CN110169824A - A kind of moving cell of across signal Two-way Feedback control - Google Patents

Abstract

The invention discloses a motion unit for cross-signal bidirectional feedback control, capable of transmitting interactive force and displacement signals. Consists of two sets of Unit A and Unit B containing the same system elements. The driving device drives the moving element to move mechanically, and moves together with the elastic element and the working head. A force sensor is connected to the working end or at any position on the surface. The force sensor outputs a force signal proportional to the displacement signal of the working end. The force signal is input into the control system through the connected channel and controls the moving elements of the other unit to track the displacement. That is to form a servo control system in which the mechanical displacement or angular displacement output by two sets of moving elements tracks the displacement or angular displacement of the working end of the other unit. The signal of the present invention is transmitted interactively.

Description

A motion unit with cross-signal bidirectional feedback control

technical field

The invention relates to a motion unit with cross-signal bidirectional feedback control, which can transmit interactive force and displacement signals, and is mainly used in communication systems or servo systems that need to transmit tactile signals.

Background technique

The invention patent with the patent number of 2018113978063 discloses a tactile transmission machine, which includes two sets of unit A and unit B, each including a driving device, a moving element, an elastic element, a working end, a displacement sensor, a channel, and a control system. It can no longer meet the needs and needs to be further improved.

Contents of the invention

The purpose of the present invention is to enrich the tactile transmission technology and provide a motion unit with cross-signal bidirectional feedback control.

The present invention is achieved through the following technical solutions:

A motion unit for cross-signal bidirectional feedback control, including two sets of unit A and unit B, each of which includes a driving device, a moving element, an elastic element, a working end, a force sensor, a channel, and a control system. The control system and the described The driving device is connected, the driving device, the moving element, the elastic element and the working end are connected in sequence, and a force sensor is connected in the moving element, the elastic element and the working end or at any position on the surface, and the force sensor of unit A passes through the channel It is connected with the control system of unit B, the force sensor of unit B is connected with the control system of unit A through the channel, and the driving device drives the moving element to move mechanically to generate mechanical displacement or angular displacement. When the moving element moves mechanically, it carries the elastic element and the working The ends move together, and the elastic element in the middle of the moving element and the working end relies on its own force deformation to establish a feedback force. When the working end moves under force, the force sensor outputs the force signal of the working end, through The force signal and Hooke's law can know the displacement signal of the working end, so the force signal can be used as a proportional displacement signal. The force signal is input to the control system through the channel, and the control system controls the driving device connected to it to work, thereby controlling the moving element It is used to track the displacement of the working end of the other unit, that is, to form a servo control system for the mechanical displacement or angular displacement output by two sets of moving elements to accurately track the displacement or angular displacement of the working end of the other unit. Because of the tracking displacement, unit A and The elastic element of unit B receives the same extrusion or stretching deformation of the working end and the moving element, and the reaction forces generated by the deformation of the two elastic elements are equal, and the two reaction forces act on the operators at both ends through the working end.

The control system controls the moving elements of the other unit to perform equal or proportional tracking displacement through proportional reduction or amplification of the force signal.

The elastic elements of the two units have the same or different elastic coefficients. When the elastic coefficients of the two elastic elements are equal, the elastic elements of unit A and unit B are squeezed or stretched by the working end and the moving element. Variables are the same.

The moving elements of the two units are both mechanical displacement or angular displacement, or one is mechanical displacement and the other is angular displacement.

The two drive devices are both electric drive or both hydraulic drive or both pneumatic drive or a combination of any two of the three drive modes.

The channels of the two units are wireless channels or wired channels or a combination of wireless channels and wired channels.

The way of transmitting signals of the two channels is digital or analog.

The advantages of the present invention are:

The feedback of the force sensor adopted in the present invention needs to carry out the cross-signal ratio conversion from force to displacement. The working principle of the present invention is clear, the signal is transmitted interactively, the interactive fidelity is good, and the technology of each functional component is mature and implementable.

Description of drawings

Fig. 1 is a schematic diagram of an embodiment of the present invention.

Detailed ways

As shown in Figure 1, the driving device is an electric push rod, the moving element is a moving rod, the moving rod is installed on the electric pushing rod, the electric pushing rod drives the moving rod to move, the elastic element is a spring, and one end of the spring is fixedly connected to the On the movement rod, the other end is fixedly connected to the working end, which is equipped with a quartz force sensor, the channel is a signal line, the control system is a servo control system, and the working end is a mounting seat and a transition seat of the actuator.

Embodiment: A kind of movement unit of cross-signal bidirectional feedback control, consists of control system-1, electric push rod-2, motion rod-3, spring-4, working end-5, quartz force sensor-6, signal line Unit A composed of 7 and unit B consisting of control system 1.1, electric push rod 2.1, motion rod 3.1, spring 4.1, working end 5.1, quartz force sensor 6.1, and signal line 7.1.

The electric push rod-2 is an electric drive device that converts electric power into the linear displacement of the moving rod-3 (the known electric push rod, the internal mechanism is generally a motor drives a pair of lead screw nuts to convert the rotational motion of the motor into a linear displacement). The control system-1 can make the motor rotate forward and reverse by controlling the electrical output, so as to drive the moving rod-3 to make a linear displacement of extending the electric push rod-2 or retracting the linear displacement of the electric push rod-2. Movement rod-3, spring-4 and working end-5 are sequentially connected, and when moving rod-3 is used as a moving element and linearly displaced, it moves together with spring-4 and working end-5. The spring-4 is between the moving rod-3 and the working end-5, and the feedback force is established by its own force deformation. The working end-5 is connected with the quartz force sensor-6, and the quartz force sensor-6 outputs the working end-1 The proportional force signal of the displacement signal of 5, the force signal is input to the controller 1.1 through the connected signal line 17, and the movement rod 3.1 of the control unit B performs equal tracking displacement, that is, the linear displacement tracking unit output by the movement rod 2 3.1 is formed. A servo control system for the linear displacement of the working end-5.

The electric push rod 2.1 is an electric drive device that converts electric power into the linear displacement of the moving rod 2 3.1 (the internal mechanism of the known electric push rod is generally a motor driving a pair of lead screw nuts to convert the rotational motion of the motor into a linear displacement). The control system 1.1 can make the motor rotate forward and reverse by controlling the electrical output, thereby driving the movement rod 2 3.1 to make the linear displacement of extending the electric push rod 2 2.1 or retracting the linear displacement of the electric push rod 2 2.1. The second movement rod 3.1, the second spring 4.1 and the second working end 5.1 are sequentially connected, and when the second moving rod 3.1 is used as a moving element and linearly displaced, it moves together with the second spring 4.1 and the second working end 5.1. Spring 2 4.1 is between the movement rod 2 3.1 and working end 5.1 and relies on its own force deformation to establish feedback force. Working end 5.1 is connected with quartz force sensor 2 6.1, and quartz force sensor 2 6.1 outputs working end 2 5.1 The proportional force signal of the displacement signal, the force signal is input to the controller 1 through the connected signal line 2 7.1 and the movement rod 3 of the control unit A is used for tracking displacement, that is, the linear displacement tracking unit B is formed by the movement rod 1 3 output The servo control system of the linear displacement of the working end 2 5.1.

That is to form a servo control system in which the linear displacement output by two sets of moving elements tracks the linear displacement of the working end of the other unit. Because of the equal tracking displacement, the elastic elements of the two units are squeezed or stretched by the working end and the moving element. If the deformation amount is the same, if the elastic coefficients of the springs are set to be equal, the reaction forces generated by the deformation of the two springs will be equal. the goal of.

When the control system scales down or enlarges through the force signal, and mutually controls the moving elements of the other unit to make a proportional tracking displacement, or when the elastic elements have different elastic coefficients in the two units, the tactile transmission machine can control the transmitted displacement and The information of the force is enlarged or reduced to transmit.

The moving elements can be of the same or different displacement types in the two units, for example: one is mechanical displacement and the other is angular displacement, and the force sensor signal is proportionally transformed and set through the control system to form the mechanical displacement output by the moving element to track that of the other unit The servo control system of the angular displacement of the working end or the servo control system in which the angular displacement output by the moving element tracks the mechanical displacement of the working end of the other unit. This enables tactile signaling between different displacement types.

Claims (7)

1. A motion unit of cross-signal bidirectional feedback control, characterized in that: it includes two sets of unit A and unit B that both include driving device, moving element, elastic element, working end, force sensor, channel and control system , the control system is connected with the driving device, the driving device, the moving element, the elastic element and the working end are connected in sequence, and a force sensor is connected in the moving element, the elastic element and the working end or at any position on the surface, the unit The force sensor of A is connected to the control system of unit B through the channel, and the force sensor of unit B is connected to the control system of unit A through the channel. The driving device drives the moving element to move mechanically, generating mechanical displacement or angular displacement. When the moving element moves mechanically, The elastic element moves together with the working end, and the elastic element is deformed by itself to establish a feedback force between the moving element and the working end. When the working end moves under force, the force sensor outputs the working end The force of the working end can be known through Hooke's law, so the force signal can be used as a proportional displacement signal. The force signal is input to the control system through the channel, and the control system controls the driving device connected to it to work, thereby controlling The moving element is used to track the displacement of the working end of the other unit, that is, to form two sets of control systems in which the mechanical displacement or angular displacement output by the moving element tracks the displacement or angular displacement of the working end of the other unit; the reaction forces generated by the deformation of the two elastic elements are equal , the two reaction forces act on the operators at both ends through the working end respectively. 2. A motion unit with cross-signal bidirectional feedback control according to claim 1, characterized in that: said control system scales down or enlarges the force signal proportionally, and controls the motion elements of the other unit to be equal or proportional Scaled tracking displacement. 3. A motion unit with cross-signal bidirectional feedback control according to claim 1, characterized in that: the elastic elements of the two units have the same or different elastic coefficients, and when the elastic coefficients of the two elastic elements are equal , the elastic elements of unit A and unit B are subject to the same extrusion or stretching deformation of the working end and the moving element. 4. The moving unit of a kind of cross-signal bidirectional feedback control according to claim 1, characterized in that: the moving elements of the two units are both mechanical displacement or angular displacement or one is mechanical displacement and the other is angular displacement. 5. A motion unit with cross-signal bidirectional feedback control according to claim 1, characterized in that: the two drive devices are both electric drive or both hydraulic drive or both pneumatic drive or three types of drive any combination of the two. 6. A motion unit with cross-signal bidirectional feedback control according to claim 1, characterized in that: the channels of the two units are wireless channels or wired channels or a combination of wireless channels and wired channels. 7. The motion unit of cross-signal two-way feedback control according to claim 6, characterized in that: said two channels transmit signals in a digital or analog manner.