnetic valve 214 and this brake electric magnet valve The air pressure of 215, and reach to regulate the purpose of air pressure；This second CPU 221 receives from this Torsion signal 1321 that the sensing module 13 of air servo-motor 1 is detected, rotary speed signal 1322, angle Degree signal 1323, to obtain the real time status of air servo-motor 1, and is carried out according to this real time status It is automatically adjusted supply gas pressure, to improve torsion, rotating speed, Angle ambiguity precision.

This utility model is the openest with preferred embodiment, so it will be understood by those skilled in the art that It is that this embodiment is only used for describing this utility model, and is not construed as limiting scope of the present utility model. It should be noted that such as equivalent with this embodiment change and displacement, model of the present utility model all should be fallen into In farmland.Therefore, protection domain of the present utility model is when limiting with claims.

Claims (10)

1. the device of programmable air servo-motor and a control system, it comprises: a pneumatic servo Motor and an air servo-motor driver；It is characterized in that,

This air servo-motor comprises:

One air motor, has an output shaft；

One brake module, is connected to this output shaft；And

One sensing module, is connected to this output shaft, and have a torsion, rotating speed and angle sensing unit, One first CPU, one first communication unit, one first input and output unit and a power supply list Unit, this torsion, rotating speed and angle sensing unit are electrically connected with this first CPU to sense this gas The outfan of the output shaft of dynamic motor, should to export a torsion signal, a rotary speed signal and an angle signal First communication unit is electrically connected with this first CPU with externally transmission this torsion signal, this rotating speed Signal and this angle signal, this first input and output unit and this power supply unit are electrically connected with this in first Central Processing Unit；

This air servo-motor driver comprises:

One start module, a control module and a communication module, this control module has one second centre Reason unit, this communication module have be electrically connected with this second CPU one second communication unit and One wire communication unit, this start module has be electrically connected with this second CPU one for air pressure Power monitoring module, an air pressure adjustment module, one the 3rd air pressure sensing unit, a rotating electromagnetic valve and Brake electric magnet valve, it is pneumatic that this start module connects this via a rotating forward supply air line and a reversion supply air line Motor, and connect this brake module via a brake supply air line, and in order to connect via a supply air line One air supply unit, this second communication unit receives this torsion signal, this rotary speed signal and this angle signal extremely This second CPU is to control this start module, and this wire communication unit is for electrically connecting to outside one Portion's controller is to control this start module.

2. the device of programmable air servo-motor as claimed in claim 1 and control system, it is special Levying and be, this power supply unit is for utilizing wired charging modes or wireless charging mode.

3. the device of programmable air servo-motor as claimed in claim 1 and control system, it is special Levying and be, this air servo-motor driver has the one second of this second CPU of electric connection Input/output module and a supply module, this supply module is for utilizing wired charging modes or wireless charging side Formula.

4. the device of programmable air servo-motor as claimed in claim 1 and control system, it is special Levying and be, this control module has electric connection one mnemon of this second CPU, one defeated Enter unit, a display unit, an alarm unit or its combination in any.

5. the device of programmable air servo-motor as claimed in claim 1 and control system, it is special Levying and be, the 3rd air pressure sensing unit connects this rotating forward supply air line and this reversion supply air line.

6. the device of programmable air servo-motor as claimed in claim 1 and control system, it is special Levy and be, this supply gas pressure monitoring module be one air pressure limit valve or one first air pressure sensing unit and in order to Connect this supply air line.

7. the device of programmable air servo-motor as claimed in claim 1 and control system, it is special Levying and be, this air pressure adjustment module has one second air pressure sensing unit, an air pressure proportional control valve and Atmospheric pressure control valve.

8. the device of programmable air servo-motor as claimed in claim 7 and control system, it is special Levying and be, the second air pressure sensing unit of this air pressure adjustment module connects this supply gas pressure monitoring module and is somebody's turn to do Air pressure proportional control valve, this air pressure proportional control valve connects this atmospheric pressure control valve, this atmospheric pressure control Valve processed connects this rotating electromagnetic valve.

9. the device of programmable air servo-motor as claimed in claim 1 and control system, it is special Levying and be, this supply gas pressure monitoring module of this second central processing unit controls directly provides full admission pressure Power is i.e. stopped with emergency brake in this brake module, or this brake electric magnet valve of this second central processing unit controls is with wink Between open/close point puts mode air inlet to control this brake module.

10. the device of programmable air servo-motor as claimed in claim 1 and control system, it is special Levying and be, the rotating forward electromagnetic valve and that this rotating electromagnetic valve is separate inverts electromagnetic valve to coordinate This air pressure adjustment module, defeated for this this air motor forward or reverse of the second central processing unit controls Go out torsion.