A drive-transmission integrated intelligent control system and method

Abstract

The present invention relates to a drive-transmission integrated intelligent control system and method, the system includes a flexible vibration sensor and a drive-transmission integrated device, a control unit is arranged in the drive-transmission integrated device, the flexible vibration sensor is arranged on the outer wall of the drive-transmission integrated device to collect vibration data of the drive-transmission integrated device, and the control unit connected to the flexible vibration sensor analyzes the received vibration data and controls the speed and / or torque of the drive-transmission integrated device by feedforward control or feedback control. The present invention analyzes the vibration data of the flexible vibration sensor, and realizes accurate control of the speed and torque of the drive-transmission integrated device by feedforward control or feedback control, with higher accuracy.

Description

Technical Field

[0001] The present invention relates to the field of drive and transmission technology, and in particular to a drive-transmission integrated intelligent control system and method. Background Art

[0002] Drive and transmission technology are the two core key technologies of high-end equipment. As various technologies mature, the demand for integrated drive and transmission products with high power density ratio is increasing. my country's current drive and transmission technology is still in the development stage. The design of high-end equipment is mostly carried out in a decentralized mode of "drive system + transmission system + encoder + controller", resulting in defects such as discrete parts, complex assembly, and cumbersome debugging. In addition, due to the relatively independent design and installation of the drive system and the transmission system, the overall structure of the system is huge and the transmission chain is complicated, resulting in low power density and high efficiency loss, which cannot meet the performance requirements of high-end equipment for high precision, strong overload, high dynamic characteristics, and integrated drive and transmission products.

[0003] The harmonic drive mechanism realizes mechanical transmission by using flexible components. Its working principle is that the harmonic generator causes the flexible wheel to produce periodic elastic deformation so as to mesh with the rigid wheel to transmit power. High requirements are placed on the material properties and manufacturing accuracy of the flexible wheel. Especially under high speed and high load conditions, the flexible wheel is prone to fatigue damage, resulting in failure of the harmonic drive.

[0004] For example, a patent application with publication number CN104221278A discloses a motor control device, including: a power converter for driving a motor combined with a driven object; a position controller for outputting a position controller output according to a deviation between a position command value and a position detection value of the motor; a position feedforward controller for outputting a position feedforward signal by inputting a position command value; an adder for adding the position controller output and the position feedforward signal to output a speed command value; a speed controller for outputting a torque current command value according to a deviation between the speed command value and the speed detection value of the motor; and a speed controller for adjusting the speed of the power converter according to a deviation between the torque current command value and the torque current detection value supplied to the motor. A current controller for outputting current; and a parameter tuning unit for outputting a plurality of pre-registered position instruction modes as position instructions to the position controller, wherein the parameter tuning unit has a motor vibration judgment unit, which judges whether the differential of the deviation between the position instruction value and the position detection value satisfies a pre-set vibration condition, judges that there is motor vibration when the vibration condition is satisfied, and judges that there is no motor vibration when the vibration condition is not satisfied, and outputs the judgment result, when multiple position instruction modes are output to the position controller to drive the motor, and when the feedforward gain is adjusted, the output of the motor vibration judgment unit is the maximum feedforward gain that does not satisfy the vibration condition and the overshoot is less than the specified value, and is set as the control parameter. The motor control device adjusts the control parameters by feedforward control, but since it is impossible to directly monitor the vibration data, it is necessary to judge whether the vibration condition is satisfied based on a large amount of data, which undoubtedly increases the amount of data processing and easily increases the judgment error.

[0005] For example, the patent application with publication number CN116816896A discloses a movable tooth reducer with a logarithmic spiral tooth profile, including an outer ring gear, movable teeth, a cam and a retaining frame. By relying on the approximate curvature of the tooth surfaces of the movable teeth and the outer ring gear, surface contact can be achieved under stress, greatly improving the transmission load-bearing capacity. However, from the investigation of existing drive-transmission integrated products and technologies, it can be seen that the common problems include: (1) highly fragmented components and complex supply chains, resulting in complex assembly and cumbersome debugging; (2) The axial connection method between the drive system and the transmission system is complex, resulting in a long transmission chain and large transmission losses. The present invention hopes to improve the structure of the movable tooth reducer and simplify and reduce its size.

[0006] At present, the integrated drive and control device is generally monitored by incremental encoders and absolute encoders to provide accurate position feedback, so that the device can be adjusted by the controller. However, when the encoder is used to monitor the device, it is necessary to reserve space inside the device to install the encoder, which greatly increases the size of the device. Therefore, the existing integrated drive and control device is relatively large.

[0007] Moreover, since the application of flexible sensors is limited by materials and manufacturing methods, there are currently no products that use flexible vibration sensors in integrated drive-transmission devices.

[0008] The present invention aims to improve the structure of the flexible sensor, thereby providing a new type of flexible sensor to be applied to the drive-transmission integrated device to realize the intelligent control of the drive-transmission integrated device. The present invention also aims to reduce the size of the motor by improving the structure in the motor.

[0009] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the invention

[0010] At present, the drive-control integrated device is generally monitored by incremental encoders and absolute encoders to provide accurate position feedback, so that the device can be adjusted through the control device. However, when the encoder is used to monitor the device, it is necessary to reserve space inside the device to install the encoder, which will greatly increase the size of the device. Therefore, the existing drive-control integrated device is relatively large. In addition, since the application of flexible sensors is limited by materials and manufacturing methods, there is currently no product that uses flexible vibration sensors in drive-control integrated devices.

[0011] In order to prevent the vibrations excited by the acceleration and deceleration of the mechanical platform and the vibrations received from other surrounding machines from interfering with the machine itself and maintaining its control performance, the prior art has already presented a technical solution for predicting the control amount of the control object by using a model of the control object. For example, the patent document with the publication number CN110161973A discloses a model prediction control device, a control method, an information processing program and a recording medium, wherein the model prediction control device comprises: a determination unit for determining whether there is periodicity based on the time variation of the prediction error, the prediction error being the error between the measured value of the control amount of the control object and the predicted value of the control amount predicted using the model; a derivation unit for deriving a numerical formula representing the time variation of the amplitude when the determination unit determines that there is periodicity, the amplitude being the amplitude in the waveform representing the time variation of the prediction error; and a prediction value correction unit for correcting the prediction value of the current cycle using the numerical formula derived by the derivation unit and the prediction error in the previous cycle of the current cycle in the waveform. The technical solution does not require a model of interference and can be applied to interference compensation, especially when the error between the measured value and the predicted value of the control amount of the control object, that is, the predicted error, changes periodically, even if the amplitude of the waveform representing the time variation of the predicted error is not a constant value relative to time, it can accurately predict the control amount. The technical solution essentially only involves the control process of the control object through feedback control, that is, the servo driver therein uses the corrected command position obtained from the controller and at least one of the feedback speed and feedback position obtained from the control object to perform position / speed control on the control object. On the one hand, the technical solution still needs to monitor the error information through an additional detection unit, and the drive system therein also needs to be adjusted and controlled by an independently set controller and servo driver, for example, the torque calculated by the torque calculation unit is output to the servo driver as the command value related to the torque control of the control object, and the servo driver here is a control system for motion control of the control object. Therefore, the technical solution also belongs to a control system of a decentralized mode, and thus has the defects of low power density and large efficiency loss, and cannot meet the design requirements of high-end equipment for drive-transmission integration. On the other hand, the error data detection process involved in this technical solution is limited to the detection of the error data predicted by the model, and it is impossible to determine the specific vibration error range based on the actual sensor detection data. In other words, the purpose of using the detection unit in this technical solution is to improve the accuracy of the model prediction, which is completely different from the role of the present invention in setting a flexible vibration sensor to improve the accuracy of vibration data detection.

[0012] In view of the deficiencies of the prior art, the present invention provides a drive-transmission integrated intelligent control system from a first aspect, comprising a flexible vibration sensor and a drive-transmission integrated device. A control unit is arranged in the drive-transmission integrated device. The flexible vibration sensor is arranged on the outer wall of the drive-transmission integrated device to collect vibration data of the drive-transmission integrated device, and the control unit connected to the flexible vibration sensor analyzes the received vibration data and controls the speed and / or torque of the drive-transmission integrated device by feedforward control or feedback control.

[0013] Compared with the above-mentioned prior art, the control unit of the intelligent control system of the present invention can analyze the vibration data of the drive-transmission integrated device detected by the flexible vibration sensor integratedly arranged on the drive-transmission integrated device, and adaptively adjust the speed and / or torque of the drive-transmission integrated device by feedforward control or feedback control according to the specific analysis results. Based on the above-mentioned distinguishing technical features, the problems to be solved by the present invention may include: how to improve the accuracy of vibration control while improving the degree of integration of vibration control. First, the present invention places the flexible vibration sensor on the outer wall of the shell of the drive-transmission integrated device, which saves the internal space of the drive-transmission integrated device to a great extent, and installs the stator and the rotor inside the shell, so that the structure of the drive-transmission integrated device is more compact and the overall size is well controlled. Secondly, the present invention places the unique flexible vibration sensor on the outer wall of the shell of the drive-transmission integrated device, which is used to monitor the vibration data of the device in real time, and transmit the vibration data to the control unit. The control unit realizes precise control of the speed and torque of the drive-transmission integrated device by feedforward control or feedback control. In this way, the present invention realizes intelligent control of the drive-transmission integrated device through the control unit.

[0014] According to a preferred embodiment, the control unit is configured to: compare the vibration data of the previous step of the drive-transmission integrated device with the original set value and obtain a deviation signal, and calculate an output signal that can eliminate the deviation signal based on the deviation signal, so that the output value of the speed and / or torque of the next step of the drive-transmission integrated device is a constant value.

[0015] The present invention uses a control unit to precisely control the speed and torque of the drive-transmission integrated device, thereby reducing the vibration of the drive-transmission integrated device during operation. The present invention uses a control unit to adjust the output signal of the drive-transmission integrated device in real time to achieve intelligent control, so that the device can output stably.

[0016] According to a preferred embodiment, the control unit is configured to: predict the change of vibration data and predict the output signal of the flexible vibration sensor based on a prediction model, compare the planned output signal to be output with the predicted output signal, and when the difference between the planned output signal and the predicted output signal is not within an error range, adjust the speed and / or torque of the drive-transmission integrated device in a manner that makes the planned output signal correspond to the predicted output signal.

[0017] Compared with the above-mentioned prior art, the control unit of the present invention can determine the predicted vibration data change of the flexible vibration sensor and the predicted output signal for controlling the specific parameters of the drive-transmission integrated device according to the prediction model, and can compare the output signal to be executed with the predicted output signal to timely adjust the speed and / or torque of the drive-transmission integrated device when it exceeds the preset error range. Based on the above-mentioned distinguishing technical features, the problems to be solved by the present invention may include: how to improve the timeliness and accuracy of the parameter adjustment of the drive-transmission integrated device. Specifically, the present invention can avoid the occurrence of expected problems, for example, prevent the difference between the planned output signal and the predicted output signal from exceeding the error range and causing the vibration process to lose control. The control mode is a feedforward control mode, which has the advantages of fast response speed, good stability, high control accuracy, and strong anti-interference ability. When the control unit issues an instruction to change the speed and torque of the drive-transmission integrated device, the drive-transmission integrated device sends a feedforward signal to the control unit through another path. In this way, when the drive-transmission integrated device is adjusted according to the instruction of the control unit, it will receive the regulation from the feedforward signal in time, so that the drive-transmission integrated device can change the operating variable in time before the disturbance affects the output, so that the output signal is not or less affected by external disturbances.

[0018] According to a preferred embodiment, the prediction model in the control unit is constructed in a manner including: learning the historical data of the flexible vibration sensor based on a deep learning model, and constructing and forming a prediction model based on the change law of the historical data. By constructing the prediction model, the present invention can predict the vibration data of the drive-transmission integrated device and process it in a timely manner.

[0019] According to a preferred embodiment, the flexible vibration sensor includes a flexible substrate and a conductive coating, and the conductive coating is arranged on the surface of the flexible substrate; wherein the flexible substrate includes a nanoscale crack structure formed by stretching; and the conductive coating forms a plurality of protrusion structures on the surface of the flexible substrate. The flexible vibration sensor of the present invention does not require reserved space during installation, and can be applied to complex workpiece surfaces, reducing the volume of the drive-transmission integrated device. The crack structure and protrusion structure of the flexible vibration sensor reach the nanometer level, which improves the resistance sensitivity and hydrophobicity, so that the flexible vibration sensor has high accuracy and response speed during use.

[0020] According to a preferred embodiment, the conductive coating is provided in the following manner: subjecting multi-walled carbon nanotubes to ultrasonic treatment to form a coating solution; adding nanomagnetic particles into the coating solution; after spraying the coating solution containing the nanomagnetic particles onto a flexible substrate to form a thin film, using a magnetic device to contact the flexible substrate so that the thin film produces a number of protruding structures under the action of magnetic force.

[0021] Compared with the above-mentioned prior art, the flexible vibration sensor of the present invention includes a flexible substrate and a conductive coating, and can be connected to the outer wall of the drive-transmission integrated device through a specific connection structure to form an integrated structure. Based on the above-mentioned distinguishing technical features, the problems to be solved by the present invention may include: how to improve the detection accuracy and sensitivity of the flexible vibration sensor during use. Specifically, the protrusion structure increases the roughness of the surface of the flexible vibration sensor, thereby changing the hydrophobic performance. The combination of the crack structure and the protrusion structure can improve the linear response range of the flexible vibration sensor, so that its resistance change within a larger vibration range is still highly linear. Since the flexible vibration sensor is attached to the outer wall of the shell, the vibration generated by the drive-transmission integrated device during operation will change the resistance of the flexible vibration sensor, convert the vibration signal into an electrical signal, and transmit the electrical signal to the control unit. The control unit realizes intelligent control of the speed and torque of the drive-transmission integrated device through feedforward control or feedback control.

[0022] According to a preferred embodiment, the drive-transmission integrated device includes a coaxially arranged drive unit for inputting power, a transmission unit for transmitting power, and a driven unit for outputting power. The drive unit and the transmission unit are integrated, wherein the rotor in the drive unit is integrated with the central axis of the cam, and the cam, the inner gear ring in the transmission unit, and the movable teeth are arranged based on a logarithmic spiral. In this way, the output end of the drive system is directly connected to the input end of the transmission system, which reduces transmission losses and improves the efficiency and rigidity of the system.

[0023] According to a preferred embodiment, the rotor, cam, inner gear ring, movable teeth, and cam end cover are connected to the first end cover to form a first set; the stator is connected to the second end cover to form a second set; the first set is connected to the second set to form an integrated drive and transmission device; and the control unit is arranged between the stator and the second end cover.

[0024] The control unit is arranged in the housing of the drive-transmission integrated device, which reduces the number of parts in the system, facilitates maintenance and improves operational stability.

[0025] The present invention provides a flexible vibration sensor from a second aspect. The flexible vibration sensor is arranged on the outer wall of the drive-transmission integrated device to collect vibration data of the drive-transmission integrated device. The flexible vibration sensor includes a flexible substrate and a conductive coating. The conductive coating is arranged on the surface of the flexible substrate; wherein the flexible substrate includes a nanoscale crack structure formed in a stretching manner; and the conductive coating forms a plurality of protrusion structures on the surface of the flexible substrate.

[0026] In the flexible vibration sensor of the present invention, the combination of the crack structure and the protrusion structure can improve the linear response range of the flexible vibration sensor, so that its resistance change in a larger vibration range is still highly linear.

[0027] The present invention provides a method for intelligent control of drive-transmission integration from a third aspect, the method comprising: setting a flexible vibration sensor on the outer wall of the drive-transmission integration device to collect vibration data of the drive-transmission integration device, a control unit connected to the flexible vibration sensor analyzing the received vibration data, and controlling the speed and / or torque of the drive-transmission integration device by feedforward control or feedback control.

[0028] The control method of the present invention can reduce the vibration of the drive-transmission integrated device during operation. The present invention realizes intelligent control by adjusting the output signal of the device in real time through the control unit, thereby achieving stable output of the drive-transmission integrated device.

[0029] According to a preferred embodiment, the method also includes: comparing the vibration data of the previous step of the drive-transmission integrated device with the original set value to obtain a deviation signal, and calculating an output signal capable of eliminating the deviation signal based on the deviation signal, so that the output value of the rotational speed and / or torque of the next step of the drive-transmission integrated device is a constant value.

[0030] The control method of the present invention corrects the vibration effect of the next step of the driving and transmitting integrated device according to the vibration condition of the previous step, so that the output value of the driving and transmitting integrated device is a constant value. Therefore, the driving and transmitting integrated device can be controlled to achieve a technical effect of stable output without being affected by vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a feedback control logic diagram of the drive-transmission integrated intelligent control system provided by the present invention;

[0032] Figure 2 It is a schematic diagram of the feedforward control logic of the drive-transmission integrated intelligent control system provided by the present invention;

[0033] Figure 3 It is a brief structural diagram of the drive-transmission integrated intelligent control system provided by the present invention;

[0034] Figure 4It is a cross-sectional view of the drive-transmission integrated intelligent control system provided by the present invention.

[0035] Reference numerals list

[0036] 101: flexible vibration sensor; 102: control unit; 103: drive-transmission integrated device; 104: monitoring unit; 105: first bearing; 106: second bearing; 107: third bearing; 108: inner gear ring; 109: movable tooth retainer; 110: first end cover; 111: positioning assembly; 112: cam end cover; 113: first oil seal; 114: second oil seal; 115: roller bearing; 116: movable teeth; 117: fourth bearing; 118: fifth bearing; 119: locking nut; 120: third oil seal; 121: fourth oil seal; 122: stator; 123: rotor; 124: cam; 125: second end cover. DETAILED DESCRIPTION

[0037] The following is a detailed description with reference to the accompanying drawings.

[0038] Example 1

[0039] At present, the drive-control integrated device is generally monitored by incremental encoders and absolute encoders to provide accurate position feedback, so that the device can be adjusted through the control device. However, when the encoder is used to monitor the device, it is necessary to reserve space inside the device to install the encoder, which will greatly increase the size of the device. Therefore, the existing drive-control integrated device is relatively large. In addition, since the application of flexible sensors is limited by materials and manufacturing methods, there is currently no product that uses flexible vibration sensors in drive-control integrated devices.

[0040] In view of the shortcomings of the prior art, the present invention provides a drive-transmission integrated intelligent control system, such as Figures 1 to 4 As shown, it includes a flexible vibration sensor 101 and a drive-transmission integrated device 103. A control unit 102 is arranged in the drive-transmission integrated device 103. The control unit 102 can be a dedicated integrated chip or processor for executing the coding program of the intelligent control method of the present invention. The specific number, model and size of the dedicated integrated chip or processor can be set according to requirements. The control unit 102 can also be a control circuit board, integrating several chips or processors into one. The flexible vibration sensor 101 and the drive-transmission integrated device 103 are connected in a wired or wireless manner to transmit vibration data.

[0041] like Figure 3As shown, the flexible vibration sensor 101 is arranged on the outer wall of the drive-transmission integrated device 103 to collect vibration data of the drive-transmission integrated device 103. The flexible vibration sensor 101 in the present invention can be arranged on the outer wall of the shell by pasting or mechanical fixing. Placing the flexible vibration sensor 101 on the outer wall of the shell of the drive-transmission integrated device 103 saves the internal space of the drive-transmission integrated device 103 to a great extent, and installing the stator and the rotor inside the shell makes the structure of the drive-transmission integrated device 103 more compact and the overall size is well controlled. The flexible vibration sensor 101 is an independently arranged flexible vibration sensor 101 of the present invention. Compared with the incremental encoder and the absolute encoder in the prior art, the volume is significantly smaller and the setting position is more flexible. By moving the sensor for monitoring vibration from the inside of the shell of the device to the outside of the shell, the number of parts in the device can be reduced and the space required inside can be reduced.

[0042] like Figure 1 and Figure 2 As shown, the control unit 102 connected to the flexible vibration sensor 101 analyzes the received vibration data, and controls the rotation speed and / or torque of the drive-transmission integrated device 103 by feedforward control or feedback control.

[0043] The control unit 102 realizes precise control of the rotation speed and torque of the drive-transmission integrated device 103 by means of feedforward control or feedback control. In this way, the present invention realizes intelligent control of the drive-transmission integrated device 103 by means of the control unit 102.

[0044] like Figure 1 As shown, the feedback control method of the control unit 102 is: compare the vibration data of the previous step of the drive-transmission integrated device 103 with the original set value to obtain a deviation signal. Based on the deviation signal, an output signal capable of eliminating the deviation signal is calculated, so that the output value of the rotation speed and / or torque of the next step of the drive-transmission integrated device 103 is a constant value.

[0045] Specifically, when the drive-transmission integrated device 103 operates at a specified rotation speed and torque, the flexible vibration sensor 101 collects vibration data of each rotation step of the drive-transmission integrated device 103 and sends it to the control unit 102. The control unit 102 determines the time range of the vibration based on the time-related vibration data. The control unit 102 compares the vibration data within the specified time with the original set value. The original set value can be stored in a memory connected to the control unit 102, or directly stored in the chip of the control unit 102 itself. The control unit 102 calculates the deviation signal between the vibration data and the original set value. After calculating the deviation signal, the control unit 102 can eliminate the output signal of the deviation signal according to a preset calculation formula.

[0046] The output signal includes one or both of the rotational speed and the torque. For example, when the drive-transmission integrated device 103 outputs the rotational speed and the torque according to the specified output signal, the rotational speed and the torque of the drive-transmission integrated device 103 form a fixed value after being affected by the vibration. Preferably, the control unit 102 can adjust one or both of the rotational speed and the torque.

[0047] The present invention uses a control unit to precisely control the rotation speed and torque of the drive-transmission integrated device 103, thereby reducing the vibration of the drive-transmission integrated device 103 during operation. The present invention uses a control unit to adjust the output signal of the drive-transmission integrated device 103 in real time to achieve intelligent control, so that the device can output stably.

[0048] like Figure 2 As shown, the feedforward control method of the control unit 102 includes: predicting the change of the vibration data of the flexible vibration sensor 101 and predicting the output signal according to the prediction model. Comparing the planned output signal to be output with the predicted output signal. If the difference between the planned output signal and the predicted output signal is within the error range, the output signal of the drive-transmission integrated device 103 is stable.

[0049] This control mode is a feedforward control mode, which has the advantages of fast response speed, good stability, high control accuracy, strong anti-interference ability, etc. When the control unit 102 issues an instruction to make the drive-transmission integrated device 103 change the speed and torque, the drive-transmission integrated device 103 sends a feedforward signal to the control unit 102 through another path. In this way, when the drive-transmission integrated device 103 is adjusted according to the instruction of the control unit 102, it will receive the regulation from the feedforward signal in time. Therefore, the drive-transmission integrated device 103 can change the operating variable in time before the disturbance affects the output, so that the output signal is not affected or less affected by the external disturbance.

[0050] When the difference between the planned output signal and the predicted output signal is not within the error range, the control unit 102 adjusts the speed and / or torque of the drive-transmission integrated device 103 in a manner such that the planned output signal corresponds to the predicted output signal. Specifically, the planned output signal is adjusted so that the planned output signal is consistent with the predicted output signal, thereby making the output signal of the drive-transmission integrated device 103 a constant value, or close to a constant value.

[0051] like Figure 2As shown, the monitoring unit 104 is connected to the flexible vibration sensor 101 in a wired or wireless manner, and receives the vibration data of the drive-transmission integrated device 103, so as to determine the disturbance of the flexible vibration sensor 101. The monitoring unit 104 sends the deviation signal of the vibration data and the original set value to the control unit 102. The control unit 102 simultaneously collects the current output signals such as the rotation speed and torque of the drive-transmission integrated device 103 and the planned output signal. The control unit 102 calculates the predicted output signal according to the prediction model and the vibration data / deviation signal. The control unit 102 compares the predicted output signal with the planned output signal to be implemented. Calculate the difference between the two. If the difference is large and is greater than the error range, the control unit 102 adjusts the planned output signal so that the output signal of the drive-transmission integrated device 103 approaches the predicted output signal to maintain the stable operation of the drive-transmission integrated device 103.

[0052] According to a preferred embodiment, the prediction model in the control unit 102 is constructed in a manner including: learning the historical data of the flexible vibration sensor 101 based on a deep learning model, and constructing and forming a prediction model based on the change pattern of the historical data. Specifically, the historical data collected by the flexible vibration sensor 101 and its changes can be input into a deep learning model or a neural network model for training and learning, so as to construct a prediction model according to the change pattern of the historical data.

[0053] By constructing a prediction model, the present invention can predict the vibration data of the drive-transmission integrated device 103 and process it in time.

[0054] The present embodiment also provides an intelligent control method for drive-transmission integration, the method comprising: setting a flexible vibration sensor 101 on the outer wall of the drive-transmission integration device 103 to collect vibration data of the drive-transmission integration device 103, a control unit 102 connected to the flexible vibration sensor 101 analyzes the received vibration data, and controls the speed and / or torque of the drive-transmission integration device 103 by feedforward control or feedback control.

[0055] The control method of the present invention can reduce the vibration of the integrated drive and transmission device 103 during operation. The present invention realizes intelligent control by adjusting the output signal of the device in real time through the control unit 102, thereby achieving stable output of the integrated drive and transmission device 103.

[0056] According to a preferred embodiment, the method also includes: comparing the vibration data of the previous step of the drive-transmission integrated device 103 with the original set value to obtain a deviation signal, and calculating an output signal capable of eliminating the deviation signal based on the deviation signal, so that the output value of the rotational speed and / or torque of the next step of the drive-transmission integrated device 103 is a constant value.

[0057] The control method of the present invention corrects the vibration effect of the next step according to the vibration condition of the previous step of the driving and transmitting integrated device 103, so that the output value of the driving and transmitting integrated device 103 is a constant value, thereby being able to control the driving and transmitting integrated device 103 to achieve a technical effect of stable output without being affected by vibration.

[0058] Example 2

[0059] This embodiment is a further improvement on Embodiment 1, and the repeated contents will not be repeated here.

[0060] The present invention provides a flexible vibration sensor from a second aspect, such as Figures 1 to 3 As shown, the flexible vibration sensor 101 is arranged on the outer wall of the driving and transmission integrated device 103 to collect vibration data of the driving and transmission integrated device 103. The flexible vibration sensor 101 includes a flexible substrate and a conductive coating. The conductive coating is arranged on the surface of the flexible substrate.

[0061] The flexible substrate includes a nano-scale crack structure formed in a tensile manner.

[0062] Specifically, the present invention uses polydimethylsiloxane (PDMS) as the material of the flexible substrate. In order to improve the sensitivity of the sensor, the polydimethylsiloxane (PDMS) material is stretched to produce a nano-scale crack structure on the surface of the flexible substrate to generate a tunneling effect, thereby improving the sensitivity of the flexible vibration sensor 101.

[0063] The conductive coating forms a plurality of protruding structures on the surface of the flexible substrate.

[0064] Specifically, the present invention uses multi-walled carbon nanotubes (MWCNTs) as the conductive coating material.

[0065] Conductive coatings can be applied by:

[0066] S11: subjecting the multi-walled carbon nanotubes to ultrasonic treatment to form a coating solution.

[0067] S12: adding nano magnetic particles into the coating solution.

[0068] S13: After the coating solution containing nano-magnetic particles is sprayed onto the flexible substrate to form a thin film, a magnetic device is used to contact the flexible substrate so that the thin film generates a plurality of protruding structures under the action of magnetic force.

[0069] The magnetic device can be a magnetic device such as a magnet. For example, a flexible substrate sprayed with a conductive coating is adsorbed by a magnet, and under the action of the magnetic force, the conductive coating will produce convex structures of different sizes. The convex structure increases the roughness of the surface of the flexible vibration sensor 101, thereby changing the hydrophobic performance.

[0070] The combination of the crack structure and the protrusion structure can improve the linear response range of the flexible vibration sensor 101, so that its resistance change in a larger vibration range is still highly linear. The flexible vibration sensor 101 is attached to the outer wall of the shell, and the vibration generated by the drive-transmission integrated device 103 during operation will change the resistance of the flexible vibration sensor 101, convert the vibration signal into an electrical signal, and transmit the electrical signal to the control unit 102. The control unit 102 realizes intelligent control of the speed and torque of the drive-transmission integrated device 103 by feedforward control or feedback control.

[0071] As described above, the flexible vibration sensor 101 of the present invention does not require reserved space during installation, and can be applied to complex workpiece surfaces, reducing the volume of the drive-transmission integrated device 103. The crack structure and protrusion structure of the flexible vibration sensor 101 reach the nanometer level, which improves the resistance sensitivity and hydrophobicity, so that the flexible vibration sensor 101 has high accuracy and response speed during use.

[0072] Example 3

[0073] This embodiment is a further improvement of Embodiment 1 and Embodiment 2, and the repeated contents will not be repeated here.

[0074] According to a preferred embodiment, the drive-transmission integrated device 103 includes a coaxially arranged drive unit for inputting power, a transmission unit for transmitting power, and a driven unit for outputting power. The drive unit and the transmission unit are integrated. The rotor 123 in the drive unit is integrated with the central axis of the cam 124, and the cam 124, the inner gear ring 108 in the transmission unit, and the movable teeth 116 are arranged based on a logarithmic spiral. In this way, the output rotor of the drive system is directly connected to the input central axis of the transmission system, which reduces transmission losses and improves the efficiency and rigidity of the system.

[0075] According to a preferred embodiment, the rotor 123, the cam 124, the inner gear ring 108, the movable teeth 116, and the cam end cover 112 are connected to the first end cover 110 to form a first set. The stator 122 is connected to the second end cover 125 to form a second set. The first set is connected to the second set to form the drive-transmission integrated device 103. The control unit 102 is arranged between the stator 122 and the second end cover 125.

[0076] The control unit 102 is arranged in the housing of the drive-transmission integrated device 103, which reduces the number of parts in the system, facilitates maintenance and improves operational stability.

[0077] Figure 4 A cross-sectional view showing the specific mechanical structure of the drive-transmission integrated device 103 is shown.

[0078] like Figure 4As shown, the driving unit includes a control unit 102, a stator 122, a rotor 123 and a cam 124. The central axis of the cam 124 is fixedly connected to the inside of the cam 124. The rotor 123 is arranged circumferentially on the central axis and fixedly connected thereto. The external multi-phase alternating current is input through the control unit 102 to generate a rotating magnetic field in the stator 122, so that the rotor 123 therein rotates, and drives the central axis and the cam 124 thereon to move. Preferably, the stator 122 is separated from the inner gear ring 108 by the third oil seal 120 and the fourth oil seal 121. The stator 122 is limited in the housing by the locking nut 119.

[0079] The transmission part includes a rotor 123, a cam 124, an inner gear ring 108, a roller bearing 115 and a movable tooth 116. The cam 124, the movable tooth 116 and the inner gear ring 108 are all designed based on a logarithmic spiral. The cam 124 has a cam inner profile and a cam outer profile, which are respectively in contact with the roller bearing 115 to form a rolling space or contour line that limits its circumferential movement along the cam 124. The end of the roller bearing 115 is connected to a movable tooth 116 that extends radially along the central axis and is movable. Specifically, the roller bearing 115 and the movable tooth 116 are rotationally connected through a nut, so that the movable tooth 116 can achieve rolling contact on the surface of the cam 124. The end of the movable tooth 116 away from the roller bearing 115 can be periodically contacted and engaged or disengaged with the tooth surface of the inner gear ring 108 under the drive of the cam 124.

[0080] Preferably, the movable teeth 116 are divided into at least two groups, which are correspondingly installed in two rows of holes on the movable tooth holder 109. The two groups of movable teeth 116 are spaced apart from each other in the axial direction of the cam 124, and at least one group of movable teeth 116 serves as a compensation mechanism for harmonic transmission jitter, for compensating for the vibration caused by the load borne by the movable tooth holder 109 as the output shaft.

[0081] The driven part includes a movable tooth holder 109 or an inner gear ring 108. The movable teeth 116 are installed in the movable tooth holder 109 and can move in the radial direction. Under the drive of the cam 124, the movable teeth 116 mesh with the inner gear ring 108, so that the movable tooth holder 109 rotates in a harmonic manner, or the movable tooth holder 109 remains fixed. The inner gear ring 108 outputs force or torque as a driven member.

[0082] Specifically, the multi-phase alternating current input from the outside generates a rotating magnetic field in the stator 122 after passing through the control unit 102, causing the rotor 123 to generate a rotational motion, thereby rotating the central shaft fixed thereto and driving the cam 124 thereon to move. The cam 124 is mounted on the radial inner side of the movable tooth holder 109 and is within the annular contour formed by the inner contour of the cam. The cam 124 is driven by the central shaft to transmit the force or torque to the movable tooth 116 through the roller bearing 115. The movable tooth holder 109 is connected to the central axis of the rotor 123 through the first bearing 105 and the second bearing 106 of different sizes. A cam end cover 112 is provided at the second bearing 106 and the central axis of the cam 124.

[0083] The driven movable teeth 116 move radially through the movable teeth holder 109 and mesh with the tooth surface profile of the inner gear ring 108 periodically or alternately. If the inner gear ring 108 remains fixed, the movable teeth holder 109 rotates in the opposite direction of the rotation direction of the cam 124 according to the harmonic transmission mode due to the circumferential component of the contact force during meshing on the movable teeth holder 109 and the circumferential rolling between the inner profile and the outer profile of the cam driven by the roller bearing 115 corresponding to the movable teeth 116. If the holder remains fixed, the rotation of the cam 124 eventually drives the inner gear ring 108 to rotate. The inner gear ring 108 rotates through the fourth bearing 117 and the fifth bearing 118. A first oil seal 113 and a second oil seal 114 of different sizes are arranged between the movable teeth holder 109 and the first end cover 110. The first end cover 110 rotates on the central axis through the third bearing 107. The first end cover 110 is limited by a positioning assembly 111, such as a set screw.

[0084] The operating principle of the drive-transmission integrated device 103 of the present invention is:

[0085] After power is turned on, the multiple windings on the stator 122 will generate an electromagnetic field under the action of the AC power supply and act on the rotor 123, so that the rotor 123 drives the cam 124 to rotate together under the action of the magnetic field force. When the cam 124 moves to the push stage, it will push the movable tooth 116 to move upward through the reserved hole of the movable tooth holder 109 and contact the tooth surface of the inner gear ring 108, thereby driving the inner gear ring 108 to rotate through the movable tooth 116. When the cam 124 continues to rotate, the cam 124 enters the far rest stage, at which time the movable tooth 116 and the inner gear ring 108 are still in contact and continue to push the inner gear ring 108 to rotate. After that, the cam 124 will enter the return stage and the near rest stage. The movable tooth 116 moves downward through the reserved hole of the movable tooth holder 109, at which time the tooth surface of the movable tooth 116 no longer contacts the tooth surface of the inner gear ring 108, and the inner gear ring 108 stops moving. In one cycle, through the continuous operation of the cam 124 , the movable teeth 116 reciprocate through the above four stages, thereby continuously promoting the movement of the inner gear ring 108 .

[0086] It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention specification and its drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of the present invention is defined by the claims and their equivalents. The present invention specification contains multiple inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", which means that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application based on each inventive concept.

Claims

1. A drive-transmission integrated intelligent control system, characterized in that: The system comprises a flexible vibration sensor (101) and a drive-transmission integrated device (103), wherein a control unit (102) is arranged in the drive-transmission integrated device (103). The flexible vibration sensor (101) is arranged on the outer wall of the drive-transmission integrated device (103) to collect vibration data of the drive-transmission integrated device (103). The control unit (102) connected to the flexible vibration sensor (101) analyzes the received vibration data and controls the rotation speed and / or torque of the drive-transmission integrated device (103) by means of feedforward control or feedback control; The drive-transmission integrated device (103) comprises a coaxially arranged drive part for inputting power, a transmission part for transmitting power, and a driven part for outputting power; The driving part and the transmission part are integrated, wherein: The rotor (123) in the driving part is integrated with the central axis of the cam (124), and the cam (124), the inner gear ring (108) in the transmission part and the movable teeth (116) are arranged based on a logarithmic spiral line; The transmission part comprises a rotor (123), a cam (124), an inner gear ring (108), a roller bearing (115) and a movable tooth (116); the roller bearing (115) and the movable tooth (116) are rotatably connected via a nut, so that the movable tooth (116) can achieve rolling contact on the surface of the cam (124); and one end of the movable tooth (116) away from the roller bearing (115) can periodically contact and mesh with or disengage from the tooth surface of the inner gear ring (108) under the drive of the cam (124).

2. The drive-transmission integrated intelligent control system according to claim 1 is characterized in that: The control unit (102) is configured to: The vibration data of the previous step of the drive-transmission integrated device (103) is compared with the original set value to obtain a deviation signal, An output signal capable of eliminating the deviation signal is calculated based on the deviation signal, so that the output value of the rotation speed and / or torque of the next step of the drive-transmission integrated device (103) is a constant value.

3. The drive-transmission integrated intelligent control system according to claim 1 is characterized in that: The control unit (102) is configured to: predicting the change of the vibration data of the flexible vibration sensor (101) and predicting the output signal according to the prediction model, The planned output signal to be output is compared with the predicted output signal, and when the difference between the planned output signal and the predicted output signal is not within an error range, the rotation speed and / or torque of the drive-transmission integrated device (103) is adjusted in a manner such that the planned output signal corresponds to the predicted output signal.

4. The drive-transmission integrated intelligent control system according to claim 3 is characterized in that: The method of constructing the prediction model in the control unit (102) includes: The historical data of the flexible vibration sensor (101) is learned based on a deep learning model, and the prediction model is constructed and formed based on the changing rules of the historical data.

5. The drive-transmission integrated intelligent control system according to any one of claims 1 to 4, characterized in that: The flexible vibration sensor (101) comprises a flexible substrate and a conductive coating, wherein the conductive coating is arranged on the surface of the flexible substrate; Wherein, the flexible substrate comprises a nano-scale crack structure formed by stretching; The conductive coating forms a plurality of protruding structures on the surface of the flexible substrate.

6. The drive-transmission integrated intelligent control system according to claim 5, characterized in that: The conductive coating is provided in a manner including: subjecting the multi-walled carbon nanotubes to ultrasonic treatment and forming a coating solution; adding nano magnetic particles into the coating solution; After the coating solution containing the nanomagnetic particles is sprayed onto the flexible substrate to form a thin film, a magnetic device is used to contact the flexible substrate so that the thin film generates a plurality of protruding structures under the action of magnetic force.

7. The drive-transmission integrated intelligent control system according to claim 1, characterized in that: The rotor (123), the cam (124), the inner gear ring (108), the movable teeth (116), the cam end cover (112) and the first end cover (110) are connected to form a first set; The stator (122) is connected to the second end cover (125) to form a second set; The first set is connected to the second set to form the drive-transmission integrated device (103); The control unit (102) is arranged between the stator (122) and the second end cover (125).

8. A drive-transmission integrated intelligent control method, characterized in that: The method comprises: The flexible vibration sensor (101) is arranged on the outer wall of the drive-transmission integrated device (103) to collect vibration data of the drive-transmission integrated device (103). A control unit (102) connected to the flexible vibration sensor (101) analyzes the received vibration data and controls the rotation speed and / or torque of the drive-transmission integrated device (103) by means of feedforward control or feedback control. The drive-transmission integrated device (103) comprises a coaxially arranged drive part for inputting power, a transmission part for transmitting power, and a driven part for outputting power; The driving part and the transmission part are integrated, wherein: The rotor (123) in the driving part is integrated with the central axis of the cam (124), and the cam (124), the inner gear ring (108) in the transmission part and the movable teeth (116) are arranged based on a logarithmic spiral line; The transmission part comprises a rotor (123), a cam (124), an inner gear ring (108), a roller bearing (115) and a movable tooth (116); the roller bearing (115) and the movable tooth (116) are rotatably connected via a nut, so that the movable tooth (116) can achieve rolling contact on the surface of the cam (124); and one end of the movable tooth (116) away from the roller bearing (115) can periodically contact and mesh with or disengage from the tooth surface of the inner gear ring (108) under the drive of the cam (124).

9. The driving and transmission integrated intelligent control method according to claim 8, characterized in that: The method further comprises: comparing the vibration data of the previous step of the drive-transmission integrated device (103) with the original set value and obtaining a deviation signal, An output signal capable of eliminating the deviation signal is calculated based on the deviation signal, so that the output value of the rotation speed and / or torque of the next step of the drive-transmission integrated device (103) is a constant value.

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