WO2006125259A1 - Soupape a actionnement magnetique - Google Patents

Soupape a actionnement magnetique Download PDF

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Publication number
WO2006125259A1
WO2006125259A1 PCT/AU2006/000688 AU2006000688W WO2006125259A1 WO 2006125259 A1 WO2006125259 A1 WO 2006125259A1 AU 2006000688 W AU2006000688 W AU 2006000688W WO 2006125259 A1 WO2006125259 A1 WO 2006125259A1
Authority
WO
WIPO (PCT)
Prior art keywords
valve
magnetic field
members
coil
valve according
Prior art date
Application number
PCT/AU2006/000688
Other languages
English (en)
Inventor
George Osborne
Original Assignee
Adelaide Research & Innovation Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Adelaide Research & Innovation Pty Ltd filed Critical Adelaide Research & Innovation Pty Ltd
Publication of WO2006125259A1 publication Critical patent/WO2006125259A1/fr

Links

Classifications

    • 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
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
    • F16K31/06—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid
    • F16K31/08—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid using a permanent magnet
    • F16K31/082—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid using a permanent magnet using a electromagnet and a permanent magnet
    • 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
    • F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
    • F16K11/10—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit
    • F16K11/20—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit operated by separate actuating members

Definitions

  • the present invention relates to a magnetically actuated valve.
  • the valve is envisaged to be particularly useful for use with pneumatically actuated mechanisms, such as pneumatically actuated artificial muscles in robotics and mechatronics. While much of the following description will be limited to discussions of those applications, the invention is not to be so limited.
  • the magnetically actuated valve of the present invention may find use in pneumatically actuated transport systems of industrial assembly lines, fast acting automatic door mechanisms, or pneumatically operated musical instruments.
  • the valve can be fitted with an integrated miniature pressure sensor.
  • robotics technology requires the development of equipment that tends to be lightweight yet strong, relatively simple in its construction, and capable of delivering the required force and load outputs with relatively low power consumption requirements.
  • Physical size is also an issue, with the need for most equipment to be relatively small in size.
  • the valve is ideally mechanically simple, and relatively lightweight and small. However, the valve may find use in other applications that have similar requirements. It is envisaged that most pneumatic control environments would provide suitable uses.
  • a magnetically actuated valve having a body with at least first and second orifices, the valve including a magnetic actuating means having first and second movable valve members each associated with a respective magnetic field, the interaction of the magnetic fields being such that the valve members are normally urged away from each other to close the first and second orifices respectively, the magnetic actuating means also including at least one supplementary magnetic field capable of interacting with both of the first and second magnetic fields to move one or both of the valve members to open a respective orifice.
  • the first and second magnetic fields will ideally be provided by permanent magnets, such as by rare earth magnets.
  • the first and second magnetic fields in this form are thus ideally static magnetic fields that are not variable.
  • valve members are ideally either partly or wholly a permanent magnet, or they may interact with another valve part that is itself either partly or wholly a permanent magnet.
  • the valve member may be a valve piston or valve stem that provides the closing of the respective orifice as mentioned above, and there may be a permanent magnet arranged so as to interact with the valve piston or valve stem to provide its movement. It is with this in mind that use is made of the term "associated with”, with respect to the association of a valve member with a magnetic field.
  • the at least one supplementary magnetic field will preferably be provided electromagnetically by any suitable electromagnetic field generating device, and thus will ideally be variable in that it is capable of being switched on or off, of being modulated, and also of being reversed.
  • suitable electromagnetic field generating device for example, known types of inductors can be used, preferably that permit reversal of the polarity of the supplementary magnetic field, such as by reversing the current direction in a coil.
  • the coil will be wound in a manner that permits maximization of the variable magnetic force where it is most effective, reducing the power required to operate the valve. Low-power devices are required in many robotics applications where the weight of the battery pack is often a limiting factor.
  • the valve will include one coil that is wound to provide three parts, each capable of generating its own electromagnetic field.
  • This allows three pairs of electromagnetic north and south poles to be placed substantially in between those of the permanent magnets.
  • the additional electromagnetic poles exercise an additional push-pull effect where it is most effective (near the ends of the permanent magnets).
  • An overall stronger electromagnetic force is thus able to act on the magnetic force of the permanent magnets while the field generating current remains unaltered.
  • the same electromagnetic force can be produced with a lower current, thereby leading to additional energy savings and a reduced level of heat generation within the coil.
  • the coil is preferably cooled during operation by configuring the chambers, porting and air passageways such that air flowing through the valve is directed to pass over the coil.
  • air upon actuation of the valve inlet, air is able to flow past the valve seat and through a small passage into a coil chamber, from where it can proceed through an outlet into the device to be actuated (e.g. a pneumatic muscle).
  • the present invention thus also provides a magnetically actuated valve having a body with at least first and second orifices, the valve including a magnetic actuating means having a housing, first and second opposed movable valve members providing first and second static magnetic fields, and a means for externally generating at least one supplementary magnetic field about the valve members, the valve members being at least partially constrained within the housing such that they are both capable of reciprocal axial movement, whereby the first and second valve members are normally urged away from each other by the interaction of their respective static magnetic fields to close the first and second orifices respectively, and whereby the at least one supplementary magnetic field interacts with the static magnetic fields such that one of the first and second valve members retracts in response thereto to open its respective orifice.
  • the valve of the present invention in its most preferred form, thus only requires a single electrical connection for operation.
  • the two permanent magnets are ideally arranged with like poles adjacent each other, and close enough to each other, so as to provide the bias required between the two valve members to ensure the orifices are closed in the absence of a supplementary magnetic field and thus when the magnetic actuating means is at rest. It is thus the interaction of the static magnetic fields of the two permanent magnets that permits this, without any reliance on attraction to an iron core or the like.
  • the third magnetic field (the supplementary and preferably variable magnetic field)
  • a further interaction of magnetic fields is provided that results in one of the permanent magnets (and thus its valve member) moving.
  • valve members By suitably configuring the valve members in conjunction with the orifices, this movement can be advantageously used to open and close the orifices in response to the introduction of the supplementary magnetic field (and thus merely in response to the passing of a current through a coil).
  • valve may additionally be provided with suitable chambers, passageways and porting in order to provide the required valve operation.
  • the valve may simply require one inlet and one outlet, and thus only need to provide opening and closing of the inlet and outlet in order to provide its full functionality.
  • exhaust ports may be required in order to vent expelled gases, or additional operational outlets may be required.
  • Figure 1 is a schematic representation of a magnetically actuating valve in accordance with the present invention, shown in an at rest position;
  • Figure 2 is a schematic representation of a first embodiment of the magnetically actuating valve of Figure 1 , shown with a supplementary magnetic field of a first type being generated to operate the valve;
  • Figure 3 is a schematic representation of the first embodiment of the magnetically actuating valve of Figure 1 , shown with the supplementary magnetic field of the first type being generated to further operate the valve;
  • Figure 4 is a schematic representation of a second embodiment of the magnetically actuating valve of Figure 1 , shown with a supplementary magnetic field of a second type being generated to operate the valve;
  • Figure 5 is a schematic representation of the second embodiment of the magnetically actuating valve of Figure 1 , shown with the supplementary magnetic field of the second type being generated to further operate the valve;
  • Figures 6, 7 and 8 are sequential schematic representations showing the operation of a preferred type of valve member for use with the magnetically actuated valve of any of Figures 1 to 5;
  • Figure 9 is a section view through a magnetically actuated valve embodying the electromagnetic field and valve member illustrated schematically in Figures 4 to 8;
  • Figure 10 is a section view through a magnetically actuated valve embodying the electromagnetic field illustrated schematically in Figures 4 and 5 with a combination of valve members. Description of the Preferred Embodiments
  • the magnetically actuated valve 10 of the preferred embodiment illustrated schematically in Figure 1 uses two opposing permanent (rare earth) magnets Mi and M 2 (having respective static magnetic fields 12 and 14 respectively) to keep both the first orifice 16 and the second orifice 18 closed, via respective valve stems 17 and 17' and valve heads 19 and 19'.
  • it is the combination of a permanent magnet, a valve stem and a valve head that is regarded as the valve member referred to above, the valve members in Figure 1 being generally identified as Vi and V 2 .
  • the permanent magnet (Mi and M 2 ) is merely a part of the valve member ( ⁇ and V 2 ), but still results in there being a magnetic field (12 or 14) associated with a valve member (Vi or V 2 ).
  • the two additional ports shown in Figure 1 are the mains air supply port 18' and the outlet exhaust into atmosphere 16'.
  • valve members (Vi and V 2 ) are held with a generally cylindrical housing in a manner that generally constrains them both to permit only axial movement. Both of the valve members are thus operative valve members in that they are both capable of movement to open or close the respective orifices.
  • the permanent magnets (Mi and M 2 ) eliminate the need for return springs, as the force exercised by the opposing poles of the two magnets (Mi and M 2 ) hold both valve members (V 1 and V 2 ) closed (as is shown in Figure 1 ) in the at rest position, this being the interaction between the first and second magnetic fields (12 and 14) as generally indicated by arrow A. On the inlet side, this process is assisted by the chamber pressure on the mains side of the valve member. Also, this configuration avoids the need for an iron core, or any other type of iron member, which might sometimes be used to provide an attractive force for one or both of the permanent magnets.
  • FIG. 1 The general valve configuration and arrangements shown in Figure 1 are the same configuration adopted for the first and second embodiments of coil configurations that provide the first and second types of supplementary magnetic field briefly mentioned above.
  • the first type is shown in Figures 2 and 3 and the second type is shown in Figures 4 and 5, both of which will now be described.
  • a common coil 20 is illustrated placed about the cylindrical housing 22 within which the two permanent magnets (M 1 and M 2 ) are arranged.
  • This coil 20 is ideally located substantially between the valve members such that the magnetic field that is capable of being generated by the coil 20 (that is supplemental to the static magnetic fields of the permanent magnets (Mi and M 2 ), and is thus generated externally of them) is able to interact with (and modify) both the first and second magnetic fields (12 and 14) as described below.
  • the coil When a current is applied in the forward direction (see Figure 2), the coil generates an electromagnetic field (shown as arrow B pointing to the right of the page with N-S polarity) that interacts with the magnetic field 14 of the permanent magnet M 2 , causing the permanent magnet M 2 to move towards the centre barrier 24 of the cylindrical housing 22, thereby moving the valve member V 2 to open the orifice 18.
  • the permanent magnet M 1 is urged away from the centre barrier 24 by the generated electromagnetic field, towards the orifice 16 adjacent the valve member V-i, holding the valve member Vi closed even more firmly.
  • Reversing the direction of the current to the coil causes the generated electromagnetic field (now shown as arrow C pointing to the left of the page with S-N polarity) to interact with the magnetic field of the permanent magnet M-i, causing it to move towards the centre barrier 24 of the cylindrical housing 22, thereby moving the valve member V 1 and causing the orifice 16 to be opened.
  • the permanent magnet M 2 is urged towards the orifice 18 adjacent the valve member V 2 by the generated electromagnetic field, holding it closed even more firmly.
  • Figures 4 and 5 show a similar operation to that of Figures 2 and 3, with the exception of the configuration of the coil and thus the manner of generation of the supplementary magnetic field (the variable electromagnetic magnetic field).
  • a common coil 26 this time with three distinct sections (28, 30 and 32) is placed substantially between the pair of permanent magnets (Mi and M 2 ).
  • the outer sections (28 and 32) of the coil 26 are wound in the opposing direction to the inner section 30, which effectively produces a set of three electromagnets from a single coil.
  • Energizing the coil 26 with a forward current thus generates three electromagnetic fields with the polarity as shown by the three arrows D, E and F in Figure 4.
  • the permanent magnet M 2 moves towards the centre barrier 24 of the cylindrical housing 22, thereby moving the valve member V 2 and causing the orifice 18 to be opened.
  • the permanent magnet Mi is pushed outwards onto the seat of the valve member V-i, holding the orifice 16 closed even more firmly.
  • the chambers, porting and air passageways shown in Figures 1 to 5 may be altered as required, depending upon the application in which the valve will be used. Indeed, the chambers into which the respective orifices open may themselves be ported into the chambers above the coil (indicated generally in Figure 5 by reference numeral 30) or may open directly to the bore of the cylindrical housing 22 within which the permanent magnets (Mi and M 2 ) are located.
  • the magnetically actuated valve of the present invention can be configured, for example, in two different ways. Firstly, an orifice-type inlet and/or outlet can be used to reduce the flow of air into and out of an artificial muscle to which the valve is attached. This may be important in applications in which fast actuation can cause damage or instability to the operation of the artificial muscle. For example, many haptic devices and servomechanism applications might benefit from a reduced actuation speed. Secondly, on-off control requires a maximally quick increase/decrease of the pressure inside an artificial muscle, which can be achieved by fitting the valve with, for example, a diaphragm. Fortunately, and as will be seen below, the simplicity of the valve design makes it very easy to swap these modules.
  • the magnetically actuated valve can thus be easily optimized to any particular task.
  • a robotics application involving the pneumatic actuation of a bipedal autonomous mobile robot the accurate switching of five different pneumatic muscles is required, following a complex timing sequence.
  • the switching time requires adjustment to the range from 100 ms to 200 ms.
  • the first mentioned configuration the orifice type outlet
  • a valve member including a permanent magnet 40 in the bore of a cylindrical housing 42 (similar to the cylindrical housing 22 mentioned above), with the housing including a centre barrier 44, the permanent magnet being constrained within the cylindrical housing 42 for reciprocal axial movement.
  • the permanent magnet 40 abuts against a hollow valve stem 46 that includes a centrally arranged valve head 48 located between the ends of the valve stem 46.
  • the outer surface (the outlet side, towards the left of the page) of the valve head 48 abuts against a valve seat 52, the valve seat 52 being provided by the open end of a valve stem receiving chamber 53.
  • the valve stem receiving chamber 53 is in fluid communication at its closed end 55 with the valve outlet 54.
  • the permanent magnet 40 is urged against the interior end 50 of the valve stem 46 by virtue of the interaction of its magnetic field with the magnetic field of an adjacent permanent magnet (not shown) via arrow K, much like the urging apart of the permanent magnets (Mi and M 2 ) via arrow A in Figure 1. This in turn urges the valve head 48 onto the valve seat 52 to close off the valve outlet 54.
  • a suitable type of seal such as a rubber seal.
  • the valve head 48 includes a flexible diaphragm 56 that extends across the full internal width of the valve and is secured at edges 58 to the outer wall thereof.
  • the operation of the diaphragm 56 will be described below in relation to the sequential operation of the valve itself.
  • a small hole 60 near the centre of the diaphragm 56 allows air to pass from the valve inlet 62 to the inner surface of the diaphragm 56 (the inlet side, towards the right of the page), thereby firmly pressing the valve head 48 (and thus the diaphragm 56) against the valve seat 52 to close the valve.
  • the permanent magnet 40 Upon energizing the coil (not shown), reversing the effect of the interaction of the permanent magnets (as shown by arrow L in Figure 7), the permanent magnet 40 starts moving away from the interior end 50 of the valve stem 46. This allows some of the air to pass through the hollow interior of the valve st ⁇ m 46 ( Figure 7). The build-up of pressure on the front of the diaphragm 56 (the outlet side, towards the left of the page) causes the diaphragm 56 to flex and move in the direction of the permanent magnet 40 (away from the valve seat 52).
  • valve seat 52 high pressure air from the valve inlet 62 can pass directly over the valve seat 52 and to valve outlet 54, pushing the valve open even faster using positive force feedback (see Figure 8).
  • the valve therefore opens maximally fast.
  • the current through the coil needs to be switched off. This causes the permanent magnet 40 to again urge the valve stem 46 and thus the valve head 48 against the valve seat 52, thereby closing the air gap as well as sealing off the hollow interior of the valve stem 46. The valve is then held shut.
  • the air flow at the inlet and/or outlet can be restricted as required by the application by fitting the valve assembly with different sized (and/or different types of) valve members, generally referred to by reference numerals 84 or 84', with the numeral 84 designating a diaphragm based mechanism and the prime numeral 84' designating an orifice based mechanism.
  • Maximally fast actuation can be achieved by fitting the inlet and/or outlet with a diaphragm based mechanism 84. This has the additional advantage of a reduced current consumption as the valve can be operated using very short actuation pulses (as opposed to the longer pulses required to actuate the orifice based mechanism 84').
  • an electrical current is switched onto the coil 90 through a push-on connector 92 and solder-less contact electrodes 94.
  • the coil 90 sits on a small coil former 96 which is held between the two main members (98 and 100) of the body of the valve assembly.
  • the coil former may be of any suitable material but ideally will be a hard, engineering plastic such as the acetal resin DelrinTM, or may be aluminium.
  • the outer housing 102 simply slides over the body of the valve assembly and then screws onto the muscle sided member 98 of the body of the valve assembly.
  • a small grub screw 104 is then used to firmly push the inlet sided member 100 of the body of the valve assembly onto the coil former 96.
  • Rubber O-ring seals 108 ensure an airtight seal of the entire assembly.
  • the artificial (and pneumatically operated) muscle 110 is clamped onto the inner member 98 of the main body of the valve assembly via a clamping ring 112.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Magnetically Actuated Valves (AREA)

Abstract

L’invention concerne une soupape à actionnement magnétique constituée d’un corps doté d’au moins un premier et un deuxième orifice. La soupape comporte un moyen d’actionnement magnétique comprenant des premier et deuxième éléments de soupape associés chacun à un champ magnétique respectif, l’interaction des champs magnétiques amenant les éléments de soupape normalement repoussés l’un de l’autre à boucher respectivement les premier et deuxième orifices. Le moyen d’actionnement magnétique comporte également au moins un champ magnétique supplémentaire capable d’entrer en interaction avec le premier ou le deuxième champ magnétique, ou les deux, de façon à déplacer l’un des éléments de soupape, ou les deux, et boucher ainsi un orifice respectif.
PCT/AU2006/000688 2005-05-24 2006-05-24 Soupape a actionnement magnetique WO2006125259A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US68440805P 2005-05-24 2005-05-24
US60/684,408 2005-05-24

Publications (1)

Publication Number Publication Date
WO2006125259A1 true WO2006125259A1 (fr) 2006-11-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU2006/000688 WO2006125259A1 (fr) 2005-05-24 2006-05-24 Soupape a actionnement magnetique

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WO (1) WO2006125259A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102653097A (zh) * 2012-05-04 2012-09-05 魏福海 一种基于电磁力学原理的仿生肌单元及装置
EP2275729A3 (fr) * 2009-07-16 2014-07-02 FESTO AG & Co. KG Soupape
WO2015154803A1 (fr) * 2014-04-09 2015-10-15 Kongsberg Automotive Ab Électrovanne
JP2016525194A (ja) * 2013-07-09 2016-08-22 デカ・プロダクツ・リミテッド・パートナーシップ 弁装置およびシステム
EP3719295A1 (fr) * 2019-04-02 2020-10-07 Vitesco Technologies GmbH Soupape d'ouverture et de fermeture d'une conduite de gaz d'échappement et système d'acheminement des gaz d'échappement

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09189372A (ja) * 1996-01-08 1997-07-22 Kenji Masuda 電気流体圧式サーボ弁
FR2849262A1 (fr) * 2002-12-23 2004-06-25 Johnson Controls Tech Co Actionneur electromagnetique de soupape a aimant permanent

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09189372A (ja) * 1996-01-08 1997-07-22 Kenji Masuda 電気流体圧式サーボ弁
FR2849262A1 (fr) * 2002-12-23 2004-06-25 Johnson Controls Tech Co Actionneur electromagnetique de soupape a aimant permanent

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2275729A3 (fr) * 2009-07-16 2014-07-02 FESTO AG & Co. KG Soupape
CN102653097A (zh) * 2012-05-04 2012-09-05 魏福海 一种基于电磁力学原理的仿生肌单元及装置
CN102653097B (zh) * 2012-05-04 2014-08-20 魏福海 一种基于电磁力学原理的仿生肌单元及装置
JP2016525194A (ja) * 2013-07-09 2016-08-22 デカ・プロダクツ・リミテッド・パートナーシップ 弁装置およびシステム
WO2015154803A1 (fr) * 2014-04-09 2015-10-15 Kongsberg Automotive Ab Électrovanne
US10060546B2 (en) 2014-04-09 2018-08-28 Kongsberg Automotive Ab Solenoid valve
EP3719295A1 (fr) * 2019-04-02 2020-10-07 Vitesco Technologies GmbH Soupape d'ouverture et de fermeture d'une conduite de gaz d'échappement et système d'acheminement des gaz d'échappement

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