WO1994019612A1

WO1994019612A1 - High speed and low speed control valve utilizing hydraulic and pneumatic pressure

Info

Publication number: WO1994019612A1
Application number: PCT/KR1993/000019
Authority: WO
Inventors: Young Chool Kang
Original assignee: Individual
Current assignee: Individual
Priority date: 1993-02-17
Filing date: 1993-03-12
Publication date: 1994-09-01
Anticipated expiration: 1995-08-17
Also published as: KR940020027A; AU3649093A

Abstract

The present invention provides a first embodiment of a high speed and low speed control valve utilizing hydraulic and pneumatic pressure in which a right side high speed solenoid (20), a right side low speed solenoid (21), a left side high speed solenoid (35) and a left side low speed solenoid (36) are constructed on the left and right sides of a spool (10) on an axis same as that of the spool to enable a high speed and low speed control, a right side high speed piston (12) in the form of an annular rod having two steps exists in the right side high speed solenoid (20), a right side low speed piston (13) having a right side speed adjusting bolt (14) exists in the right side low speed solenoid (21), a left side high speed piston (29) in the form of an annular rod having two steps exists in the left side high speed solenoid (35), and a left side low speed piston (29) having a left side speed adjusting bolt (14) exists in the left side low speed solenoid (36). Other aspect of the present invention provides a second embodiment or a third embodiment having a construction in which a spool (10) having a left side land (48), a middle and a right side land (49; 50) and left and right side projections (76; 77), a high speed piston in the form of an annular rod having two steps and a low speed piston having a speed adjusting bolt are sequentially arranged on an axis of the spool, a push rod is constructed in the high speed piston, a high speed solenoid wraps the outside of the high speed piston and a low speed solenoid wraps the outside of the low speed piston.

Description

HIGH SPEED AND LOW SPEED CONTROL VALVE UTILIZING HYDRAULIC AND PNEUMATIC PRESSURE

BACKGROUND OF INVENTION

Field of the Invention

The invention relates to a high speed and low speed control valve

which can be operated at high speed and low speed and more particularly, to a high speed and low speed control valve which can simply solve a speed conversion between a high speed and a low speed by utilizing a solenoid valve.

Information Disclosure Statement

Generally, there has been a control valve which utilizes several valves in a composition to construct a valve which enables high speed and low speed operations, however, a number of problems have been caused such as a complexity of circuit formation, a great piping loss and a cost rise due to an increase of the number of parts.

To solve such problems, there were suggested Japanese Utility Model Laid-Open Publication Sho 57-169803 (laid-open on October 26, 1982) and Sho 57-169804 (laid-open on October 26, 1982).

Fig. 1 illustrates technologies described in above mentioned

Japanese Utility Model Laid-Open Publication, but they have problems that a speed of movement of a spool is changed according to a pressure and a flow rate entering from a pump P and that a forward movement of a low speed piston 6 is impossible in the case where a high speed piston cylinder inside 3 is filled with a hydraulic oil.

SUMMARY OF THE INVENTION The present invention not only solves all the above mentioned problems but also has advantages that there is a great benefit in cost reduction because all the parts assembled in an exterior body except solenoids 1, 2 shown in Fig. 1 can be omitted, and that an efficiency is increased. The present invention provides a first embodiment of a high speed and low speed control valve utilizing hydraulic and pneumatic pressure in which a right side high speed solenoid, a right side low speed solenoid, a left side high speed solenoid and a left side low speed solenoid are constructed on the left and right sides of a spool on an axis same as that of the spool to enable a high speed and low speed control, a right side high speed piston in the form of an annular rod having two steps exists in the right side high speed solenoid, a right side low speed piston having a right side speed adjusting bolt exists in the right side low speed solenoid, a left side high speed piston in the form of an annular rod having two steps exists in the left side high speed solenoid, and a left side low speed piston having a left side speed adjusting bolt exists in the left side low speed solenoid. Other aspect of the present invention provides a second embodiment or a third embodiment having a construction in which a spool having a left side land, a middle land, a right side land and left and right side projections, a high speed piston in the form of an annular rod having two steps and a low speed piston having a speed adjusting bolt are sequentially arranged on an axis of the spool, a push rod is constructed in the high speed piston, a high speed solenoid wraps the outside of the high speed piston and a low speed solenoid warps the outside of the low speed piston.

Thr present invention further provides a hydraulic and pneumatic

robot in which a high speed nd low speed control valve utilizing a hydraulic and pneumatic pressure is applied to a working robot. The robot is composed of a computer control means, an encoder, a driving means and a hydraulic and pneumatic control valve of the present invention. This facilitates easy manufacturing of the working robot utilizing hydraulic and pneumatic pressure because a hydraulic and pneumatic control valve of the present invention is invented breaking the conventional conception that the hydraulic pressure provides poor original position control and poor precision.

Fig. 15 shows an embodiment of a working robot of the present invention which is workable in picking up two things and moving them across a 3 -dimensional space by utilizing six systems, each system being composed of a computer control means, an encoder, a driving means and a hydraulic and pneumatic valve.

The more pertinent and important features of the present invention have been outlined above in order that the detailed description of the invention which follows will be better understood and that the present contribution to the art can be fully appreciated. Additional features of the invention described hereinafter form the subject of the claims of the invention. Those skilled in the art can appreciate that the conception and the specific embodiment disclosed herein may be readily utilized as a basis for modifying or designing other structures for carrying out the same purposes of the present invention. Further, those skilled in the art can realize that such equivalent constructions do not depart from the spirit and scope of the invention as set forth in the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

For fuller understanding of the nature and objects of the invention, reference should be had to the following detailed description taken in conjunction with the accompanying drawings in which:

Fig. 1 is a section drawing of a conventional two -stage flow rate adjusting valve,

Fig. 2 shows a first embodiment of a high speed and low speed control valve utilizing hydraulic and pneumatic pressure of the present invention,

Fig. 3 shows a condition of the first embodiment of the present invention in which a right side low speed solenoid is actuated,

Fig. 4 shows a condition of the first embodiment of the present invention in which a left side low speed solenoid is actuated,

Fig. 5 shows a condition of the first embodiment of the present invention in which a right side high speed solenoid is actuated, Fig. 6 shows a condition of the first embodiment of the present invention in which a left side high speed solenoid is actuated,

Fig. 7 is a section drawing of a second embodiment of a high speed and low speed control valve utilizing hydraulic and pneumatic pressure of the present invention, Fig. 8 shows a condition of the second embodiment of the present invention in which a right side low speed solenoid is actuated,

Fig. 9 shows a condition of the second embodiment of the present

invention in which a right side high speed solenoid is actuated,

Fig. 10 is a section drawing of a third embodiment of a high speed and low speed control valve utiKzing hydraulic and pneumatic pressure of the present invention,

Fig. 11 shows a condition of the third embodiment of the present invention in which a left side low speed solenoid is actuated,

Fig. 12 shows a condition of the third embodiment of the present invention in which a left side high speed solenoid is actuated,

Fig. 13 shows application circuit diagrams of the first embodiment of the present invention,

Fig. 14 shows application circuit diagrams of the second and third embodiments of the present invention, and Fig. 15 shows a construction drawing of a working robot having a high speed and low speed control valve utilizing hydraulic and pneumatic pressure.

Similar reference characters refer to similar parts throughout the several views of the drawings. DETAILED DESCRIPTION OF THE INVENTION The present invention will be explained in detail with reference to the drawings.

Fig. 2 shows a first embodiment of a high speed and low speed control valve utihzing hydraulic and pneumatic pressure of the present invention, in which valve two solenoids are mounted on each of left and right sides in a line. Among the two right side solenoids, the inner solenoid 20 is a right side high speed solenoid and the outer solenoid 21 is a right side low speed solenoid. The right side high speed solenoid 20 wraps the outside of a right side high speed piston 12, and the right side low speed solenoid 21 wraps the outside of a right side low speed piston 13 in which a right side speed adjusting bolt 14 is fitted.

A right side oil leakage prevention bolt 25 is provided on the outer end of the right side low speed piston 13, and the bolt 25 is attached to a right side solenoid fixing nut 40, and the inside of the right side low speed piston 13 is screw threaded. In that screw thread is screwed the right side speed adjusting bolt 14. The right side speed adjusting bolt 14 is so constructed as to be set in the right side low speed piston 13 by putting a long wrench into a speed adjusting bolt hole 41. On top of the right side low speed piston 13 is longitudinally formed a key way 43 which is guided by a low speed piston rotation prevention key 42 formed in a cylinder.

The right side high speed piston 12 has a center recess through which the right side push rod 15 can slide, and has a shape of an annular rod having two steps. A forward step of the annular rod, that is, a left side step of smaller outer diameter can abut an end of a right side projection 76, and a portion of larger outer diameter can slide left and right in the cylinder. The right side push rod 15 which slides in the right side high speed piston 12 can slide left and right between the right side end of the spool right side projection 76 and the left side end of the right side speed adjusting bolt 14. The first

embodiment of the present invention is constructed in such a way that its left and right side constructions are symmetrical to each other with the spool 10 as the center, therefore the description of the construction of t¹ a left side will be omitted. The spool 10 is comprised of a left side land 48, a middle land 49, a right side land 50 and left and right side projections 77, 76. The right side projection 76 is wrapped by a right side washer 17, and the washer 17 is supported elastically by a right side return spring 16.

In the middle portion of the first embodiment of the valve of the present invention is there an inlet port P connected from a pump, and at the left and right sides of the inlet port P are there a cylinder port A of the cylinder head of the hydrauhc cylinder 44 and a cylinder port B of the cylinder rod of the hydrauhc cylinder 44 respectively. On the left and right sides of the cylinder port A of the cylinder head and the cylinder port B of the cylinder rod are there a left side T port 45 and a right side T port 46, and the left side T port 45 and the right side T port 46 are connected to each other by a path 47. An outlet port (T port) through which the hydrauhc oil flows out is formed by the left side T port 45, the right side T port 46 and the path 47.

Fig. 2 shows a condition of the first embodiment of the present invention in which the spool 10 is in the neutral state, and at this time the inlet port P is completely closed by the middle land 49, and the cyhnder port A of the head of the hydrauhc cyhnder 44 and the cyhnder port B of the hydrauhc cyhnder 44 rod are completely opened, and the left side T port 45 is completely closed by the left side land 48 and the right side T port 46 is completely closed by the right side land 50. To the outlet port T is connected a drain 65 for removing the hydrauhc oil when it leaks into the right side space of the right side washer 17.

Here again the left side of the spool 10 is symmetrical to the right side of the spool 10, and therefore the description thereof is omitted. On the middle top of the valve of the first embodiment of the present invention is there a terminal box 23 in which cables connected to four solenoids are positioned, and a terminal cover 24 is positioned on the box 23.

Fig. 3 shows a condition of the first embodiment of the present invention in which the right side low speed solenoid 21 is actuated. When the right side low speed solenoid 21 is actuated, the right side low speed piston 13 is moved left by an electro-magnetic force until the left side end of the right side low speed piston 13 abuts a cyhnder wall, and at this time, the right side speed adjusting bolt 14 fixed in the right side low speed piston 13 by the thread is also moved left. Then the left end of the right side speed adjusting bolt 14 moves the right side push rod 15 left which in turn pushes the end of the right side projection 76 of the spool 10 which then is slided left. The

hydrauhc oil from the pump is fed to the cyhnder port B of the hydrauhc cyhnder rod through the inlet port P so that the piston is moved from the right to the left. The hydrauhc oil flows out to the outlet port (T port) through the cyhnder port A of the head of the

hydraulic cylinder 44 and the left side T port 45. At this time, the piston is moved from the right to the left at low speed. Fig. 4 shows a condition of the first embodiment of the present invention in which the left side low speed solenoid 36 is actuated. When the left side low speed solenoid 36 has an electro -magnetic force, the left side low speed piston 28 is moved right until it abuts the wall of the left side cyhnder 26, and accordingly, the left side push rod 30 is moved right making the spool 10 slide right. The hydraulic oil from the pump is fed to the cyhnder port A of the head of hydraulic cyhnder 44 through the inlet port P so that the piston is moved from the left to the right. The hydrauhc oil which was at the right side of the piston in the cyhnder flows out to the outlet port (T port) through the cyhnder port B of the hydrauhc cyhnder rod and the right side T port 46. At this time, the piston is moved from the left to the right at low speed.

Fig. 5 shows a condition of the first embodiment of the present invention in which the right side high speed solenoid 20 is actuated. When the right side high speed solenoid 20 is actuated, the right side high speed piston 12 is moved left until the stepped shoulder of the right side high speed piston 12 abuts a cyhnder wall, and accordingly, the spool 10 is slided left. The hydrauhc oil from the pump is fed to the cyhnder port B of the hydrauhc cyhnder rod through the inlet port P so that the piston is moved from the right to the left. The hydrauhc oil which was at the left side of the piston flows out from the cyhnder 44 to the outlet port (T port) through the cylinder port A of the head of the hydrauhc cyhnder and the left side T port 45. At this time, the piston of the cyhnder 44 is moved from the right to the left at high speed.

Fig. 6 shows a condition of the first embodiment of the present invention in which the left side high speed solenoid 35 is actuated. When the left side high speed solenoid 35 has an electro -magnetic force, the left side high speed piston 27 is moved right until the stepped shoulder of the left side high speed piston 27 abuts a cyhnder wall, and accordingly, the spool 10 is slided right. The hydrauhc oil from the pump is fed to the cyhnder port A of the head of the hydraulic cyhnder 44 through the inlet port P so that the piston is moved from the left to the right. The hydrauhc oil which was at the right side of the piston flows out from the cyhnder 44 to the outlet port (T port) through the cyhnder port B of the hydrauhc cyhnder 44 rod and the right side T port 46. At this time, the piston of the cyhnder 44 is moved from the left to the right at high speed.

In the first embodiment of the present invention, a displacement of the spool at the time of high speed motion is larger than that at the time of low speed motion, therefore an amount of the hydrauhc oil entering from the pump is larger at the time of high speed motion than that at the time of low speed motion, and accordingly the speed of the piston of the cyhnder 44 is increased. In Fig. 3, the space surrounding the right side projection 76 of the spool 10 does not require the presence of the hydrauhc oil, and if the hydrauhc oil enters the space due to a leakage, the oil is

discharged to the outlet port T through the drain 65.

Fig. 7 is a section drawing of the second embodiment of a high speed and low speed control valve utihzing hydrauhc and pneumatic pressure of the present invention. The valve is constructed in such a way that there are two solenoids at the right side, a cover at the left side and a spool 10 in the middle, and among the two solenoids at the right side, the inner solenoid 20 is a right side high speed solenoid and the outer solenoid 21 is a right side low speed solenoid. The right side high speed solenoid 20 wraps the outside of a right side high speed piston 12, and the right side low speed solenoid 21 wraps the outside of a right side low speed piston 13 in which a right side speed adjusting bolt 14 is fitted. A right side oil leakage prevention bolt 25 is provided on the outer end of the right side low speed piston 13, and the bolt 25 is attached to a right side solenoid fixing nut 40, and the inside of the right side low speed piston 13 is screw threaded. In that screw thread is screwed the right side speed adjusting bolt 14. The right side speed adjusting bolt 14 is so constructed as to be set in the right side low speed piston 13 by putting a long wrench into a speed adjusting bolt hole 41. On tope of the right side low speed piston 13 is longitudinally formed a key way 43 which is guided by a low speed piston rotation prevention key 42 formed in a cyhnder. The right side high speed piston 12 has a center recess through which the right side push rod 15 can shde, and has a shape of an annular rod having two steps. A forward step of the annular rod, that is, a left side step of smaller outer diameter can abut an end of a right side projection 76 of the spool 10, and a portion of larger outer diameter can shde left and right in the cyhnder. The right side push rod 15 which slides in the right side high speed piston 12 can slide left and right between the right side end of the spool right side projection 76 and the left side end of the right side speed adjusting bolt 14. The spool 10 is comprised of a left side land 48, a middle land 49, a right side land 50 and left and right side projections 77, 76. The right side projection 76 is wrapped by a right side washer 17, and the washer 17 is supported elastically by a right side return spring 16. The left end of the left side land 48 is supported elastically by a left side return spring 31 via a left side washer 32. At the left and right sides of the inlet port P are there a cyhnder port A of the cyhnder head of the hydrauhc cyhnder 44 and a cyhnder port B of the cyhnder rod of the hydrauhc cyhnder 44 respectively, and in the middle is an inlet port P connected from a pump. On the left side of the cyhnder port A of the cyhnder head is a left side T port 45 and on the right side of the cyhnder port B of the cyhnder rod is a right side T port 46, and the left side T port 45 and the right side T port 46 are connected to each other by a path 47. An outlet port (T port) through which the hydrauhc oil flows out is formed by the left side T port 45, the right side T port 46 and the path 47. Fig. 7 shows the neutral state of the second embodiment, where the cyhnder port A of the cyhnder head and the inlet port P are opened half and the cyhnder port B of the cyhnder rod is completely

opened. Therefore, the hydrauhc oil entering form the pump fills the left portion of the cyhnder 44 through the inlet port P and the cyhnder port A of the cyhnder head and the hydrauhc oil which was at the right side of the piston of the cyhnder 44 is discharged to the outlet port (T port) through the cyhnder port B of the cyhnder rod and the right side T port 46, so that the piston of the cyhnder is moved from the left to the right. The left end of the bolt 14 moves the right side push rod 15 to the left, the rod 15 pushes the end of the right side projection 76, so that the spool 10 is shded to the left. Then the hydrauhc oil from the pump enters the right side of the cylinder 44 piston through the inlet port opened half and the cyhnder port B of the hydrauhc cyhnder rod, and the hydrauhc oil which was at the left side of the cyhnder 44 piston is discharged to the outlet port (T port) through the cyhnder port A of the cyhnder head and the left side T port 45. Therefore, the piston is moved from the right to the left at low speed.

Fig. 9 shows a condition of the second embodiment of the present invention in which the right side high speed solenoid 20 is actuated. When the right side high speed solenoid 20 is actuated to have the

electro-magnetic force, the right side high speed piston 12 is moved left until the stepped shoulder of the left side high speed piston 12 abuts a cyhnder wall, and accordingly, the spool 10 is shded left. The hydrauhc oil from the pump is fed to the right side of the cyhnder 44 piston via the cyhnder port B of the hydrauhc cyhnder rod through the inlet port P and the hydrauhc oil which was at the left side of the piston flows out to the outlet port (T port) through the cyhnder port A of the head of the hydrauhc cyhnder and the left side T port 45. At this time, the piston of the cyhnder 44 is moved from the right to the left at high speed.

A difference between Fig. 8 and Fig. 9 is that the displacement of the spool 10 is larger at the time of actuating the right side high speed solenoid 20 than at the time of actuating the right side low speed solenoid 21 so that the entrance of the inlet port P becomes larger and the amount of the hydrauhc oil entering from the pump also becomes larger to make the piston of the cyhnder 44 move at high speed.

Fig. 10 is a section drawing of a third embodiment of a high speed and low speed control valve untihzing hydrauhc and pneumatic pressure of the present invention, Fig. 11 shows a condition of the third embodiment of the present invention in which a left side low speed solenoid is actuated, and Fig. 12 shows a condition of the third embodiment of the present invention in which a left side high speed solenoid is actuated. The third embodiment shown in Figs. 10, 11 and 12 is actuated in the same way as the second embodiment shown in Figs. 7, 8 and 9.

Fig. 13 shows application circuit diagrams of the first embodiment of the present invention, and Fig. 14 shows application circuit diagrams of the second and third embodiments of the present invention.

Fig. 15 shows a construction drawing of a working robot having

a high speed and low speed control valve utihzing hydraulic and pneumatic pressure. In the prior art, working robots are constructed of NC servo motors. However, due to a high speed and low speed control valve utihzing hydrauhc and pneumatic pressure of the present invention, a position control is assured and precision control becomes possible so that robots utihzing hydrauhc and pneumatic pressure can be constructed. The working robot utihzing hydrauhc valve not only has stronger power but also makes the repair easy at the time of failure and significantly reduces the manufacturing unit price. The working robot is constructed in such a way that if work data are input form the outside by utihzing a computer, the computer instructs such data to an encoder and a hydrauhc and pneumatic valve, and a feeding mechanism constructed of a hydrauhc motor or a cyhnder performs a work according to the actuation of the hydrauhc valve, and a result of the work is input again to the encoder, then the encoder inputs the result to the computer.

Fig. 15 shows an embodiment of above described working robot which comprises a straight hne feeding mechanism consisting of a high speed and low speed control valve 78 of the first embodiment utilizing hydrauhc and pneumatic pressure of the present invention, an encoder 59 and a hydrauhc motor 66, a horizontal plane rotating mechanism consisting of a high speed and low speed control valve 79 of the first embodiment, an encoder 70 and a hydrauhc motor 58, a vertical plane rotating mechanism consisting of a high speed and low speed control valve 80 of the first embodiment, an encoder 56 and a hydrauhc motor 54, a rotating mechanism consisting of a high speed and low speed control valve 81, an encoder 53 and a hydrauhc motor 73, a high speed and low speed control valve 82 of the second embodiment, an encoder and a right side finger 74, a high speed and low speed control valve 83 of the second embodiment, an encoder and a left side finger 75.

As shown above, a great characteristics of the present invention is that the high speed and low speed control can be achieved by a simple technical construction. In speed change of the high speed and low speed, an abrupt change from the high speed to the low speed or vice versa can impart a harmful impact to a machine. However, the present invention can prevent an abrupt speed change by actuating high speed and low speed solenoids simultaneously form a constant time period so that the impact is not imparted to the machine. That is, a damage absorption is possible by providing a speed transition region having a gentle slope.

It is also one of the major characteristics of the present invention that a driving without a fluctuation is made possible by controlling the flow rate to the outlet port (T port) across the entire of the present invention. The inside pressure of the cyhnder connected to the T port can be increased by controlling the outlet flow rate to the outlet port (T port) by constructing the spool 10 to be small, thereby making the driving without fluctuation possible. The present invention can utilize the hydraulic and pneumatic pressure, and when the speed adjustment is necessary, it can be achieved by moving the speed adjusting bolt

14, 29 by inserting a long wrench into the speed adjusting bolt hole 41. In addition, the present invention has great advantages that the speed of the spool 10 does not change with the pressure of the pump and that the position control is assured and the precision control is possible because the spool 10 is directly controlled by the solenoid.

Although this invention has been described in its preferred form with a certain degree of particularity, it is appreciated by those skilled in the art that the present disclosure of the preferred form has been made only by way of example and that numerous changes in the details of the construction, combination and arrangement of parts may be resorted to without departing from the spirit and scope of the invention.

Claims

WHAT IS CLAIMED IS:

1. A high speed and low speed control valve utihzing hydrauhc and pneumatic pressure comprising a spool 10, a right side low speed solenoid 21 and a right side high speed solenoid 20 at the right side of said spool 10, a left side low speed solenoid 36 and a left side high speed solenoid 35 at the left side of said spool 10, wherein axes passing through centers of said spool 10 and said four solenoids 21, 20, 10, 36 he in one hne.

2. A high speed and low speed control valve utihzing hydrauhc and pneumatic pressure of Claim 1, wherein a right side high speed piston 12 in the form of an annular rod having two steps exists in the right side high speed solenoid 20, a right side low speed piston 13 having a right side speed adjusting bolt 14 exists in the right side low speed solenoid 21, a left side high speed piston 27 in the form of an annular rod having two steps exists in the left side high speed solenoid 35, and a left side low speed piston 28 having a left side speed adjusting bolt 29 exists in the left side low speed solenoid 36.

3. A high speed and low speed control valve utihzing hydrauhc and pneumatic pressure of Claim 2, wherein said spool 10 comprises a left side land 48, a middle land 49, a right side land 50, and left and right side projections 76, 77 and wherein, in the neutral state, the inlet port P is completely closed by the middle land 49, and the cyhnder port A of the head of the hydrauhc cyhnder 44 and the cyhnder port B of the hydrauhc cyhnder 44 rod are completely opened, and the left side T port 45 is completely closed by the left side land 48 and the right s ^{^} port 46 . omplcoiy closed by the right side land 50.

4. A high speed and low speed control valve utihzing hydrauhc and pneumatic pressure of Claims 2 or 3, wherein a right side push rod 15 is constructed in said right side high speed piston 12 and a left side push rod 30 is constructed in said left side high speed piston 27.

5. A high speed and low speed control valve utihzing hydrauhc and pneumatic pressure comprising sequentially a spool 10 consisting

of a left side land 48, a middle land 49, a right side land 50, and left and right side projections 77, 76, a high speed piston in the form of an annular rod having two steps, and a low speed piston having a speed adjusting bolt, wherein a push rod is constructed in said high speed piston, and a high speed solenoid wraps the outside of said high speed piston and a low speed solenoid wraps the outside of said low speed piston.

6. A working robot comprising:

A) a high speed and low speed control valve utihzing hydraulic and pneumatic pressure,

B) an encoder,

C) a feeding mechanism, and D) a computer control means, wherein on the axis of said control valve are arranged a spool 10, a right side low speed solenoid 21 and a right side high speed solenoid

20 at the right side of said spool 10, a left side low speed solenoid 36 and a left side high speed solenoid 35 at the left side of said spool 10.

7. A working robot of Claim 6, wherein said high speed and low speed control valve is constructed in such a way that a right side high speed piston 12 in the form of an annular rod having two steps exists in the right side high speed solenoid 20, a right side low speed piston 13 having a right side speed adjusting bolt 14 exists in the right side low speed solenoid 21, a left side high speed piston 27 in the form of an annular rod having two steps exists in the left side high speed solenoid 35, and a left side low speed piston 28 having a left side speed adjusting bolt 29 exists in the left side low speed solenoid 36.

8. A working robot comprising: A) a high speed and low speed control valve utihzing hydrauhc and pneumatic pressure,

B) an encoder,

C) a feeding mechanism, and

D) a computer control means, wherein said high speed and low speed control valve comprises sequentially a spool 10 consisting of a left side land 48, a middle land 49, a right side land 50, and left and right side projections 77, 76, a high speed piston in the form of annular rod having two steps, and a low speed piston having a speed adjusting bolt, and wherein a push rod is constructed in said high speed piston, and a high speed solenoid wraps the outside of said high speed piston and a low speed solenoid wraps the outside of said low speed piston.

9. A working robot comprising:

A) a straight hne feeding mechanism consisting of; a high speed and low speed control valve utihzing hydrauhc and pneumatic pressure comprising a spool 10, a right side low speed solenoid 21 and a right side high speed solenoid 20 at the right side of said spool 10, a left side low speed solenoid 36 and a left side high speed solenoid 35 at the left side of said spool 10, wherein axes passing through centers of said spool 10 and said four solenoids 21, 20, 10, 36 he in one hne, and wherein a right side high speed piston 12 in the form of an annular rod having two steps exists in the right

side high speed solenoid 20, a right side low speed piston 13 having a right side speed adjusting bolt 14 exists in the right side low speed solenoid 21, a left side high speed piston 27 in the form of an annular rod having two steps in the left side high speed solenoid 35, and a left side low speed piston 28 having a left side speed adjusting bolt 29 exists in the left side low speed solenoid 36, an encoder, a computer control means, and a hydrauhc motor,

B) a horizontal plane rotating mechanism consisting of; a high speed and low speed control valve utihzing hydrauhc and pneumatic pressure comprising a spool 10, a right side low speed solenoid 21 and a right side high speed solenoid 20 at the right side of said spool 10, a left side low speed solenoid 36 and a left side high speed solenoid 35 at the left side of said spool 10, wherein axes passing through centers of said spool 10 and said four solenoids 21, 20, 10, 36 he in one hne, and wherein a right side high speed piston 12 in the form of an annular rod having two steps exists in the right side high speed solenoid 20, a right side low speed piston 13 having a right side speed adjusting bolt 14 exists in the right side low speed solenoid 21, a left side high speed piston 27 in the form of an annular rod having two steps in the left side high speed solenoid 35, and a left side low speed piston 28 having a left side speed adjusting bolt 29 exists in the left side low speed solenoid 36, and said four solenoids 21, 20, 10, 36 he in one hne, an encoder, a computer control means, and a hydrauhc motor,

C) a vertical plane rotating mechanism consisting of; a high speed and low speed control valve utihzing hydrauhc and pneumatic pressure comprising a spool 10, a right side low speed solenoid 21 and a right side high speed solenoid 20 at the right side of said spool 10, a left side low speed solenoid 36 and a left side high speed solenoid 35 at the left side of said spool 10, wherein axes passing through centers of said spool 10 and said four solenoids 21, 20, 10, 36 he in one hne, and wherein a right side high speed piston 12 in the form of an annular rod having two steps exists in the right side high speed solenoid 20, a right side low speed piston 13 having a right side speed adjusting bolt 14 exists in the right side low speed solenoid 21, a left side high speed piston 27 in the form of an annular rod having two steps in the left side high speed solenoid 35, and a left side low speed piston 28 having a left side speed adjusting bolt 29 exists in the left side low speed solenoid 36, an encoder, a computer control means, and a hydrauhc motor,

D) a rotating mechanism consisting of; a high speed and low speed control valve utihzing hydrauhc and pneumatic pressure comprising a spool 10, a right side low speed solenoid 21 and a right side high speed solenoid 20 at the right side of

said spool 10, a left side low speed solenoid 36 and a left side high speed solenoid 35 at the left side of said spool 10, wherein axes passing through centers of said spool 10 and said four solenoids 21, 20, 10, 36 he in one hne, and wherein a right side high speed piston 12 in the form of an annular rod having two steps exists in the right side high speed solenoid 20, a right side low speed piston 13 having a right side speed adjusting, bolt 14 exists in the right side low speed solenoid 21, a left side high speed piston 27 in the form of an annular rod having two steps exists in the left side high speed solenoid 35, and a left side low speed piston 28 having a left side speed adjusting bolt 29 exists in the left side low speed solenoid 36, an encoder, a computer control means, and a hydrauhc motor,

E) a high speed and low speed control valve utilizing hydrauhc and pneumatic pressure comprising sequentially a spool 10 consisting of a left side land 48, a middle land 49, a right side land 50, and left and right side projections 77, 76, a high speed piston in the form of an annular rod having two steps, and a low speed piston having a speed adjusting bolt, wherein a push rod is constructed in said high speed piston, and a high speed solenoid wraps the outside of said high speed piston and a low speed solenoid wraps the outside of said low speed piston, an encoder, a computer control means, and a right side finger mechanism, and

F) a high speed and low speed control valve utihzing hydrauhc and pneumatic pressure comprising sequentially a spool 10 consisting of a left side land 48, a middle land 49, a right side land 50, and left and right side projections 77, 76, a high speed piston in the form of an annular rod having two steps, and a low speed piston having a speed adjusting bolt, wherein a push rod is constructed in said high speed piston, and a high speed solenoid wraps the outside of said high speed piston and a low speed solenoid wraps the outside of said low speed piston, an encoder, a computer control means, and a left side finger mechanism.