Multi-degree-of-freedom flight simulation motion platform and control method thereof

Abstract

This invention relates to the field of parallel motion platform technology for flight simulation, and discloses a multi-degree-of-freedom flight simulation motion platform and its control method. The flight simulation motion platform includes a base and a motion platform. The motion platform is connected to the base through three evenly arranged motion mechanisms. Each motion mechanism includes a support seat, an inverted U-shaped support arm, a rotating shaft, a drive assembly, and a precision control assembly. A connecting seat is vertically fixed at the upper end of the inverted U-shaped support arm. Three corresponding inverted U-shaped seats are evenly fixed on the lower surface of the motion platform. A fixing rod is horizontally fixed inside each inverted U-shaped seat, and the fixing rod is connected to the inverted U-shaped seat through a ball joint. The multi-degree-of-freedom flight simulation motion platform proposed in this invention exhibits good motion continuity, good simulation of continuous flight motion states, and excellent accuracy and stability.

Description

Technical Field

[0001] This invention relates to the field of parallel motion platform technology, specifically to a multi-degree-of-freedom flight simulation motion platform and its control method. Background Technology

[0002] Parallel motion mechanisms, also known as parallel robots, offer numerous advantages over traditional serial mechanisms, such as higher stiffness, stronger load-bearing capacity, and higher precision. Motion platforms are widely used in industrial production, entertainment, and leisure fields, including motion simulation, stability compensation, and dynamic simulation. Currently, the most common type is the six-degree-of-freedom parallel structure. Existing motion platforms generally use telescopic rod structures as parallel motion mechanisms. This type of structure, in continuous motion simulation, has many points of change in travel direction, easily generating inertia and jerking, thus reducing the simulation effect. Such motion platforms are typically used in large-scale simulation scenarios such as heavy-duty civil aviation flight simulation, refueling aircraft flight simulation, armored vehicle driving simulation, and earthquake / tsunami simulation. In contrast, three-degree-of-freedom motion platforms have shorter motion calculation times and faster motion response speeds, giving them a natural advantage in simulating smaller aircraft such as helicopters and small fighter jets, enabling rapid response under various flight data packet scenarios.

[0003] Existing technical documents:

[0004] Patent Document 1: CN200810051086.5, Three-degree-of-freedom motion simulation platform Summary of the Invention

[0005] According to a first aspect of the present invention, a multi-degree-of-freedom flight simulation motion platform is proposed, which is a three-degree-of-freedom motion platform architecture, comprising:

[0006] The base serves as the lower platform;

[0007] The motion platform, serving as the upper platform, is connected to the base via three evenly arranged motion mechanisms, which are positioned in a triangular configuration.

[0008] The motion mechanism includes:

[0009] A support base is fixedly mounted on the base, and the support base is configured as a hollow structure;

[0010] An inverted U-shaped support arm is vertically installed on the upper side of the support base, with both ends of the inverted U-shaped support arm placed on both sides of the support base;

[0011] Two connecting arms are symmetrically arranged on both sides of the support base and parallel to the support base. The two connecting arms are rotatably connected to two inverted U-shaped support arms respectively.

[0012] A rotating shaft passes through and rotatably mounts on the support base, with its two ends fixedly connected to the two connecting arms respectively;

[0013] The base is fixedly provided with three drive components, which correspond to the positions of the three support seats and drive the three rotating shafts to rotate respectively.

[0014] A precision control component is disposed between the rotating shaft and the support base for calculating the number of rotations;

[0015] The upper end of the inverted U-shaped support arm is vertically fixed with a connecting seat, and the lower end face of the motion platform is uniformly fixed with three inverted U-shaped seats corresponding to the connecting seats. A fixing rod is horizontally fixed inside the inverted U-shaped seat, and the fixing rod is connected to the inverted U-shaped seat through a ball hinge.

[0016] Furthermore, the drive assembly includes a servo motor fixedly mounted on the base, the output end of the servo motor being coaxially fixedly connected to a transmission shaft, the transmission shaft extending into the support base and being coaxially fixedly connected to a driving bevel gear, a reinforcing seat being fixedly mounted inside the support base and rotatably connected to the transmission shaft, a driven bevel gear being fixedly sleeved on the rotating shaft, and the driving bevel gear meshing with the driven bevel gear.

[0017] Furthermore, the precision control component includes an annular block fixedly sleeved on the rotating shaft, with a plurality of sensing protrusions uniformly fixedly arranged on the side wall of the annular block, and sensors corresponding to the positions of the plurality of sensing protrusions fixedly arranged on the inner wall of the support base.

[0018] Furthermore, a mounting base is fixedly provided on the inner wall of the support base, a pneumatic telescopic rod is fixedly provided on the mounting base, a brake pad is fixedly provided on the telescopic end of the pneumatic telescopic rod, and a brake disc corresponding to the position of the brake pad is fixedly sleeved on the rotating shaft.

[0019] It should be understood that the simulated motion control process of the multi-degree-of-freedom flight simulation motion platform proposed above in this invention includes:

[0020] The servo motor can drive the drive shaft to rotate. When the drive shaft rotates, it can drive the driving bevel gear to rotate. When the driving bevel gear rotates, it drives the driven bevel gear to rotate through meshing. The driven bevel gear is sleeved on the rotating shaft, realizing the rotation of the rotating shaft.

[0021] When the shaft rotates, it can synchronously drive the two connecting arms connected to its two ends to rotate. When the two connecting arms rotate, they can drive the inverted U-shaped support arm to reciprocate vertically. The upper end of the inverted U-shaped support arm is connected to the motion platform through a ball hinge structure. Three servo motors work simultaneously and drive the three positions of the motion platform to move vertically respectively, realizing the action of parallel motion, which can achieve a simulation effect.

[0022] During the movement, the rotating shaft rotates, which drives the ring block to rotate. Several sensing protrusions on the ring block continuously pass by the sensor, and the synchronous connecting arm continuously changes its length. The sensor records the number of sensing protrusions that pass by. The number of sensing protrusions on the ring block is constant. When the number of sensing protrusions that pass by the sensor reaches a preset value, a command can be input to stop the servo motor.

[0023] When it is necessary to stop working, the servo motor stops working, the pneumatic telescopic rod works, causing the brake pads to press tightly against the brake disc, thus stopping the shaft from rotating.

[0024] According to a second aspect of the present invention, a control method for a multi-degree-of-freedom flight simulation motion platform is also proposed, comprising the following steps:

[0025] Step S1: Set the three motion mechanisms as x, y, and z motion mechanisms, and set the reciprocating stroke of the three motion mechanisms in the vertical direction as x1, y1, and z1, respectively. Set the lengths of the three connecting arms as a, b, and c.

[0026] Step 2: The controller receives the control command sent by the host computer, constructs a motion model based on the control command, determines the motion mechanism that needs to move, and obtains the strokes x1, y1, z1 that each motion mechanism needs to perform.

[0027] Step 3: Substitute the expected travel value with the circular rotation motion. The travel distance between the lowest and highest positions is equal to the travel distance of half a rotation, that is, the maximum travel distance is half a rotation, while the reciprocating travel distance is equal to the travel distance of one rotation.

[0028] Step 4: Compare the motion strokes x1, y1, z1 with the corresponding current connecting arm lengths a, b, c, determine the values ​​of x1, y1, z1 and a, b, c, and control the three connecting arms to extend and retract so that x1 = a, y1 = b, z1 = c. The synchronous servo motor drives the rotating shaft to move, ensuring that the distance between the highest and lowest points of the three motion mechanisms in one rotation is combined with the reciprocating stroke in the vertical direction.

[0029] Step 5: During the operation of the servo motor, the sensor detects the movement. When a sensing bump passes the sensor, the signal is recorded and sent to the controller. The number of sensing bumps is fixed. The number of rotations is detected based on the number of passing sensing bumps. When the corresponding number of rotations is reached or the position where the motion mechanism no longer needs to move is reached, the controller controls the corresponding servo motor to stop working, and the synchronous electric telescopic rod also stops extending and retracting.

[0030] The multi-degree-of-freedom flight simulation motion platform of the present invention utilizes a continuously rotating motion mechanism to generate motion operations. This rotating mechanism allows for continuous motion, eliminating stagnation and inertia at threshold lengths compared to commonly used telescopic rod structures. This allows for the simulation of continuous motion, resulting in smoother simulation and increased realism. Furthermore, a precise control structure is incorporated to accurately control the motion stroke, further enhancing the simulation effect and providing excellent motion responsiveness. Simultaneously, stopping the simulation avoids the influence of inertia, increasing simulation safety. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly described below.

[0032] Figure 1 This is a three-dimensional structural diagram of a multi-degree-of-freedom flight simulation motion platform according to an embodiment of the present invention.

[0033] Figure 2 This is a perspective view of the multi-degree-of-freedom flight simulation motion platform of the present invention.

[0034] Figure 3 This is a top view of the multi-degree-of-freedom flight simulation motion platform according to an embodiment of the present invention.

[0035] Figure 4 This is a side view of the multi-degree-of-freedom flight simulation motion platform according to an embodiment of the present invention.

[0036] Figure 5 This is a schematic diagram of the internal three-dimensional structure of the support base according to an embodiment of the present invention.

[0037] Figure 6 This is a flowchart of the control method for a multi-degree-of-freedom flight simulation motion platform according to an embodiment of the present invention.

[0038] The meanings of the various reference numerals in the figure are defined as follows:

[0039] 1. Base, 2. Motion platform, 3. Support seat, 4. Inverted U-shaped support arm, 5. Rotary shaft, 6. Connecting seat, 7. Inverted U-shaped seat, 8. Fixing rod, 9. Ball hinge, 11. Servo motor, 12. Drive shaft, 13. Driving bevel gear, 14. Reinforcing seat, 15. Driven bevel gear, 41. Connecting arm, 51. Ring block, 52. Sensing protrusion, 53. Sensor, 54. Mounting seat, 55. Pneumatic telescopic rod, 56. Brake pad, 57. Brake disc. Detailed Implementation

[0040] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0041] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product.

[0042] Reference Figure 1-4 The multi-degree-of-freedom flight simulation motion platform of the illustrated embodiment includes a base 1 and a motion platform 2, which constitute the basic architecture of the motion platform. The base 1 serves as the lower platform, and the motion platform 2 serves as the upper platform.

[0043] The motion platform 2 is connected to the base 1 through three evenly arranged motion mechanisms. The three motion mechanisms are arranged in a triangular position. The three motion mechanisms drive the three corner positions of the motion platform 2 to perform vertical movement, forming a three-degree-of-freedom parallel motion platform architecture.

[0044] As an optional example, combined Figure 1-3 As shown, the aforementioned motion mechanism includes: a support base 3 fixedly mounted on the base 1, the support base 3 being a hollow structure; an inverted U-shaped support arm 4 vertically mounted on the upper side of the support base 3, with both ends of the inverted U-shaped support arm 4 positioned on both sides of the support base 3; and two connecting arms 41 symmetrically mounted on both sides of the support base 3 and parallel to the support base 3, with the two connecting arms 41 rotatably connected to the two inverted U-shaped support arms 4 respectively.

[0045] Therefore, when the two connecting arms 41 rotate, they can drive the inverted U-shaped support arm 4 to move vertically, thus controlling the vertical movement of one corner of the motion platform 2 and simulating the effect of a continuous tsunami earthquake. Meanwhile, to ensure different stroke lengths, the connecting arms 41 are equipped with an electric telescopic rod structure, and a distance sensor can be used to precisely control the length of the connecting arms 41.

[0046] As shown in the figure, the rotating shaft 5 is mounted on the support base 3 through and rotatably. Both ends of the rotating shaft 5 are fixedly connected to the two connecting arms 41, which facilitates the rotation of the two connecting arms 41.

[0047] In an embodiment of the present invention, the motion mechanism is configured to achieve rotational movement of the two connecting arms 41 under the control of the drive component and the precision control component.

[0048] To achieve parallel motion with three degrees of freedom, three drive components are fixedly installed on the base 1.

[0049] Three drive components correspond to the positions of the three support bases 3 and drive the three rotating shafts 5 to rotate respectively. Specifically, the drive components include a servo motor 11 fixedly mounted on the base 1, a drive shaft 12 coaxially fixedly connected to the output end of the servo motor 11, the drive shaft 12 extending into the support base 3 and coaxially fixedly connected to a drive bevel gear 13, a reinforcing base 14 fixedly mounted inside the support base 3 and rotatably connected to the drive shaft 12, and a driven bevel gear 15 fixedly mounted on the rotating shaft 5, with the drive bevel gear 13 meshing with the driven bevel gear 15.

[0050] The servo motor 11 can be an existing commercial servo motor. When the servo motor 11 is driven to rotate, it drives the transmission shaft 12 to rotate, thereby driving the driving bevel gear 13 and the driven bevel gear 15 to rotate, ultimately achieving the purpose of rotating the shaft 5.

[0051] In an embodiment of the present invention, the torque and transmission ratio are increased by using a shaft drive method, and a reduction gearbox 16 is fixedly connected to the drive shaft 12 to increase transmission stability.

[0052] To ensure control precision and guarantee that the motion mechanism stops working at the corresponding position, a precision control component is set between the rotating shaft 5 and the support base 3 to calculate the number of rotations.

[0053] The precision control component includes an annular block 51 fixedly sleeved on the rotating shaft 5, and a plurality of sensing protrusions 52 uniformly fixedly arranged on the side wall of the annular block 51. Sensors 53 corresponding to the positions of the plurality of sensing protrusions 52 are fixedly arranged on the inner wall of the support base 3.

[0054] It should be understood that the sensor 53 uses a commercially available counting sensor or position sensor to sense the sensing bumps 52 passing by it, thereby calculating the number. Based on the constant number of sensing bumps 52 on the annular block 51, the annular block 51 rotates once the constant number is reached, thereby controlling the number of rotations of the annular block 51 and controlling whether the annular block 51 rotates.

[0055] In an optional embodiment, a connecting seat 6 is vertically fixed at the upper end of the inverted U-shaped support arm 4, and three inverted U-shaped seats 7 corresponding to the connecting seats 6 are evenly fixed on the lower end face of the motion platform 2. A fixing rod 8 is horizontally fixed inside the inverted U-shaped seat 7. The fixing rod 8 is connected to the inverted U-shaped seat 7 through a ball hinge 9 to realize the structure of the parallel motion platform and effectively transmit the motion action of the motion mechanism to the motion platform 2.

[0056] It should be understood that when the motion platform stops, the rotation will generate inertia, which may damage or affect the servo motor 11, and will also cause the motion platform 2 to shake. Therefore, in the embodiment of the present invention, a mounting base 54 is fixedly provided on the inner wall of the support base 3, a pneumatic telescopic rod 55 is fixedly provided on the mounting base 54, a brake pad 56 is fixedly provided on the telescopic end of the pneumatic telescopic rod 55, and a brake disc 57 corresponding to the position of the brake pad 56 is fixedly sleeved on the rotating shaft 5.

[0057] Therefore, when a stop is required, the rotating shaft 5 can be braked. A pre-set braking value can be designed, that is, the number of sensing protrusions 52 that pass through is preset to N. That is, when the number of sensing protrusions 52 that pass through the sensor 53 reaches N, the movement stops. The braking value is set to n, n < N. When the number of sensing protrusions 52 that pass through the sensor 53 reaches n, the braking action is performed, which reduces the extension and retraction speed of the pneumatic telescopic rod 55, thereby reducing the generation of inertia and avoiding large turbulence when stopping, which would affect the flight piloting experience and realism.

[0058] In an optional embodiment, a housing is fixedly installed on the base 1, and a controller is fixedly installed inside the housing. The drive component, precision control component, connecting arm 41 and pneumatic telescopic rod 55 are all electrically connected to the controller. The controller adopts existing technology and can control the devices and controlled objects in the overall motion platform.

[0059] It should be understood that, in combination Figure 1-4 As shown, the multi-degree-of-freedom flight simulation motion platform of this invention, through the motion mechanism, achieves motion simulation by including:

[0060] The servo motor 11 can drive the transmission shaft 12 to rotate. When the transmission shaft 12 rotates, it can drive the driving bevel gear 13 to rotate. When the driving bevel gear 13 rotates, it drives the driven bevel gear 15 to rotate through meshing. The driven bevel gear 15 is sleeved on the rotating shaft 5, realizing the rotation of the rotating shaft 5.

[0061] When the rotating shaft 5 rotates, it can synchronously drive the two connecting arms 41 connected to its two ends to rotate. When the two connecting arms 41 rotate, they can drive the inverted U-shaped support arm 4 to move back and forth in the vertical direction. The upper end of the inverted U-shaped support arm 4 is connected to the motion platform 2 through a ball hinge structure. The three servo motors 11 work at the same time and drive the three positions of the motion platform 2 to move vertically respectively, realizing the action of parallel motion, which can achieve the simulation effect.

[0062] During the movement, the rotating shaft 5 rotates, which drives the ring block 51 to rotate. Several sensing protrusions 52 on it continuously pass by the sensor 53. The sensor 53 records the number of sensing protrusions 52 that pass by. The number of sensing protrusions 52 on the ring block 51 is constant. When the number of sensing protrusions 52 that pass by the sensor 53 reaches a preset value, a command can be input to stop the servo motor 11.

[0063] Simultaneously, when it is necessary to stop working, in order to overcome inertia, the pneumatic telescopic rod 55 is activated, causing the brake pad 56 to press tightly against the brake disc 57, thereby stopping the rotation of the rotating shaft 5.

[0064] Reference Figure 5 and Figure 6 As an example, the control method of the multi-degree-of-freedom flight simulation motion platform of this invention includes the following steps:

[0065] Step S1: Set the three motion mechanisms as x, y, and z motion mechanisms, and set the reciprocating stroke of the three motion mechanisms in the vertical direction as x1, y1, and z1, respectively. Set the lengths of the three connecting arms as a, b, and c.

[0066] Step 2: The controller receives the control command sent by the host computer, constructs a motion model based on the control command, determines the motion mechanism that needs to move, and obtains the strokes x1, y1, z1 that each motion mechanism needs to perform.

[0067] Step 3: Substitute the expected travel value with the circular rotation motion. The travel distance between the lowest and highest positions is equal to the travel distance of half a rotation, that is, the maximum travel distance is half a rotation, while the reciprocating travel distance is equal to the travel distance of one rotation.

[0068] Step 4: Compare the motion strokes x1, y1, z1 with the corresponding current connecting arm lengths a, b, c, determine the values ​​of x1, y1, z1 and a, b, c, and control the three connecting arms to extend and retract so that x1 = a, y1 = b, z1 = c. The synchronous servo motor drives the rotating shaft to move, ensuring that the distance between the highest and lowest points of the three motion mechanisms in one rotation is combined with the reciprocating stroke in the vertical direction.

[0069] Step 5: During the operation of the servo motor, the sensor detects the movement. When a sensing bump passes the sensor, the signal is recorded and sent to the controller. The number of sensing bumps is fixed. The number of rotations is detected based on the number of passing sensing bumps. When the corresponding number of rotations is reached or the position where the motion mechanism no longer needs to move is reached, the controller controls the corresponding servo motor to stop working, and the synchronous electric telescopic rod also stops extending and retracting.

[0070] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom flight simulation motion platform, characterized in that, include: The base (1) serves as the lower platform; The motion platform (2), as the upper platform, is connected to the base (1) through three evenly arranged motion mechanisms, and the three motion mechanisms are arranged in a triangular position. The motion mechanism includes: A support base (3) is fixedly mounted on the base (1), and the support base (3) is configured as a hollow structure; An inverted U-shaped support arm (4) is vertically arranged on the upper side of the support base (3), with the two ends of the inverted U-shaped support arm (4) respectively placed on both sides of the support base (3); Two connecting arms (41) are symmetrically arranged on both sides of the support base (3) and parallel to the support base (3). The two connecting arms (41) are rotatably connected to two inverted U-shaped support arms (4). A rotating shaft (5) is mounted on the support base (3) through which the rotating shaft (5) passes and rotates. Both ends of the rotating shaft (5) are fixedly connected to two connecting arms (41) respectively. The driving components are respectively arranged on the base (1) with three driving components corresponding to the positions of the three support seats (3) and driving the three rotating shafts (5) to rotate respectively. A precision control component is disposed between the rotating shaft (5) and the support base (3) and is used to calculate the number of rotations; The upper end of the inverted U-shaped support arm (4) is vertically fixed with a connecting seat (6), and the lower end face of the motion platform (2) is uniformly fixed with three inverted U-shaped seats (7) corresponding to the connecting seats (6). A fixing rod (8) is horizontally fixed inside the inverted U-shaped seat (7), and the fixing rod (8) is connected to the inverted U-shaped seat (7) through a ball hinge (9).

2. The multi-degree-of-freedom flight simulation motion platform according to claim 1, characterized in that, The drive assembly includes a servo motor (11) fixedly mounted on the base (1); The output end of the servo motor (11) is coaxially fixedly connected to the transmission shaft (12); The drive shaft (12) extends into the support base (3) and is coaxially fixedly connected to the drive bevel gear (13). A reinforcing base (14) is fixedly installed in the support base (3) and is rotatably connected to the drive shaft (12). A driven bevel gear (15) is fixedly sleeved on the rotating shaft (5). The drive bevel gear (13) and the driven bevel gear (15) are meshed together.

3. The multi-degree-of-freedom flight simulation motion platform according to claim 1, characterized in that, The precision control component includes an annular block (51) fixedly sleeved on the rotating shaft (5); A plurality of sensing protrusions (52) are uniformly fixed on the side wall of the annular block (51), and a sensor (53) corresponding to the position of the plurality of sensing protrusions (52) is fixed on the inner wall of the support base (3).

4. The multi-degree-of-freedom flight simulation motion platform according to claim 1, characterized in that, An installation seat (54) is fixedly provided on the inner wall of the support base (3), and a pneumatic telescopic rod (55) is fixedly provided on the installation seat (54); A brake pad (56) is fixedly installed on the telescopic end of the pneumatic telescopic rod (55), and a brake disc (57) corresponding to the position of the brake pad (56) is fixedly sleeved on the rotating shaft (5).

5. The multi-degree-of-freedom flight simulation motion platform according to claim 2, characterized in that, The drive shaft (12) is equipped with a reduction gearbox (16).

6. The multi-degree-of-freedom flight simulation motion platform according to claim 1, characterized in that, The connecting arm (41) adopts an electric telescopic rod structure.

7. The multi-degree-of-freedom flight simulation motion platform according to claim 1, characterized in that, A housing is fixedly installed on the base (1), and a controller is fixedly installed inside the housing. The drive assembly, precision control assembly, connecting arm (41) and pneumatic telescopic rod (55) are all electrically connected to the controller and their movement is controlled by the controller.

8. A control method for a multi-degree-of-freedom flight simulation motion platform according to claim 1, characterized in that, The control method includes the following steps: Step S1: Set the three motion mechanisms as x, y, and z motion mechanisms, and set the reciprocating stroke of the three motion mechanisms in the vertical direction as x1, y1, and z1, respectively. Set the lengths of the three connecting arms as a, b, and c. Step 2: The controller receives the control command sent by the host computer, constructs a motion model based on the control command, determines the motion mechanism that needs to move, and obtains the strokes x1, y1, z1 that each motion mechanism needs to perform. Step 3: Substitute the expected travel value with the circular rotation motion. The travel distance between the lowest and highest positions is equal to the travel distance of half a rotation, that is, the maximum travel distance is half a rotation, while the reciprocating travel distance is equal to the travel distance of one rotation. Step 4: Compare the motion strokes x1, y1, z1 with the corresponding current connecting arm lengths a, b, c, determine the values ​​of x1, y1, z1 and a, b, c, and control the three connecting arms to extend and retract so that x1 = a, y1 = b, z1 = c. The synchronous servo motor drives the rotating shaft to move, ensuring that the distance between the highest and lowest points of the three motion mechanisms in one rotation is combined with the reciprocating stroke in the vertical direction. Step 5: During the operation of the servo motor, the sensor detects the movement. When a sensing bump passes the sensor, the signal is recorded and sent to the controller. The number of sensing bumps is fixed. The number of rotations is detected based on the number of passing sensing bumps. When the corresponding number of rotations is reached or the position where the motion mechanism no longer needs to move is reached, the controller controls the corresponding servo motor to stop working, and the synchronous electric telescopic rod also stops extending and retracting.

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