A zero reset control method of a counterforce block and a counterforce device

Abstract

This application provides a zero-return control method and reaction device for a reaction block. The method includes: before the start of the current movement, acquiring the current polarity discrete value output by each polarity sensor, and obtaining the current control parameters corresponding to all current polarity discrete values ​​from the target state table; controlling the dual parallel five-bar linkage module to drive the reaction block to perform the current movement according to the current control parameters; determining whether the reaction block meets the pre-zero-return end condition after the current movement; if the pre-zero-return end condition is met, controlling the reaction rotary motor to continue rotating in the original direction until the encoder on the reaction rotary motor acquires the index pulse in the set direction and stops rotating; and taking the position of the reaction block when all reaction rotary motors stop rotating as the zero-return end position. By adopting the above-mentioned zero-return control method and reaction device for the reaction block, the problems of high cost of the reaction device and low zero-return control accuracy are solved.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, and more specifically, to a method and device for zeroing back a reaction block. Background Technology

[0002] During equipment manufacturing, motors are used to control the acceleration of the controlled object. This generates a reaction force on the equipment's base, which can cause vibrations in other parts of the equipment, leading to reduced manufacturing precision. Currently, the reaction force is typically eliminated by the reverse movement of a reaction mass block, thus keeping the reaction force on the base zero and preventing resonance or vibration between the reaction force and the equipment's modes, thereby suppressing vibration. The reaction mass block is part of a reaction device, and existing reaction devices use three motors for vibration reduction control. To achieve better vibration reduction, the position of the reaction mass block in the reaction device needs to be corrected during vibration reduction control to return it to a specified zero-point position.

[0003] In the existing technology, when there is a large demand for reaction force in the reaction force device, a special linear motor with high power and a two-dimensional grating ruler are usually used to control the zero return of the reaction force block. This results in high cost of the reaction force device and poor zero return control accuracy. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method and device for zeroing back of a reaction block, so as to solve the problems of high cost of the reaction device and poor zeroing back control accuracy when the reaction demand is large.

[0005] In a first aspect, embodiments of this application provide a zero-return control method for a reaction block, applied to a reaction device. The reaction device includes a dual-parallel five-bar linkage module and a reaction block. The dual-parallel five-bar linkage module includes four reaction rotary motors. Each reaction rotary motor is equipped with an arc-shaped grating ruler, a polarity sensor, and an encoder. The polarity sensor is used to measure the zero-position edge strip of the arc-shaped grating ruler and output a discrete polarity value. The encoder is used to acquire the index pulse corresponding to the zero-position index point on the arc-shaped grating ruler. The zero-return control method includes:

[0006] Before this movement begins, obtain the current discrete polarity value output by each polarity sensor, and obtain the current control parameters corresponding to all current discrete polarity values ​​from the target state table;

[0007] According to the current control parameters, the dual parallel five-bar linkage module is controlled to drive the reaction block to make this movement;

[0008] Determine whether the reaction block after this movement meets the pre-zero termination condition;

[0009] If the pre-zero termination condition is met, for each reaction force rotary motor, control the reaction force rotary motor to continue rotating in the original direction until the encoder on the reaction force rotary motor obtains the index pulse in the set direction and stops rotating;

[0010] The position of the reaction block when all the reaction force rotary motors stop rotating is taken as the zero-return end position.

[0011] Optionally, the target state table is either a first state table or a second state table. The current control parameters corresponding to all current polarity discrete values ​​are obtained from the target state table, including: if the reaction block was in the first state before the start of this movement, the first state table is used as the target state table; the current combined discrete values ​​corresponding to all current polarity discrete values ​​are used as first index values, and the current control parameters corresponding to the first index values ​​are obtained from the target state table; if the reaction block was in the second state before the start of this movement, the second state table is used as the target state table; the current combined discrete values ​​corresponding to all current polarity discrete values ​​are used as first index values, and the combined discrete values ​​corresponding to all previous polarity discrete values ​​are used as second index values, and the current control parameters corresponding to the first and second index values ​​are obtained from the target state table. Whether the reaction block is in the first or second state is determined by the target state in the target state table corresponding to the previous movement or whether the combined discrete values ​​corresponding to the two previous movements are the same.

[0012] Optionally, controlling the reaction-force rotary motor to continue rotating in its original direction until the encoder on the reaction-force rotary motor acquires an index pulse in the set direction and stops rotating includes: setting a zero-return direction indicator for the reaction-force rotary motor; determining whether the original rotation direction of the reaction-force rotary motor is the same as the direction indicated by the zero-return direction indicator; if the two directions are the same, then when the polarity discrete value output by the polarity sensor corresponding to the reaction-force rotary motor changes for the first time, controlling the reaction-force rotary motor to rotate in the opposite direction at a first speed, until the polarity discrete value output by the polarity sensor changes for the second time, then controlling the reaction-force rotary motor to rotate in the opposite direction and gradually decelerate; when the polarity discrete value changes... After the value changes for the third time, the reaction force rotary motor is controlled to rotate at the second speed until an index pulse is obtained, at which point the reaction force rotary motor is controlled to stop rotating. If the two directions are different, after the first index pulse is obtained, the reaction force rotary motor is controlled to continue rotating at the first speed until the polarity discrete value output by the polarity sensor corresponding to the reaction force rotary motor changes for the first time. After the polarity discrete value changes for the first time, the reaction force rotary motor is controlled to gradually decelerate and rotate in the opposite direction until the polarity discrete value changes for the second time, at which point the reaction force rotary motor is controlled to rotate at the second speed until the second index pulse is obtained, at which point the reaction force rotary motor is controlled to stop rotating.

[0013] Optionally, before acquiring the discrete polarity value output by each polarity sensor, the method further includes: controlling the reaction block to move to various grid points within the movable range according to a set step size, and recording multiple discrete polarity values ​​output by different polarity sensors at each grid point; for each grid point, combining the multiple discrete polarity values ​​at that grid point to generate a combined discrete value corresponding to that grid point; constructing a combined discrete value mapping map based on the positions of all grid points and the values ​​of each grid point; and constructing a first state table and a second state table based on the combined discrete value mapping map.

[0014] Optionally, the control parameters include the moving axis identifier, the moving step size of the moving axis, and the moving direction; controlling the dual parallel five-bar linkage module to drive the reaction block to perform this movement according to the current control parameters includes: determining multiple target reaction rotary motors corresponding to the moving axis identifier and the moving direction, and the rotation direction of each target reaction rotary motor; determining the rotation time corresponding to the moving step size of the moving axis; controlling each target reaction rotary motor to rotate according to the rotation time, the corresponding rotation direction, and the set axis rotation sequence, and each target reaction rotary motor drives the corresponding five-bar linkage module to move, so as to drive the reaction block to complete this movement.

[0015] Optionally, determining whether the reaction block after this movement meets the pre-zero termination condition includes: if the value of the combined discrete value is a preset value, or if the number of iterations reaches the iteration threshold, determining that the pre-zero termination condition is met.

[0016] Secondly, this application also provides a reaction device, which includes a reaction block and a double parallel five-bar linkage module:

[0017] The dual parallel five-bar module includes a first five-bar module and a second five-bar module. Each five-bar module includes two reaction-force rotary motors and two cranks. The first end of each crank is connected to the eccentric bearing of the corresponding reaction-force rotary motor, and the second ends of each crank are connected to each other.

[0018] In the first five-bar linkage module, the connection point of the second end of the two cranks is connected to the first node of the reaction block. In the second five-bar linkage module, the connection point of the second end of the two cranks is connected to the second node of the reaction block. The reaction block includes two upper and lower crossbeams and two left and right longitudinal beams. The first node and the second node of the reaction block are located on the left and right longitudinal beams and are set obliquely opposite to each other.

[0019] Each reaction-force rotary motor is fixedly equipped with an arc-shaped grating ruler, a polarity sensor, and an encoder. The arc-shaped grating ruler is installed on the edge of the rotor of the reaction-force rotary motor and rotates with the rotor of the reaction-force rotary motor. The polarity sensor and encoder are fixed on the stator of the reaction-force rotary motor.

[0020] Optionally, the installation position of the arc-shaped grating ruler is determined by the correspondence between the trigger point of the index pulse of all encoders and the zero-return end position of the reaction block; when the reaction block is in the zero-return end position, the polarity discrete values ​​measured by all polarity sensors are the same.

[0021] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the reaction block zero-return control method described above are performed.

[0022] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the above-described method for controlling the return to zero of the reaction block.

[0023] The embodiments of this application bring the following beneficial effects:

[0024] This application provides a method and device for zeroing back a reaction block, which can use a polarity sensor to measure an arc-shaped grating ruler and output a discrete polarity value. The current control parameters for the current movement are obtained by looking up the discrete polarity value in a table. The reaction block is moved to the pre-zero position according to the current control parameters. When the encoder obtains an index pulse in the set direction, the reaction force rotary motor is controlled to stop rotating so that the reaction block reaches the zeroing end position. Compared with the existing zeroing back control method for reaction blocks, this method solves the problem of high cost of zeroing back control for reaction blocks when the reaction force demand is large.

[0025] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A flowchart of the zero-return control method for the reaction block provided in an embodiment of this application is shown;

[0028] Figure 2 This illustrates a single combined discrete value mapping diagram provided in an embodiment of this application;

[0029] Figure 3 A schematic diagram of the index pulse search process in different directions provided in the embodiments of this application is shown;

[0030] Figure 4 A schematic diagram of the index pulse search process in the same direction provided in the embodiments of this application is shown;

[0031] Figure 5 A schematic diagram of the reaction device provided in the embodiment of this application is shown;

[0032] Figure 6 This paper shows a schematic diagram of the structure of a single five-bar linkage module provided in an embodiment of this application;

[0033] Figure 7 A schematic diagram of the structure of the electronic device provided in the embodiments of this application is shown. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0035] It is worth noting that prior to this application, during equipment manufacturing, the acceleration of the controlled object was controlled by a motor. This generated a reaction force on the equipment base, which caused vibration in other parts of the equipment, leading to a decrease in manufacturing precision. Therefore, vibration reduction control was necessary. Currently, a three-motor reaction device is commonly used for vibration reduction control. To achieve better vibration reduction, the position of the reaction block in the reaction device needs to be corrected to return it to the specified zero point. In the prior art, when there is a large reaction force requirement for the reaction device, a high-power special linear motor and a two-dimensional grating ruler are usually used for zero-point control of the reaction block. Both special motors and two-dimensional grating rulers are expensive, resulting in high costs for zero-point control of the reaction block.

[0036] Based on this, the present application provides a method for zero-return control of a reaction block to reduce the high cost of zero-return control of the reaction block when the reaction force demand is large.

[0037] Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for controlling the homing of a reaction block, as provided in an embodiment of this application. Figure 1 As shown in the embodiment of this application, the zero-return control method for the reaction block is applied to a reaction device. The reaction device includes a double parallel five-bar linkage module and a reaction block. The double parallel five-bar linkage module includes four reaction rotary motors. Each reaction rotary motor is equipped with an arc-shaped grating ruler, a polarity sensor, and an encoder. The polarity sensor is used to measure the zero-position edge strip of the arc-shaped grating ruler and output a discrete polarity value. The encoder is used to obtain the index pulse corresponding to the zero-position index point on the arc-shaped grating ruler. The zero-return control method includes:

[0038] Step S101: Before the start of this movement, obtain the current polarity discrete value output by each polarity sensor, and obtain the current control parameters corresponding to all current polarity discrete values ​​from the target state table.

[0039] In this step, the polarity sensor is used to detect the zero-position edge strip of the arc-shaped grating ruler. The polarity sensor can determine whether the detection direction is blocked by the zero-position edge strip. Whether it is blocked or not corresponds to different polarity discrete values. When the polarity discrete value changes, it can be determined whether the zero-position edge strip is located in the detection direction of the polarity sensor.

[0040] For example, when the detection direction of the polarity sensor is blocked by the zero-position edge strip, the output polarity discrete value is 1, and when the detection direction of the polarity sensor is not blocked by the zero-position edge strip, the output polarity discrete value is 0.

[0041] An arc-shaped grating ruler refers to an arc-shaped relative grating ruler. This grating ruler is fixed to the rotor of a reaction-force rotary motor and rotates with it. It is used to measure the rotation angle of the reaction-force rotary motor. The edge of the arc-shaped grating ruler is called the zero-position edge strip, which serves as the measured object for the polarity sensor.

[0042] The target state table can refer to either the first state table or the second state table. The target state table records the control parameters corresponding to different combinations of discrete values.

[0043] Control parameters can refer to parameters that control the rotation of the motor. Control parameters include, but are not limited to: number of iterations, axis identifier, movement step size and direction of movement of the axis, and target state.

[0044] In this embodiment, the entire homing process is divided into two stages: the pre-homing stage and the initial homing stage. In the pre-homing stage, the reaction block is placed at approximately the middle of its travel range, i.e., the center of its movement range. Precise control is not required at this stage; it is only necessary to ensure that the reaction block has sufficient range to move freely in all directions to the homing end position and the position for obtaining the index pulse.

[0045] The following describes the movement control process of the reaction block using a movement during the pre-return-to-zero phase as an example. After the previous movement ends and before the current movement begins, the four polarity sensors on the four reaction rotary motors detect whether the zero-position edge strip of the arc-shaped grating ruler is obstructed in their respective detection directions. If obstructed, a polarity discrete value of 1 is output; otherwise, a polarity discrete value of 0 is output. Then, these four polarity discrete values ​​are combined to obtain the current combined discrete value. After determining the target state table, the current control parameters corresponding to the current combined discrete value are obtained from the target state table.

[0046] In one optional embodiment, before acquiring the discrete polarity value output by each polarity sensor, the method further includes: controlling the reaction block to move to various grid points within a movable range according to a set step size, and recording multiple discrete polarity values ​​output by different polarity sensors at each grid point; for each grid point, combining the multiple discrete polarity values ​​at that grid point to generate a combined discrete value corresponding to that grid point; constructing a combined discrete value mapping map based on the positions of all grid points and the values ​​of each grid point; and constructing a first state table and a second state table based on the combined discrete value mapping map.

[0047] Specifically, before implementing zero-return control of the reaction block, it is necessary to construct a first state table and a second state table to determine the control parameters required for each movement process. Here, the combined discrete values ​​corresponding to the reaction block at different positions are first determined, and a combined discrete value mapping diagram is constructed based on these combined discrete values. The first state table and the second state table are then constructed using the combined discrete value mapping diagram.

[0048] First, the reaction block can move freely on the base via an air bearing. The range of free movement on the base is defined as the movable range. The reaction block is controlled to move in 2mm increments, traversing each grid point within the movable range and recording the discrete polarity values ​​output by the four polarity sensors at each grid point. The four discrete polarity values ​​corresponding to each grid point are combined to generate a combined discrete value for each grid point. The position coordinates of each grid point are mapped to its corresponding combined discrete value to construct a combined discrete value mapping map. Then, based on the combined discrete value mapping map, a first state table and a second state table are constructed.

[0049] The following reference Figure 2 This section will introduce the construction process of the first state table and the second state table.

[0050] Figure 2 This illustrates a single combined discrete value mapping diagram provided in an embodiment of this application.

[0051] like Figure 2As shown, each grid point corresponds to a hexadecimal number, which is the combined discrete value corresponding to that grid point. Taking four polarity discrete values ​​all being 1 as an example, the combined discrete value obtained is F. It should be noted that... Figure 2 This is only a combined discrete value mapping diagram of the reaction block when the rotation angle (Rz) is 0. The combined discrete value mapping diagrams are different for different rotation angles.

[0052] First, establish a Cartesian coordinate system corresponding to the mapping diagram, with the horizontal direction to the right as the positive X-axis and the vertical downward direction as the positive Y-axis. According to the combined discrete value mapping diagram, if the combined discrete value of the reaction block in the initial position is 6, then the reaction block should be controlled to move to the left to return to the zero-return ending position (the position of the base center point is the zero-return ending position), that is, the reaction block should be controlled to move in the negative X-axis direction. Similarly, if the combined discrete value of the reaction block in the initial position is 9, then the reaction block should be controlled to move in the negative X-axis direction. In this way, 16 possible movement scenarios can be exhaustively listed for the initial position, and these 16 scenarios correspond to the 16 combined discrete values ​​in the first state table.

[0053] The first state table will be introduced below with reference to Table 1.

[0054] Table 1 is the first state table.

[0055]

[0056] As shown in Table 1, the combined discrete value field serves as the index for the first state table. The values ​​in this field are hexadecimal combined discrete values. The iteration count field specifies the allowed number of iterations for the entire pre-zero stage. Each move increments the iteration count by 1, representing the total number of steps in the entire pre-zero stage. The movement axis field controls the logical axis to be rotated during the current movement. Multiple movement axes are allowed; for example, x and y indicate rotation along the x-axis and y-axis sequentially. The first axis parameter field controls the movement distance and direction of the first axis in the movement axis field. The second axis parameter field controls the movement distance and direction of the second axis in the movement axis field. The third axis parameter field controls the movement distance and direction of the third axis in the movement axis field. For example, when the combined discrete value is 2 and the movement axis is x and y, a first axis parameter of -0.001 indicates a movement of 0.001 meters in the negative x-axis direction, and a second axis parameter of 0.001 indicates a movement of 0.001 meters in the positive y-axis direction. The target state field is used to determine which table to jump to after this move. For example, if the target state is state one, then the state one table will be used again; if the target state is state two, then the state two table will be used after this move. Specifically, when the target state is "Starting Zero Return," it indicates that the pre-zero return phase has ended and the start of the zero return phase has begun.

[0057] For different rotation angles Rz, multiple combined discrete value mapping diagrams can be obtained. These diagrams show that the rotation angle Rz of the reaction block cannot be predicted solely from the numerical values ​​of the combined discrete values. Therefore, we can exhaustively list 256 state switching scenarios to indicate the control parameters required to move the reaction block. Here, "state switching scenario" refers to the change in the combined discrete values ​​after two consecutive movements.

[0058] The second state table will be introduced below with reference to Table 2.

[0059] Table 2 is the second state table.

[0060]

[0061]

[0062] As shown in Table 2, the current combined discrete value field serves as the first index, where the value represents the currently obtained combined discrete value. The previous combined discrete value field serves as the second index, representing the combined discrete value obtained after the previous move. Taking the current move as the 6th move as an example, since the current move has not yet started and the control parameters for this move need to be obtained through the second state table, the combined discrete value after the 5th move is used as the first index, and the combined discrete value after the 4th move is used as the second index. The remaining fields in Table 2 have the same meaning as the corresponding fields in Table 1, and will not be repeated here.

[0063] In one optional embodiment, the target state table is either a first state table or a second state table. Obtaining the current control parameters corresponding to all current polarity discrete values ​​from the target state table includes: if the reaction block was in a first state before the start of this movement, using the first state table as the target state table; using the current combined discrete values ​​corresponding to all current polarity discrete values ​​as first index values, and obtaining the current control parameters corresponding to the first index values ​​from the target state table; if the reaction block was in a second state before the start of this movement, using the second state table as the target state table; using the current combined discrete values ​​corresponding to all current polarity discrete values ​​as first index values, and using the combined discrete values ​​corresponding to all previous polarity discrete values ​​as second index values, and obtaining the current control parameters corresponding to the first and second index values ​​from the target state table. Whether the reaction block is in the first or second state is determined by the target state in the target state table corresponding to the previous movement or whether the combined discrete values ​​corresponding to the two previous movements are the same.

[0064] Here, the first state table can refer to the control parameter table of the reaction block in the first state. The first state table is used to list all possible control parameters when the reaction block moves in the first state.

[0065] The second state table can refer to the control parameter table when the reaction block is in the second state. The second state table is used to list all possible control parameters when the reaction block moves in the second state.

[0066] The first state can refer to the initial state or the repeated execution state. When the reaction block makes its first move, or when the target state field in the state table is in the first state and the combined discrete values ​​after two moves are the same, the reaction block is determined to be in the first state.

[0067] The second state can refer to a state where the movement mode has changed. When the target state field in the state table is in the second state, or when the combined discrete value after the previous movement is different from the combined discrete value after the current movement, it is determined that the reaction block is in the second state after this movement.

[0068] Specifically, before the start of the entire zero-return control process, the reaction block is in its initial state. At this time, the signals from the zero-position edge strip detected by the four polarity sensors are acquired, and the corresponding combined discrete values ​​are determined based on these four signals. Since it is the first movement, the reaction block can be determined to be in the first state. The first state table is used as the target state table, and the determined combined discrete value is used as the first index value. The current control parameters corresponding to the first index value are obtained from the first state table. Assuming that the current combined discrete value is 3, the control parameters corresponding to index 3 are queried from the first state table. It can be determined that the iteration number is 25, the movement axis is y, the movement distance and direction along the y-axis is 0.001 meters in the positive y-axis direction, and the target state is the first state.

[0069] Assuming that after the first movement according to the above control parameters, the combined discrete value is still 3, since the target state recorded in the first state table is the first state, the reaction block is still in the first state. The first state table is then used as the target state table, and the block continues to move 0.001 meters in the positive Y-axis direction, thus completing the second movement. Assuming that the combined discrete value obtained after the second movement is 7, since the combined discrete value 7 after the second movement is different from the combined discrete value 3 after the previous movement, the reaction block is determined to be in the second state. The second state table is then used as the target state table. The control parameters with the first index 7 and the second index 3 are searched in the second state table, and the third movement is performed according to the found control parameters.

[0070] After the third move, since the target state recorded in the second state table is the second state, the reaction block remains in the second state. Assuming the combined discrete value obtained after the third move is 7, and since there is no row in the second state table with both the first and second indices set to 7, the control parameter in the row with the first index of 255 in the second state table is used as the parameter for the fourth move. However, since there are no control parameters in that row, the reaction block is changed to the first state based on the target state in the row with the first index of 255. The first state table is then used as the target state table, and the control parameter with the first index of 7 is read from the first state table as the control parameter for the fourth move.

[0071] Additionally, assuming the reaction block is in its initial state, the signals from the zero-position edge strip detected by the four polarity sensors are acquired, and the corresponding combined discrete value is determined to be 2 based on these four signals. After the first movement, the combined discrete value is also 2. At this time, the target state in the first state table is the second state. The second state table is then used as the target state table. The row with the first index 2 and the second index 2 is read from the second state table. However, since there is no such row in the second state table, the row with the first index 255 in the second state table is used as the read control parameter. Since there is no control parameter in this row, the target state in this row is acquired, the state of the reaction block is determined to be the first state, the first state table is used as the target state table, and the control parameter in the row with the first index 2 is read for movement.

[0072] Step S102: Control the double parallel five-bar linkage module to drive the reaction block to move according to the current control parameters.

[0073] In this step, since the control parameters include the moving axes, the step size of each moving axis, and the direction of movement, the reaction rotary motor in the double parallel five-bar linkage module can be controlled according to these control parameters. After the reaction rotary motor rotates, it drives the crank to move. Since the second end of the crank is connected to the reaction block, the reaction block can be controlled to complete this movement.

[0074] In one optional embodiment, the control parameters include the moving axis identifier, the moving step size of the moving axis, and the moving direction; controlling the dual parallel five-bar linkage module to drive the reaction block to perform this movement according to the current control parameters includes: determining multiple target reaction rotary motors corresponding to the moving axis identifier and the moving direction, and the rotation direction of each target reaction rotary motor; determining the rotation time corresponding to the moving step size of the moving axis; controlling each target reaction rotary motor to rotate according to the rotation time, the corresponding rotation direction, and the set axis rotation sequence, and each target reaction rotary motor drives the corresponding five-bar linkage module to move, so as to drive the reaction block to complete this movement.

[0075] Specifically, before the reaction block precisely returns to zero, its position cannot be accurately determined, making it impossible to directly move along the X, Y, and Rz axes through kinematic decoupling. Furthermore, due to manufacturing errors in the measuring sensors and mechanical installation, mechanical decoupling is not possible, and the system cannot directly achieve closed-loop control of the physical axes; otherwise, the motors would become open-loop. Therefore, in the pre-zeroing phase, where high dynamic performance of the reaction block is not required, a subset of motors can be selected to achieve movement along the X, Y, and Rz axes. The distance moved is an integral of time; by controlling the corresponding motors and the movement time, the direction and distance of the reaction block's movement can be controlled.

[0076] The following table, Table 3, illustrates the correspondence between control parameters and the reaction-force rotary motor.

[0077] Table 3 is a comparison table of shaft movement and motor rotation.

[0078] Moving axis First Rotary Electric Machine Second rotary motor Third Rotary Motor Fourth Rotary Motor x+ CW CCW x- CCW CW y+ CW CCW y- CW CCW Rz+ CCW CCW Rz- CW CW

[0079] As shown in Table 3, x+ represents movement in the positive X-axis direction, x- represents movement in the positive X-axis direction, y+ represents movement in the positive Y-axis direction, y- represents movement in the negative Y-axis direction, Rz+ represents rotation in the positive direction, and Rz- represents rotation in the opposite direction. The first rotary motor refers to the first reaction rotary motor in the first five-bar linkage module, and so on. CW represents clockwise rotation, and CCW represents counterclockwise rotation. This achieves the conversion from control parameters to rotational control of each reaction rotary motor.

[0080] Taking the control parameters of 0.001 meters in the positive X-axis direction and 0.001 meters in the positive Y-axis direction as an example, the values ​​of the first and third rows can be obtained from Table 3 respectively. That is, the movement of the X-axis corresponds to the clockwise rotation of the second reaction force rotary motor and the counterclockwise rotation of the third reaction force rotary motor, and the movement of the Y-axis corresponds to the clockwise rotation of the third reaction force rotary motor and the counterclockwise rotation of the fourth reaction force rotary motor.

[0081] Next, determine the rotation time corresponding to 0.001 meters, assuming it to be 0.25 seconds. Then, control the corresponding rotary motors to rotate in the following order: movement holding, X-axis movement, Y-axis movement, and Rz-axis movement. First, use the speed loop to control the second reaction rotary motor to rotate clockwise for 0.25 seconds, and the third reaction rotary motor to rotate counterclockwise for 0.25 seconds, completing the X-axis movement. Then, control the third reaction rotary motor to rotate clockwise for 0.25 seconds, and the fourth reaction rotary motor to rotate counterclockwise for 0.25 seconds, completing the Y-axis movement.

[0082] It should be noted that after each action, a movement holding action is required, which involves a certain waiting time to control the distance or angle of a single axis movement. Furthermore, during the movement of the reaction block, using a "pull" method results in a smaller outward uncontrolled movement distance than using a "push" method. Therefore, when moving the axis, a motor on the direction of movement is often used for driving. This determines the correspondence between axis movement and the selected reaction rotation motor in Table 3.

[0083] Step S103: Determine whether the reaction block after this movement meets the pre-return to zero termination condition.

[0084] In this step, the pre-zero homing termination condition refers to the termination condition of the pre-zero homing phase. When the pre-zero homing termination condition is met, the pre-zero homing phase ends, and the process begins the start-zero homing phase.

[0085] In one optional embodiment, determining whether the reaction block after this movement meets the pre-zero termination condition includes: if the value of the combined discrete value is a preset value, or if the number of iterations reaches the iteration threshold, determining that the pre-zero termination condition is met.

[0086] Specifically, after moving in the first state, if the combined discrete value is 0 or 15, the pre-zero homing phase ends and the starting zero homing phase begins. Alternatively, after moving in the second state during the pre-zero homing phase, the pre-zero homing phase ends and the starting zero homing phase begins after the number of moves reaches the iteration count of 25.

[0087] Step S104: If the pre-return to zero termination condition is met, for each reaction force rotary motor, control the reaction force rotary motor to continue rotating in the original direction until the encoder on the reaction force rotary motor obtains the index pulse in the set direction and stops rotating.

[0088] In this step, if the pre-zero return end condition is met, the pre-zero return stage ends, and the start-zero return stage begins. In the start-zero return stage, in order to accurately find the zero return end position, the zero return end position can be determined by obtaining the index pulse corresponding to the zero index point on each zero-position edge strip.

[0089] In one optional embodiment, controlling the reaction-force rotary motor to continue rotating in its original direction until the encoder on the reaction-force rotary motor acquires an index pulse in a set direction and stops rotating includes: setting a zero-return direction indicator for the reaction-force rotary motor; determining whether the original rotation direction of the reaction-force rotary motor is the same as the direction indicated by the zero-return direction indicator; if the two directions are the same, then when the polarity discrete value output by the polarity sensor corresponding to the reaction-force rotary motor changes for the third time, controlling the reaction-force rotary motor to rotate in the opposite direction at a first speed, until the polarity discrete value output by the polarity sensor changes for the second time, then controlling the reaction-force rotary motor to rotate in the opposite direction and gradually decelerate; in polarity After the discrete value changes for the third time, the reaction force rotary motor is controlled to rotate at the second speed until an index pulse is obtained, at which point the reaction force rotary motor is controlled to stop rotating. If the two directions are different, after the first index pulse is obtained, the reaction force rotary motor is controlled to continue rotating at the first speed until the polarity discrete value output by the polarity sensor corresponding to the reaction force rotary motor changes for the first time. After the first change in polarity discrete value, the reaction force rotary motor is controlled to gradually decelerate and rotate in the opposite direction until the second change in polarity discrete value occurs, at which point the reaction force rotary motor is controlled to rotate at the second speed until the second index pulse is obtained, at which point the reaction force rotary motor is controlled to stop rotating.

[0090] The following reference Figure 3 and Figure 4 Let's introduce the control process for starting the homing process.

[0091] Figure 3 The diagram illustrates the index pulse search process in different directions provided in the embodiments of this application.

[0092] like Figure 3 As shown, when the direction corresponding to the zero-return direction indicator is inconsistent with the original rotation direction of the reaction force rotary motor, 301 represents the index pulse, 302 represents the numerical change line when the polarity discrete value changes, 310 represents the reaction force rotary motor rotating at the first speed, 320 represents deceleration and reverse rotation, and 330 represents the reaction force rotary motor rotating at the second speed.

[0093] Specifically, at the end of the pre-zero return phase, based on the rotor's resting position, the direction of the zero-position index point of the reaction-force rotary motor relative to the polarity sensor can be determined, i.e., a zero-return direction indicator is set. If this direction is inconsistent with the original rotation direction of the reaction-force rotary motor, then... Figure 3 The reaction rotary motor is controlled to rotate in a schematic manner. Here, the original rotation direction of the reaction rotary motor refers to the rotation direction of the reaction rotary motor at the end of the pre-return to zero phase.

[0094] The following example, using a single reaction-force rotary motor with inconsistent directions, illustrates the initial zero-return control process. First, after the pre-zero-return phase, the reaction-force rotary motor continues rotating in its original direction. The encoder will then detect the index pulse corresponding to the zero-position index point for the first time. At this point, the reaction-force rotary motor continues to rotate at its original speed. When the polarity discrete value output by the polarity sensor corresponding to the reaction-force rotary motor changes for the first time, it indicates that the edge of the zero-position strip has rotated to the polarity sensor. The rotation direction needs to be changed so that the encoder can detect the zero-position index point again. Therefore, the reaction-force rotary motor is gradually decelerated and rotates in the opposite direction. Here, the deceleration is performed gradually at a constant value to improve control accuracy and prevent the motor from moving too far from the zero-position index point.

[0095] Since the edge of the zero-position strip has already passed the detection position of the polarity sensor before the reverse rotation, the polarity sensor will detect the edge of the zero-position strip again after the reverse rotation. At this time, the polarity discrete value changes for the second time, indicating that the polarity sensor is blocked by the zero-position strip. Next, the zero-position index point will gradually approach the encoder. At this time, the reaction force rotary motor is controlled to rotate at the second speed, which is lower than the first speed, until the encoder obtains the index pulse again, indicating that the zero-position index point is above the encoder. At this time, the reaction force rotary motor is controlled to stop rotating.

[0096] Figure 4 A schematic diagram of the index pulse search process in the same direction provided in the embodiments of this application is shown.

[0097] like Figure 4 As shown, when the direction corresponding to the zero-return direction indicator is consistent with the direction of motor rotation, 301 represents the index pulse, 302 represents the numerical change line when the polarity discrete value changes, 410 represents the reaction force rotating motor rotating at the first speed, 420 represents deceleration and reverse rotation, and 430 represents the reaction force rotating motor rotating at the second speed.

[0098] Specifically, at the end of the pre-return-to-zero stage, if the direction corresponding to the zero-return direction indicator is consistent with the original rotation direction of the reaction force rotary motor, then according to... Figure 4 The method of controlling the reaction force rotary motor to rotate is illustrated and will not be described in detail here. It should be noted that, in order to ensure that each reaction force rotary motor triggers the index pulse to jump edge in the same direction, when the direction corresponding to the zero return direction mark is consistent with the initial rotation direction of the reaction force rotary motor, the polarity sensor is triggered to jump at the first speed, that is, at high speed, and then the motor turns around and triggers the polarity sensor to jump at a slow speed.

[0099] Step S105: The position of the reaction block when all the reaction force rotary motors stop rotating is taken as the zero-return end position.

[0100] In this step, when the four reaction force rotary motors stop rotating, the reaction force block also stops moving. At this time, the encoders of the four reaction force rotary motors are all aligned with the zero index point, and the zero-return phase ends. It can be determined that the reaction force block is located at the zero-return end position.

[0101] It can be seen that the pre-zeroing stage is to move the reaction block to near the zeroing end position, and the starting zeroing stage is to accurately move the reaction block to the zeroing end position.

[0102] Compared with the existing zero-return control method for reaction blocks, this application can use a polarity sensor to measure the arc-shaped grating ruler and output a discrete polarity value. The current control parameters for this movement are obtained by looking up the discrete polarity value in a table. The reaction block is moved to the pre-zero position according to the current control parameters. When the encoder obtains the index pulse in the set direction, the reaction rotation motor is controlled to stop rotating so that the reaction block reaches the zero-return end position. This solves the problem of high cost of zero-return control for reaction blocks when the reaction force demand is large.

[0103] Based on the same inventive concept, this application also provides a reaction device corresponding to the zero-return control method of the reaction block. Since the principle of the device in this application is similar to the zero-return control method of the reaction block in the above-mentioned embodiment of this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0104] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a reaction device provided in an embodiment of this application. Figure 5 As shown, the reaction device includes a reaction block 510 and a double parallel five-bar linkage module:

[0105] The dual parallel five-bar linkage module includes a first five-bar linkage module 521 and a second five-bar linkage module 522. Each five-bar linkage module includes two reaction force rotary motors and two cranks. The first end of each crank is connected to the eccentric bearing of the corresponding reaction force rotary motor, and the second ends of each crank are connected to each other.

[0106] In the first five-bar linkage module, the connection point of the second end of the two cranks is connected to the first node of the reaction block. In the second five-bar linkage module, the connection point of the second end of the two cranks is connected to the second node of the reaction block. The reaction block includes two upper and lower crossbeams and two left and right longitudinal beams. The first node and the second node of the reaction block are located on the left and right longitudinal beams and are set obliquely opposite to each other.

[0107] Each reaction-force rotary motor is fixedly equipped with an arc-shaped grating ruler, a polarity sensor, and an encoder. The arc-shaped grating ruler is installed on the edge of the rotor of the reaction-force rotary motor and rotates with the rotor of the reaction-force rotary motor. The polarity sensor and encoder are fixed on the stator of the reaction-force rotary motor.

[0108] The reaction block 510 is connected by two crossbeams and two longitudinal beams. Figure 5 The reaction block 510 is a black framed area, and the two crossbeams are connected by two longitudinal beams. The reaction block 510 can move within a movable range, which refers to the dashed area corresponding to the base 530. This means that the reaction block can move in three degrees of freedom: X, Y, and Rz. The thrust generated by the transverse motors 561 and 562 drives the controlled object 570 to move. The reaction forces generated by the transverse motors 561 and 562 act directly on the two crossbeams of the reaction block 510 through the stators 551 and 552. Figure 5 The white rectangular area between the middle stator 551 and the stator 552 is the air-floating surface, which is also the working surface. The working surface is fixed on the base 530, and the controlled object 570 floats on the working surface and moves.

[0109] The dual-parallel five-bar linkage module is equipped with four reaction force rotary motors. Every two reaction force rotary motors form a five-bar linkage module, and two five-bar linkage modules constitute a dual-parallel five-bar linkage module. The dual-parallel five-bar linkage module is located below the reaction force block and is used to drive the reaction force block to prevent the reaction force block from drifting too far from its nominal position.

[0110] The reaction blocks are mounted on the base below via air bearings 531, 532, 533, and 534 at the four corners. Each reaction rotary motor is connected to the reaction block via a crank mechanism.

[0111] The following reference Figure 6 Let's introduce a single five-bar linkage module.

[0112] Figure 6 A schematic diagram of the structure of a single five-bar linkage module provided in an embodiment of this application is shown.

[0113] like Figure 6As shown, the first five-bar linkage module consists of a reaction-force rotary motor 601, a reaction-force rotary motor 602, a crank 611, and a crank 612. The first end of crank 611 is connected to the eccentric bearing of the reaction-force rotary motor 601, and the second end of crank 611 is connected to the second end of crank 612. The rotation of the reaction-force rotary motors 601 and 602 jointly drives a joint point 621, which is connected to a reaction block. Each reaction-force rotary motor is equipped with an arc-shaped grating ruler 631, a polarity sensor 632, and an encoder 633. The arc-shaped grating ruler 631 is an arc-shaped relative grating ruler, serving as the zero-position edge strip for the polarity sensor, acting as the measured object for the polarity sensor 632 and the encoder 633, rotating with the rotor of the reaction-force rotary motor. The polarity sensor 632 measures the edge of the arc-shaped grating ruler 631 and outputs discrete polarity values. The encoder 633 is used to detect the zero index point on the arc-shaped grating ruler 631 and output index pulses.

[0114] In an alternative implementation, the installation position of the arc-shaped grating ruler is determined by the correspondence between the trigger points of the index pulses of all encoders and the zero-return end position of the reaction block; when the reaction block is in the zero-return end position, the polarity discrete values ​​measured by all polarity sensors are the same.

[0115] Specifically, when the reaction block approaches the zero-return end position, the polarity sensor is near the point of polarity discrete value change. Therefore, the zero-position strip needs to meet the following positional requirements: First, the installation position of the zero-position strip should ensure that the zero-position index points of all four encoders correspond to the zero-return end position of the reaction block, that is, when the reaction block is at the zero-return end position, all four encoders can detect the index pulse simultaneously; Second, when the reaction block is at the zero-return end position, all polarity sensors are in the same polarity. Here, there will be installation errors when actually installing the zero-position strip, and it cannot be completely guaranteed that the index pulse will be detected simultaneously. Therefore, it is necessary to ensure that the zero-position strip is in the set interval corresponding to the jump position as much as possible. At the same time, it is necessary to ensure that the four zero-position strips are in the same polarity, that is, the combined discrete value is 0 or F.

[0116] The encoder is used to obtain the index pulse corresponding to the zero index point on the arc-shaped grating ruler and the number of pulses relative to the index point. The position of the reaction block can be calculated using the initialized number of pulses.

[0117] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 7 As shown, the electronic device 700 includes a processor 710, a memory 720, and a bus 730.

[0118] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 is running, the processor 710 communicates with the memory 720 via the bus 730. When the machine-readable instructions are executed by the processor 710, they can perform the operations described above. Figure 1 The steps of the zero-return control method for the reaction block in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0119] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 The steps of the zero-return control method for the reaction block in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0120] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0122] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0123] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0124] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0125] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the homing of a reaction block, characterized in that, This is applied to a reaction force device, which includes a dual-parallel five-bar linkage module and a reaction force block. The dual-parallel five-bar linkage module includes four reaction force rotary motors. Each reaction force rotary motor is equipped with an arc-shaped grating ruler, a polarity sensor, and an encoder. The polarity sensor is used to measure the zero-position edge strip of the arc-shaped grating ruler and output a discrete polarity value. The encoder is used to acquire the index pulse corresponding to the zero-position index point on the arc-shaped grating ruler. The zero-return control method includes: Before this movement begins, obtain the current discrete polarity value output by each polarity sensor, and obtain the current control parameters corresponding to all current discrete polarity values ​​from the target state table; According to the current control parameters, the dual parallel five-bar linkage module is controlled to drive the reaction block to move in this operation. Determine whether the reaction block after this movement meets the pre-zero termination condition; If the pre-return to zero termination condition is met, for each reaction force rotary motor, control the reaction force rotary motor to continue rotating in the original direction until the encoder on the reaction force rotary motor obtains the index pulse in the set direction and stops rotating; The position of the reaction block when all the reaction force rotary motors stop rotating is taken as the zero-return end position.

2. The method according to claim 1, characterized in that, The target state table is either a first state table or a second state table; The step of obtaining the current control parameters corresponding to all current polarity discrete values ​​from the target state table includes: If the reaction block is in the first state before the start of this movement, the first state table will be used as the target state table. Use the current combined discrete value corresponding to all current polarity discrete values ​​as the first index value, and retrieve the current control parameter corresponding to the first index value from the target state table; If the reaction block is in the second state before the start of this movement, the second state table will be used as the target state table. The current combined discrete value corresponding to all current polarity discrete values ​​is used as the first index value, and the combined discrete value corresponding to all previous polarity discrete values ​​is used as the second index value. The current control parameters corresponding to the first index value and the second index value are obtained from the target state table. Whether the reaction block is in the first state or the second state is determined by the target state in the target state table corresponding to the previous movement or whether the combined discrete values ​​corresponding to the two previous movements are the same.

3. The method according to claim 1, characterized in that, The control of the reaction force rotary motor to continue rotating in the original direction until the encoder on the reaction force rotary motor receives an index pulse in the set direction and stops rotating includes: Set the zero-return direction indicator for the reaction force rotary motor and determine whether the original rotation direction of the reaction force rotary motor is the same as the direction indicated by the zero-return direction indicator; If the two directions are the same, when the polarity discrete value output by the polarity sensor corresponding to the reaction force rotary motor changes for the first time, the reaction force rotary motor is controlled to rotate in the opposite direction at the first speed until the polarity discrete value output by the polarity sensor changes for the second time, at which point the reaction force rotary motor is controlled to rotate in the opposite direction and gradually decelerate. After the polarity discrete value changes for the third time, the reaction force rotary motor is controlled to rotate at the second speed until the index pulse is obtained, at which point the reaction force rotary motor is controlled to stop rotating. If the two directions are different, after the index pulse is obtained for the first time, the reaction force rotary motor is controlled to continue rotating at the first speed until the polarity discrete value output by the polarity sensor corresponding to the reaction force rotary motor changes for the first time. After the first change in polarity discrete value, the reaction force rotary motor is controlled to gradually decelerate and rotate in the opposite direction until the second change in polarity discrete value occurs. Then, the reaction force rotary motor is controlled to rotate at a second speed until the index pulse is obtained for the second time.

4. The method according to claim 1, characterized in that, Before acquiring the discrete polarity values ​​output by each polarity sensor, the method further includes: The reaction block is controlled to move to each grid point within the movable range according to a set step size, and multiple discrete polarity values ​​output by different polarity sensors at each grid point are recorded. For each grid point, the multiple polarity discrete values ​​at that grid point are combined together to generate the combined discrete value corresponding to that grid point; Based on the location of all grid points and the value of each grid point, a combined discrete value mapping graph is constructed. Based on the combined discrete value mapping diagram, a first state table and a second state table are constructed.

5. The method according to claim 1, characterized in that, The control parameters include the moving axis identifier, the moving step size of the moving axis, and the moving direction; The step of controlling the dual parallel five-bar linkage module to drive the reaction block to move in this instance according to the current control parameters includes: Determine the multiple target reaction force rotary motors corresponding to the moving axis identifier and the moving direction, and the rotation direction of each target reaction force rotary motor; Determine the rotation time corresponding to the movement step size of the moving axis; Each target reaction force rotary motor is controlled to rotate according to the specified rotation time, corresponding rotation direction, and set shaft rotation sequence. Each target reaction force rotary motor drives the corresponding five-bar linkage module to move, thereby driving the reaction block to complete this movement.

6. The method according to claim 1, characterized in that, Determining whether the reaction block after this movement meets the pre-return to zero termination condition includes: If the combined discrete value takes the preset value, or if the number of iterations reaches the iteration threshold, the pre-zero termination condition is determined to be met.

7. A reaction device, characterized in that, The reaction device includes a reaction block and a double parallel five-bar linkage module; The dual parallel five-bar linkage module includes a first five-bar linkage module and a second five-bar linkage module. Each five-bar linkage module includes two reaction force rotary motors and two cranks. The first end of each crank is connected to the eccentric bearing of the corresponding reaction force rotary motor, and the second ends of each crank are connected to each other. In the first five-bar linkage module, the connection point of the second end of the two cranks is connected to the first node of the reaction block. In the second five-bar linkage module, the connection point of the second end of the two cranks is connected to the second node of the reaction block. The reaction block includes two upper and lower crossbeams and two left and right longitudinal beams. The first node and the second node of the reaction block are located on the left and right longitudinal beams and are obliquely opposite to each other. Each reaction-force rotary motor is fixedly equipped with an arc-shaped grating ruler, a polarity sensor, and an encoder. The arc-shaped grating ruler is installed on the edge of the rotor of the reaction-force rotary motor and rotates with the rotor of the reaction-force rotary motor. The polarity sensor and encoder are fixed on the stator of the reaction-force rotary motor.

8. The reaction device according to claim 7, characterized in that, The installation position of the arc-shaped grating ruler is determined by the correspondence between the trigger points of the index pulses of all encoders and the zero-return end position of the reaction block; When the reaction block is in the zero-return end position, the polarity discrete values ​​measured by all polarity sensors are the same.

9. An electronic device, characterized in that, include: The device includes a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the zero-return control method for the reaction block as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the zero-return control method for the reaction block as described in any one of claims 1 to 6.

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