Control method of bending driving device based on inclined plane rotation

Abstract

The invention discloses a control method of a bending driving device based on inclined plane rotation, the driving device is formed by sequentially connecting a plurality of sections of rotating round pipes, in an initial state, the vertical end faces of the adjacent rotating round pipes are mutually attached, the inclined end faces of the adjacent rotating round pipes are mutually attached, and the central axes of all the rotating round pipes coincide; the inclined faces of all the rotating round pipes in the driving device are arranged in parallel in the initial state. In the working process, the motor is used for driving all the rotating round pipes to rotate around the axes of the rotating round pipes, the inclination angle sensor is used for reading the angles between the axes of all the round pipes, the angular displacement sensor is used for reading the rotating angles of the round pipes around the axes, the rotating angles of all the sections are accurately controlled to be coordinated and matched, and the movable part is bent relative to the fixed part through extrusion of the inclined faces; the bending angle of the movable part is controlled, and the tail end is kept in a plane formed by an upper bus and a lower bus of the rotating round pipe in an initial state in the deformation process. Through relative rotation and mutual cooperation of the multiple sections of round pipes, efficient, accurate and rapid bending operation control is achieved.

Description

Technical Field

[0001] This invention belongs to the field of design technology of variator aircraft drive devices, specifically relating to a drive control method that achieves bending by relative rotation of multiple circular tubes with inclined surfaces. Background Technology

[0002] Shape-changing aircraft rely on drive systems for transformation, with bending deformation being the primary mode of deformation. Improving the driving capability of bending drive systems has long been a challenge for designers. Conventional bending drives primarily rely on rocker arms or gear mechanisms, using motors or actuators as the driving components. This method causes overall displacement of the device during movement, requiring significant space for the actuator's movement, making it difficult to apply in confined environments. Currently, most smart material drive devices are still in the research stage, with relatively limited driving capabilities. Summary of the Invention

[0003] This invention addresses a bending drive device based on tilted surface rotation, providing a method for manipulating and controlling the bending drive device. Through the relative rotation and mutual cooperation of multiple circular tube segments, efficient, accurate, and rapid bending manipulation and control are achieved.

[0004] This invention is implemented as follows: A control method for a bending drive device based on inclined surface rotation is disclosed. The bending drive device includes a fixed part, a movable part, multiple rotating circular tubes with vertical and inclined end faces, multiple connecting rings, multiple connecting plates, multiple annular end faces, ball bearings, a motor, an inclination sensor, an angular displacement sensor, gears and their connecting shafts, and a planetary gear ring. One end of the device is connected to the fixed part, and the other end is connected to the movable part. The bending of the movable part relative to the fixed part is achieved by deflecting adjacent rotating circular tube segments of the drive device. Each rotating circular tube segment has a vertical end face on one side, perpendicular to the axis of the rotating circular tube; and an inclined end face on the other side, forming a certain angle with the axis of the rotating circular tube. The drive device consists of multiple rotating circular tube segments connected sequentially. In the initial state, the vertical end faces and inclined end faces of adjacent rotating circular tubes are in contact with each other, the central axes of all rotating circular tubes coincide, and the inclined surfaces of each rotating circular tube in the drive device are initially arranged in parallel. During operation, a motor drives each rotating tube to rotate around its axis. An inclination sensor reads the angle between the axes of each tube, and an angular displacement sensor reads the angle of rotation of the tube around its axis. This precisely controls the coordinated rotation angle of each segment. Through the compression of the inclined surface, the moving part bends relative to the fixed part, thereby controlling the bending angle of the moving part and keeping the end in the plane formed by the upper and lower generatrices of the rotating tube in its initial state during deformation.

[0005] The rotatable round tubes are numbered from left to right, with the tube whose left end is the vertical end face being the... Aj The number, the left end is the inclined end face. B j Number, A j No. 1 round tube and B j The two circular tubes are a pair, and the rotation angle between adjacent rotating tubes is controlled by a motor and sensors. Depending on the application scenario and deformation requirements of the bending device, [the following will be implemented / determined]... n The rotatable circular tubes are arranged sequentially in the horizontal direction, with the leftmost segment connected to the fixed part. The length of the axial vector of each rotating circular tube segment is defined as... L The angle between the axis of the rotating circular tube and the normal to the inclined end face is c .

[0006] The specific steps of bending drive control are as follows: The target bending angle is given according to the deformation requirements. i The angle of the bending device is read by the sensor, and then the target bending angle is determined. i The material is evenly distributed to each pair of rotatable tubes, meaning each pair of rotatable tubes needs to provide... i / n The bending deformation angle is determined by controlling the rotation of each section of the circular tube around its axis via a motor. During the deformation process, the angle between the axes of each section of the circular tube is measured in real time by tilt sensors and angular displacement sensors. Each rotating circular tube rotates relative to the end face of the adjacent circular tube on its left.

[0007] According to the formula cos( i / n )=cos 2 c +sin 2 c cos β Will B A section of circular tube rotates clockwise around its axis. β At the same time, according to the formula cos c ·tan( β / 2)·tan α =1 will A Rotate a section of circular tube counterclockwise α This ensures that the end of the circular tube always remains within the plane formed by the upper and lower generatrices of the tube in its initial state. Simultaneously, A m ( m =2,3,…, n Rotation of a segment of circular tube π ,like m If it is even, then B m Rotate the segmented circular tube counterclockwise β ;like m If it is an odd number, then Bm Rotate the segmented tube clockwise β In each pair of rotating tubes, A j No. 1 round tube and B j The included angle between the axes of the two circular tubes is i / n That is, each pair of rotating circles provides i / n The bending angle is adjusted by coordinating the movement of each tube and rotating the rightmost movable part of the tube. i The length of the axial vector of each segment of the rotating tube can be adjusted according to the application scenario of the bending device. L and the angle between the inclined end face and the vertical end face of the rotating circular tube c To meet the deformation angle requirements in different usage scenarios. Attached Figure Description

[0008] Figure 1 This is an assembly diagram of the bending drive device of the present invention; Figure 2 This is a schematic diagram of the initial state of the present invention; Figure 3 This is a schematic diagram of the bending state of the present invention; Figure 4 This is a schematic diagram of the geometric parameters of the rotating circular tube of the present invention; Figure 5 This is a flowchart of the control method for the bending drive device of the present invention; Among them, 1-fixed part, 2-moving part, 3-rotating tube, 4-motor, 5-connecting ring, 6-first connecting plate, 7-second connecting plate, 8-annular end face, 9-ball bearing, 10-tilt sensor, 11-angular displacement sensor, 12-gear, 13-planetary gear ring, 14-axis vector. Detailed Implementation

[0009] To describe the purpose, effects, and technical solutions of this invention in detail, the following examples are provided to further illustrate the invention. It should be noted that the examples given herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0010] like Figure 1As shown, the device of the present invention includes a fixed part 1, a movable part 2, multiple rotating circular tubes 3 with vertical and inclined end faces, multiple connecting rings 5, multiple connecting plates, multiple annular end faces 8, ball bearings, a motor, an inclination sensor 10, an angular displacement sensor 11, a gear 12 and its connecting shaft, and a planetary gear ring 13; one end of the bending drive device is connected to the fixed part 1, and the other end is connected to the movable part 2. The movable part 2 bends relative to the fixed part 1 by deflecting adjacent segments of the rotating circular tube 3; each segment of the rotating circular tube 3 has one side with a vertical end face perpendicular to the axis of the rotating circular tube 3; the other side has an inclined end face at a certain angle to the axis of the rotating circular tube 3; the drive device consists of multiple rotating circular tubes 3. The tubes 3 are connected in sequence. In the initial state, the vertical end faces of adjacent rotating tubes 3 are in contact with each other, and the inclined end faces are in contact with each other. The central axes of all rotating tubes 3 coincide. In the initial state, the inclined surfaces of each rotating tube 3 in the drive device are arranged in parallel. During operation, the motor drives each rotating tube 3 to rotate around its axis. The angle between the axes of each tube is read by the tilt sensor 10, and the angle of rotation of the tube around the axis is read by the angular displacement sensor 11. The rotation angle of each segment is precisely controlled and coordinated. Through the compression of the inclined surface, the movable part 2 is bent relative to the fixed part 1, thereby realizing the control of the bending angle of the movable part 2 and keeping the end in the plane formed by the upper and lower generatrices of the rotating tube 3 in the initial state during the deformation process.

[0011] like Figure 2~5 As shown, in a confined workspace, the initial distance between the fixed part 1 and the movable part 2 is 400mm. Based on this usage scenario, four pairs of rotatable cylindrical tubes 3 are arranged horizontally, with the leftmost pair connected to the fixed part 1. The axial length of each rotatable cylindrical tube 3 is... L =50mm, outer diameter is R =120mm, wall thickness 4mm, the angle between the inclined end face and the vertical end face is . c =10°, each rotating tube 3 rotates relative to the end face of the adjacent tube on the left. A Milang P2500 angular displacement sensor 11 is used to measure the angle of rotation of the tube around the axis, and a Seika N2 tilt sensor 10 is used to measure the angle between the axes of each tube. The rotation of each tube segment around the axis is controlled by a motor, and the rotation angle of each segment is precisely controlled and coordinated.

[0012] Setting the rotatable tube 3 requires bending it upwards first. i 1 = 20°, then bend upwards to i 2 = 60°, finally bending downwards to i 3 = 30°.

[0013] The specific steps for drive control from 0° to 20° are as follows: The target bending angle of the device is i1=20°. Based on the sensor reading that the bending device is currently in its initial state with a bending angle of 0°, and determining that the required bending angle for the end movable part 2 is 20°, then each pair of rotatable circular tubes 3 needs to provide... i The bending deformation angle is 1 / 4 = 5°. According to the formula... cos( i 1 / 4) = cos 2 c +sin 2 c cos β 1 cos c ·tan( β 1 / 2)·tan α 1=1 B 1. B The three circular tubes rotate clockwise around the axis. β 1 = 29.10° B 2. B The four circular tube segments rotate 29.10° counterclockwise around the axis. Simultaneously, A A section of circular tube rotates counterclockwise around its axis. α 1 = 75.56° A 2. A 3. A 4-section circular tube rotation π In each pair of rotating circular tubes 3, A j No. 1 round tube and B j The included angle between the axes of the circular tubes is 5°. The circular tubes coordinate with each other so that the ends of the circular tubes always remain in the plane formed by the upper and lower generatrices of the circular tubes in the initial state. Rotate the circular tube (3) so that the rightmost movable part 2 bends upward by 20°.

[0014] The specific steps for driving the deformation from an upward bend of 20° to an upward bend of 60° are as follows: The target bending angle of the device is i 2 = 60°. Based on the sensor reading that the bending device is currently bent upwards by 20°, the required bending angle for the end movable part 2 is determined to be 40°. Therefore, each pair of rotatable circular tubes 3 needs to provide... i The bending deformation angle is 2 / 4 = 10°. According to the formula... cos( i 2 / 4) = cos 2 c +sin 2 c cos β 2 cos c ·tan(β 2 / 2)·tan α 2=1 B 1. B The three circular tubes rotate clockwise around the axis. β 2- β 1 = 68.37° B 2. B The four circular tube segments rotate 68.37° counterclockwise around the axis, simultaneously... A A section of circular tube rotates counterclockwise around its axis. α 2- α 1 = -33.86°. In each pair of rotating circular tubes (3), A j No. 1 round tube and B j The included angle between the axes of the circular tubes increases from 5° to 15°. The circular tubes coordinate with each other so that the ends of the circular tubes always remain in the plane formed by the upper and lower generatrices of the circular tubes in the initial state. The upward bending angle of the rightmost movable part 2 of the rotating circular tube 3 increases from 20° to 60°.

[0015] The specific steps for driving the deformation from an upward bend of 60° to a downward bend of 30° are as follows: The target bending angle of the device is i 3 = -30°. Based on the sensor reading that the bending device is currently bent upwards by 60°, the required bending angle for the end movable part 2 is determined to be -90°. Therefore, each pair of rotatable tubes 3 needs to provide... i The bending deformation angle is 3 / 4 = -22.5°. According to the formula... cos( i 3 / 4) = cos 2 c +sin 2 c cos β 3 cos c ·tan( β 3 / 2)·tan α 3=1 B 1. B The three circular tubes rotate clockwise around the axis. β 3- β 2 = -141.72° B 2. B The four circular tube segments rotate counterclockwise by -141.72° around the axis, simultaneously, A A section of circular tube rotates clockwise around its axis. α 3- α2 = -109.88°. In each pair of rotating circular tubes (3), A j No. 1 round tube and B j The included angle between the axes of the circular tubes changes from 15° to -7.5°. The circular tubes coordinate with each other so that the ends of the circular tubes always remain in the plane formed by the upper and lower generatrices of the circular tubes in the initial state. The rightmost movable part 2 of the circular tube 3 is rotated from bending upward 60° to bending downward 30°.

[0016] In other application scenarios, the length of the axis vector 14 of each segment of the rotating circular tube 3 of the bending device can be adjusted according to the actual application. L and the angle between the inclined end face and the vertical end face of the rotating circular tube 3 c This is to meet the deformation angle requirements of the current usage scenario.

[0017] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of the present invention, and these improvements should also be considered within the scope of protection of the present invention.

Claims

1. A control method for a bending drive device based on tilted surface rotation, characterized in that, The device includes a fixed part (1), a movable part (2), multiple rotating round tubes with vertical end faces and inclined end faces (3), multiple connecting rings (5), multiple connecting plates, multiple annular end faces (8), ball bearings, a motor, an inclination sensor (10), an angular displacement sensor (11), a gear (12) and its connecting shaft and a planetary gear ring (13). One end of the bending drive device is connected to the fixed part (1), and the other end is connected to the movable part (2). The movable part (2) bends relative to the fixed part (1) by deflecting the adjacent rotating tubes (3) of the drive device. Each rotating tube (3) has one side as a vertical end face, which is perpendicular to the axis of the rotating tube (3); the other side is an inclined end face, which forms a certain angle with the axis of the rotating tube (3). The drive device is composed of multiple rotating tubes (3) connected in sequence. In the initial state, the vertical end faces of adjacent rotating tubes (3) are in contact with each other, and the inclined end faces are in contact with each other. The central axes of all rotating tubes (3) coincide. In the initial state, the inclined surfaces of each rotating tube (3) in the drive device are arranged in parallel. During operation, the motor drives each rotating tube (3) to rotate around its axis, and the angle between the axes of each tube is read by the tilt sensor (10), and the angle of rotation of the tube around the axis is read by the angular displacement sensor (11). The rotation angle of each segment is precisely controlled and coordinated. Through the compression of the inclined surface, the movable part (2) bends relative to the fixed part (1), thereby realizing the control of the bending angle of the movable part (2) and keeping the end in the plane formed by the upper and lower generatrices of the rotating tube (3) in the initial state during the deformation process.

2. The control method for a bending drive device based on tilted surface rotation according to claim 1, characterized in that, Rotate the circular tube (3) and number it from left to right. The tube with the left end being the vertical end face is numbered. A j The number, the left end is the inclined end face. B j Number, A j No. 1 round tube and B j The numbered tubes are a pair, and the rotation angle between adjacent rotating tubes (3) is controlled by a motor (4) and a sensor.

3. The control method for a bending drive device based on tilted surface rotation according to claim 2, characterized in that, Based on the application scenarios and deformation requirements of the bending device, n The rotatable circular tubes (3) are arranged sequentially in the horizontal direction, with the leftmost one connected to the fixed part (1); the length of the axial vector (14) of each segment of the rotatable circular tube (3) is set as follows: L The angle between the axis of the rotating circular tube (3) and the normal to the inclined end face is . γ .

4. The control method for a bending drive device based on inclined plane rotation according to claim 3, characterized in that, The target bending angle is given according to the deformation requirements. θ The angle of the bending device is read by the sensor, and then the target bending angle is determined. θ The material is evenly distributed to each pair of rotatable tubes (3), meaning that each pair of rotatable tubes (3) needs to provide... θ / n The bending deformation angle is controlled by the motor to rotate each section of the round tube around the axis. During the deformation process, the angle between the axes of each section of the round tube is measured in real time by the tilt sensor (10) and the angular displacement sensor (11). Each rotating round tube (3) rotates relative to the end face of the adjacent round tube on the left.

5. The control method for a bending drive device based on inclined plane rotation according to claim 4, characterized in that, According to the formula cos( θ / n )=cos 2 γ +sin 2 γ cos β Will B A section of circular tube rotates clockwise around its axis. β At the same time, according to the formula cos γ ·tan( β / 2)·tan α =1 will A Rotate a section of circular tube counterclockwise α This ensures that the end of the circular tube always remains within the plane formed by the upper and lower generatrices of the circular tube in its initial state; simultaneously... A m ( m =2,3,…, n Rotation of a segment of circular tube π ,like m If it is even, then B m Rotate the segmented circular tube counterclockwise β ;like m If it is an odd number, then B m Rotate the segmented tube clockwise β ; In each pair of rotating circular tubes (3), A j No. 1 round tube and B j The included angle between the axes of the two circular tubes is θ / n That is, each pair of rotating circles provides θ / n The bending deformation angle is adjusted by coordinating the various circular tubes and rotating the rightmost movable part (2) of the circular tube (3) to change the bending angle. θ .

6. The control method for a bending drive device based on inclined plane rotation according to claim 5, characterized in that, The length of the axis vector (14) of each rotating tube segment can be adjusted according to the application scenario of the bending device. L The angle between the inclined end face and the vertical end face of the rotating circular tube (3) γ To meet the deformation angle requirements in different usage scenarios.

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