A multi-stable array driving device and a control method thereof

Abstract

The application discloses a kind of multistable array driving device and control method thereof, belong to precise transmission and structural driving control technical field.The device is composed of driving module, multistable array integrated module, boundary constraint regulation module and control module.Driving module provides transition excitation for bistable unit by flexible rope pulling;Multistable array integrated module is packaged in box, by bistable unit array arrangement, realizes multistable characteristic by boundary constraint regulation;Boundary constraint regulation module is installed in unit boundary, and regulates the steady-state characteristic of each bistable unit;Control module coordinates each module synchronization, ensures timing and regulation precision.It realizes the accurate control of unit configuration transition, steady-state residence and autonomous reset by flexible rope pulling and boundary constraint cooperation, with the advantages of fast movement speed, high positioning accuracy, low energy consumption, etc., can provide new driving scheme for high-end fields such as semiconductor manufacturing, precision optics.

Description

Technical Field

[0001] This invention relates to the field of precision transmission and structural drive control technology, and in particular to a multistable array drive device and its control method. Background Technology

[0002] Precision drive technology, as a core supporting technology for modern high-end equipment, plays a crucial role in cutting-edge fields such as semiconductor manufacturing, precision optical systems, and biomedical devices. With the ever-increasing performance requirements of related applications, the motion control objectives of drive mechanisms have evolved from simple precise positioning to the synergistic optimization of three performance indicators: high speed, high precision, and low energy consumption. However, in high-speed dynamic motion, achieving vibration suppression and error compensation typically requires a high-bandwidth, robust control system, which often results in significant energy loss, exacerbating the contradiction between "fast, high, and low." Therefore, breaking through the limitations of traditional drive structures and control strategies to achieve synergistic improvement of multiple performance indicators has become a key challenge for precision drive technology to move towards the next generation.

[0003] Existing technologies have explored various approaches to address the aforementioned contradictions, but significant shortcomings still exist:

[0004] In the high-speed, high-precision driving direction, the technology path represented by piezoelectric drive has made some progress. For example, patent CN 118713507 A proposes a piezoelectric actuator and driving method for micro-rotating mechanisms. It replaces traditional surface contact friction drive with a displacement amplification mechanism and sawtooth tooth meshing transmission, achieving high positioning accuracy while significantly reducing energy consumption during motion. The circumferential multi-layer displacement amplification unit layout used in this patent has initially demonstrated the design concept of arrayed drive and possesses a certain degree of structural scalability. However, this actuator still has two significant limitations: firstly, its motion control relies on triangular wave signals and a mechanical elastic reset mechanism, resulting in a low system response bandwidth, making it difficult to adapt to high-speed, high-dynamic application scenarios; secondly, the lack of a coordinated control mechanism among multiple drive units makes it prone to uneven stress distribution and low-frequency vibration due to asynchronous displacement during high-speed motion, severely affecting positioning accuracy and motion stability. Therefore, this type of arrayed drive scheme has not yet solved the dynamic control problem in the coordinated performance of "fast-high-low".

[0005] In the field of low-energy drive, inspired by the explosive movements of organisms in nature, biomimetic drive technology based on bistable structures offers a new approach. For example, patent CN 114673864 B discloses a pneumatic flexible actuator with bistable characteristics. Through the rapid deformation of a spherical cap-shaped structure triggered by air pressure, it achieves rapid drive at relatively low inflation speeds, effectively improving energy efficiency. Its modular series structure and bistable switching mechanism provide a feasible technical path for low-speed inflation-high-speed drive. However, this pneumatic drive method is limited by fluid response speed, resulting in a low overall system control bandwidth, which cannot meet the requirements of high-frequency, high-precision adjustment. Furthermore, the bistable unit it uses only has two stable states, lacking the ability for continuous adjustment or coordinated switching of multiple states, making it difficult to adapt to the needs of ultra-precision applications. This indicates that although bistable structures exhibit advantages in energy efficiency and response speed, they still have significant shortcomings in high-precision and multi-state coordinated control.

[0006] To address the aforementioned problems, this invention provides a multi-stable array drive device and its control method. The core of this method is to flexibly select the number of units participating in the operation based on the working stroke and load requirements. A collaborative control system dynamically allocates the state and output of each unit—distributing the main driving force to achieve high-speed motion to several units, performing precise positioning and fine-tuning to several other units, and maintaining stable support or standby. This achieves a combination of high positioning accuracy, high-speed motion, and low energy consumption. Summary of the Invention

[0007] To address the technical problems existing in the background art, this invention proposes a multistable array driving device and its control method, adopting the following technical solution:

[0008] A multistable array driving device and its control method are disclosed. The device includes a worktable, a driving module placed on the worktable, a multistable array integration module, a boundary constraint control module, and a control module.

[0009] The drive module includes a rope winding drum, a drum support, a flexible rope, a first motor, a first motor support, and a coupling. The drum support is fixedly installed on the workbench surface. The first end of the rope winding drum is rotatably connected to the drum support via a bearing, and the second end of the rope winding drum is rotatably connected to the output shaft of the first motor via a coupling. The first motor support is fixedly installed on the workbench, and the first motor is fixedly connected to the first motor support. The flexible rope includes a main rope and at least two branch ropes. One end of each branch rope is connected to the left and right sides of the bistable beam of the corresponding bistable unit in the multistable array module, respectively. The other ends of all branch ropes converge and are fixedly connected to the main rope. The main rope is wound around the outer peripheral wall of the rope winding drum.

[0010] The multistable array integrated module is packaged in a package housing, a linear slide rail, a slide rail platform, and at least two bistable units. The package housing is fixed to the worktable, the linear slide rail is fixed to the bottom surface inside the package housing, and the slide rail platform and the linear slide rail are slidably connected by a sliding pair. A through hole is provided on the front side of the package housing, and the front end of the first-stage bistable beam of the first-stage bistable unit passes through the through hole and is connected by a linear bearing. The end of the first-stage bistable beam extending to the outside of the housing is provided with a visualization output shaft. The front end of the second-stage bistable beam of the second-stage bistable unit does not have this shaft structure. Each bistable unit includes a bistable beam and a boundary constraint structure. Each boundary constraint structure is fixedly connected to the top surface of the corresponding slide rail platform by bolts, and the bottom of the bistable beam is fixedly connected to the top surface of the corresponding boundary constraint structure. All bistable units are arranged in an array at intervals along the length direction of the linear slide rail.

[0011] The boundary constraint control module includes a second motor, a lead screw slide, a base, a first connecting gasket, and a second connecting gasket; one end of the first connecting gasket is fixedly connected to the slider of the lead screw slide, and the other end is connected to the boundary constraint mechanism; one end of the second connecting gasket is fixedly connected to the boundary constraint mechanism, and the other end is fixedly connected to the base of the lead screw slide.

[0012] The control module includes a control box, which is fixedly installed on the workbench and integrates a microcontroller unit, a storage unit, and a communication unit.

[0013] A multistable array driving device and its control method are disclosed, including an overall array control method and a partial unit control method. The steps of the overall array control method are as follows:

[0014] Step 1: Start the system self-test. The control module detects the operating status of each module motor, lead screw slide, and array slide rail slide, and checks for motor jamming and slide rail jamming. After confirming that the equipment is fault-free, it enters the standby state.

[0015] Step 2: By issuing an overall array operation command, the control module receives the command and then issues a drive command to the drive module;

[0016] Step 3: The first motor of the drive module starts, driving the rope winding drum to rotate and pull the flexible rope, thereby driving all the bistable units of the multistable array module to synchronously complete the steady-state transition;

[0017] Step 4: The control module sends a global constraint command to the boundary constraint control module. The second motor of the boundary constraint module drives the lead screw slide and the second connecting pad to apply constraints to the bistable beams of all bistable units, lock the shape after the jump, and keep the entire array in a stable state.

[0018] Step 5: When the entire array needs to be reset, the control module issues a global constraint release command, the boundary constraint module releases the constraint force of all elements, the drive module releases the flexible rope, and all bistable elements autonomously and synchronously restore the initial state.

[0019] The steps of some of its unit control methods are as follows:

[0020] Step 1: Start the system self-test. The control module detects the operating status of each module motor, lead screw slide, and array slide rail slide, and checks for motor jamming and slide rail jamming. After confirming that the equipment is fault-free, it enters the standby state.

[0021] Step 2: By issuing array control commands, the control module first sends drive commands to the drive module, which then drives the rope winding drum and pulls the flexible rope, causing all units in the entire array to synchronously complete the shape change.

[0022] Step 3: The control module issues basic constraint commands to the boundary constraint control module. The boundary constraint module first applies temporary constraints to all bistable elements to lock the transition mode of all elements and prevent the array from resetting itself.

[0023] Step 4: Select the bistable elements that need to be restored to their original positions. After the control module parses the instructions, it only issues boundary release instructions to the boundary constraint control module corresponding to the elements, and the corresponding lead screw slide is reset and the constraint force is released.

[0024] Step 5: The drive module releases the flexible rope. The selected unit autonomously resets based on its own characteristics. The boundary constraint mechanism of the unselected bistable unit remains in a compressed state, continuously locking the jump shape and maintaining a steady state.

[0025] The beneficial effects of this invention are:

[0026] This invention provides a multi-stable array drive device and its control method, aiming to solve the core contradiction in traditional precision drive technology: the difficulty in coordinating high speed and high precision, and the high energy consumption during operation. This device replaces the traditional single driver with an array structure composed of a configurable number of drive units. Each unit has two self-stabilizing operating states, fundamentally reducing the energy consumption for maintaining positioning. Its unique advantage lies in the ability to flexibly select the number of units participating in the operation according to specific working stroke and load requirements. Through a collaborative control system, the operating states and output ratios of each unit are dynamically allocated. One group of units can be deployed as needed to provide the main driving force for high-speed movement, while another group of units is arranged for precise positioning and fine-tuning. The remaining units maintain stable support or standby states, achieving "energy use on demand and division of labor and cooperation."

[0027] To address differentiated driving needs, this invention offers two dedicated control modes: For rapid motion, a global array control method is employed, leveraging the bistable transition characteristics of a multi-stable array to activate coordinated transitions across all units, achieving high-speed, large-displacement driving; for high-precision positioning, a partial unit control method is used, precisely adjusting minute displacements through fine-tuning the multi-stable switching and output of local array units. The flexible switching between these two modes allows the device to balance high-speed motion and large-stroke driving while ensuring positioning accuracy. Furthermore, the multi-stable self-stabilizing characteristics and on-demand unit configuration significantly reduce operating energy consumption.

[0028] This solution overcomes the shortcomings of traditional technologies that struggle to achieve both high speed, high precision, and low energy consumption, providing a new type of drive solution with low energy consumption and high performance for high-end equipment fields such as semiconductor manufacturing and precision optics. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the dual multistable array driving device and its control method of the present invention.

[0030] Figure 2 This is a cross-sectional schematic diagram of the multistable array integrated module of the present invention.

[0031] Figure 3 This is a schematic diagram of the first-stage bistable unit of the present invention.

[0032] Figure 4 This is a schematic diagram of the secondary bistable unit of the present invention.

[0033] Figure 5 This is a schematic diagram of the boundary constraint control module of the present invention.

[0034] Figure 6 This is a flowchart of the overall array control method of the present invention.

[0035] Figure 7 This is a flowchart of a partial unit control method of the present invention.

[0036] The annotations in the image above are as follows:

[0037] 1. Workbench 2. Drive module 21. Rope winding drum 22. Drum support 23. Flexible rope

[0038] 231. Branch rope; 232. Main rope; 24. First motor; 25. First motor bracket; 26. Coupling.

[0039] 3. Multi-stable array integrated module 31. Encapsulation box 32. Linear slide rail 33. Slide rail stage

[0040] 34. First-stage bistable element; 341. First-stage bistable beam; 342. Boundary constraint mechanism.

[0041] 35. Secondary bistable element; 351. Secondary bistable beam; 36. Linear bearing.

[0042] 4. Boundary constraint control module 41, Second motor 42, Lead screw slide 43, Base

[0043] 44. First connecting gasket; 45. Second connecting gasket; 5. Control module. Detailed Implementation

[0044] Please see Figures 1 to 5 As shown:

[0045] This embodiment takes a multistable array drive device containing 5 bistable units as an example to explain in detail the structural design and functional coordination logic of each module, so as to achieve precise control of array shape and multi-mode control.

[0046] A multistable array driving device and its control method are disclosed. The device includes a worktable 1, a driving module 2 placed on the worktable 1, a multistable array integration module 3, a boundary constraint control module 4, and a control module 5.

[0047] The drive module 2, serving as the power source for the steady-state transition of the bistable unit, mainly comprises a rope-winding drum 21, a drum support 22, a flexible rope 23, a first motor 24, a first motor support 25, and a coupling 26. These components are precisely assembled and work together to transmit power. The drum support 22 is fixedly mounted on the workbench 1. The first end of the rope-winding drum 21 is rotatably connected to the drum support 22 via bearings, ensuring the stability of the drum's operation. The second end of the rope-winding drum 21 is coaxially rotatably connected to the output shaft of the first motor 24 via the coupling 26, achieving coaxial power transmission and avoiding transmission backlash. The first motor bracket 25 is fixedly installed on the workbench 1, and the first motor 24 is fixedly connected to the first motor bracket 25 to achieve the positioning and fixation of the motor and prevent displacement and vibration during operation. The flexible rope 23 includes a main rope 232 and at least two branch ropes 231. One end of each branch rope 231 is connected to the left and right sides of the bistable beam of the corresponding bistable unit in the multistable array module. The other ends of all branch ropes 231 are joined together and fixedly connected to the main rope 232. The main rope 232 is wound around the outer peripheral wall of the rope winding drum 21. The winding and unwinding of the flexible rope 23 is achieved by the forward and reverse rotation of the rope winding drum 21, thereby driving the bistable beam to complete the steady-state transition.

[0048] The multistable array integrated module 3 is the core execution unit of the device, encapsulated inside the enclosure 31. It mainly includes the enclosure 31, a linear slide rail 32, a slide rail stage 33, and at least two bistable units. The enclosure 31 is fixed to the workbench 1 with a rigid protective enclosure, providing a closed and protected environment for the internal bistable units and preventing external impurities from interfering with their operation. The linear slide rail 32 is fixed to the bottom surface inside the enclosure 31. The slide rail stage 33 and the linear slide rail 32 are slidably engaged through a sliding pair, ensuring that the slide rail stage 33 can move smoothly along the linear slide rail 32 without jamming or offset. A through hole is provided on the front side of the enclosure 31. The front end of the primary bistable beam 341 of the primary bistable unit 34 passes through this through hole and is connected by a linear bearing 36. The end of the primary bistable beam 341 extending to the outside of the enclosure has a visual output shaft, used to visually display the output status of the array drive. The secondary bistable beams 351 of the other secondary bistable units 35 do not have this shaft structure at their front ends. Each bistable unit comprises a flexible material bistable beam and a rigid material boundary constraint structure. The bistable beam exhibits bistable deformation characteristics, enabling it to complete a steady-state transition under external force and autonomously reset after the external force is removed. Each boundary constraint structure is bolted to the top surface of the corresponding slide rail 33, and the bottom of the bistable beam is fixedly connected to the top surface of the corresponding boundary constraint structure. All bistable units are arranged in an array along the length of the linear slide rail 32 at intervals, facilitating synchronous driving and differentiated control, and ensuring the consistency and controllability of the array operation.

[0049] The boundary constraint control module 4 is used to realize steady-state locking and reset release after the bistable unit jumps. It mainly includes a second motor 41, a lead screw slide 42, a base 43, a first connecting washer 44, and a second connecting washer 45. One end of the first connecting washer 44 is fixedly connected to the boundary constraint mechanism 342, and the other end is fixedly connected to the base 43 of the lead screw slide 42. One end of the second connecting washer 45 is fixedly connected to the slider of the lead screw slide 42, and the other end is connected to the boundary constraint mechanism 342, realizing the linkage between the slider and the constraint mechanism. In conjunction with the translational movement of the lead screw slide 42, it drives the boundary constraint mechanism 342 to move, realizing the clamping constraint and release of the bistable beam.

[0050] The control module 5 adopts an integrated control box structure, which mainly includes a control box. The control box is fixedly installed on the workbench 1 and integrates a microcontroller unit, a storage unit and a communication unit to realize full-process control such as system self-testing, instruction parsing, power regulation and constraint control.

[0051] A multistable array driving device and its control method are disclosed, including an overall array control method and a partial unit control method. The steps of the overall array control method are as follows:

[0052] Step 1: Start the system self-test. The control module 5 detects the operating status of each module motor, lead screw slide 42, and array slide rail slide 33, and checks for motor jamming and slide rail slide 33 jamming. After confirming that the equipment is fault-free, it enters the standby state.

[0053] Step 2: By issuing an overall array operation command, the control module 5 receives the command and then issues a drive command to the drive module 2;

[0054] Step 3: The first motor 24 of the drive module 2 starts, driving the rope winding drum 21 to rotate and pull the flexible rope 23, thereby driving all the bistable units of the multi-stable array module to complete the steady-state transition synchronously.

[0055] Step 4: The control module 5 sends a global constraint command to the boundary constraint control module 4. The second motor 41 of the boundary constraint module drives the lead screw slide 42 and drives the second connecting pad 45 to apply constraints to the bistable beams of all bistable units, lock the shape after the jump, and keep the entire array in a stable state.

[0056] Step 5: When the entire array needs to be reset, the control module 5 issues a global constraint release command, the boundary constraint module releases the constraint force of all units, the drive module 2 releases the flexible rope 23, and all bistable units autonomously and synchronously restore the initial state.

[0057] The steps of some of its unit control methods are as follows:

[0058] Step 1: Start the system self-test. The control module 5 detects the operating status of each module motor, lead screw slide 42, and array slide rail slide 33, and checks for motor jamming and slide rail slide 33 jamming. After confirming that the equipment is fault-free, it enters the standby state.

[0059] Step 2: By issuing array control commands, the control module 5 first issues drive commands to the drive module 2. The drive module 2 drives the rope winding drum 21 and pulls the flexible rope 23, causing all units of the entire array to synchronously complete the shape change.

[0060] Step 3: Control module 5 issues basic constraint commands to boundary constraint control module 4. The boundary constraint module first applies temporary constraints to all bistable elements to lock the transition mode of all elements and prevent the array from resetting itself.

[0061] Step 4: Select the bistable units that need to be restored to their original positions. After the control module 5 parses the instructions, it only issues boundary release instructions to the boundary constraint control module 4 corresponding to the units, and the corresponding lead screw slide 42 is reset and the constraint force is released.

[0062] Step 5: Drive module 2 releases flexible rope 23. The selected unit autonomously resets based on its own characteristics. The boundary constraint mechanism 342 of the unselected bistable unit always remains in a compressed state, continuously locking the jump shape and maintaining steady state residence.

[0063] The examples are provided only to better understand the technical solutions of the present invention and do not constitute an undue limitation on the present invention.

Claims

1. A multistable array driving device, the device comprising a worktable, a driving module placed on the worktable, a multistable array integration module, a boundary constraint control module, and a control module.

2. The multistable array driving device according to claim 1, characterized in that, The drive module includes a rope winding drum, a drum support, a flexible rope, a first motor, a first motor support, and a coupling. The drum support is fixedly installed on the workbench surface. The first end of the rope winding drum is rotatably connected to the drum support, and the second end of the rope winding drum is coaxially rotatably connected to the output shaft of the first motor through the coupling. The first motor support is fixedly installed on the workbench, and the first motor is fixedly connected to the first motor support. The flexible rope includes a main rope and at least two branch ropes. One end of each branch rope is connected to the left and right sides of the bistable beam of the corresponding bistable unit in the multistable array module, and the other ends of all the branch ropes converge and are fixedly connected to the main rope. The main rope is wound around the outer peripheral wall of the rope winding drum.

3. The multistable array driving device according to claim 1, characterized in that, The multistable array integrated module is encapsulated in a package housing, a linear slide rail, a slide rail platform, a linear bearing, and at least two bistable units. The package housing is fixed to the workbench, the linear slide rail is fixed to the bottom surface inside the package housing, and the slide rail platform is slidably connected to the linear slide rail via a sliding pair. A through hole is provided on the front side of the package housing, through which the front end of the first-stage bistable beam of the first-stage bistable unit passes and is connected by a linear bearing. The end of the first-stage bistable beam extending to the outside of the housing is provided with a visualization output shaft, while the front end of the second-stage bistable beam of the second-stage bistable unit does not have this shaft structure. Each bistable unit includes a bistable beam and a boundary constraint structure. Each boundary constraint structure is fixedly connected to the top surface of the corresponding slide rail platform by bolts, and the bottom of the bistable beam is fixedly connected to the bottom surface of the corresponding boundary constraint structure. All the bistable units are arranged in an array at intervals along the length direction of the linear slide rail.

4. The multistable array driving device according to claim 1, characterized in that: The boundary constraint control module includes a second motor, a lead screw slide, a base, a first connecting gasket, and a second connecting gasket; one end of the first connecting gasket is fixedly connected to the boundary constraint mechanism, and the other end is fixedly connected to the base of the lead screw slide; one end of the second connecting gasket is fixedly connected to the slider of the lead screw slide, and the other end is connected to the boundary constraint mechanism.

5. A multistable array driving device according to claim 1, characterized in that: The control module includes a control box, which is fixedly installed on the workbench and integrates a microcontroller unit, a storage unit, and a communication unit.

6. A multi-stable array control method, comprising a global array control method and a partial unit control method, wherein the steps of the global array control method are as follows: Step 1: Start the system self-test. The control module detects the operating status of each module motor, lead screw slide, and array slide rail slide, and checks for motor jamming and slide rail jamming. After confirming that the equipment is fault-free, it enters the standby state. Step 2: By issuing an overall array operation command, the control module receives the command and then issues a drive command to the drive module; Step 3: The first motor of the drive module starts, driving the rope winding drum to rotate and pull the flexible rope, thereby driving all the bistable units of the multistable array module to synchronously complete the steady-state transition; Step 4: The control module sends a global constraint command to the boundary constraint control module. The second motor of the boundary constraint module drives the lead screw slide and the second connecting pad to apply constraints to the bistable beams of all bistable units, lock the shape after the jump, and keep the entire array in a stable state. Step 5: When the entire array needs to be reset, the control module issues a global constraint release command, the boundary constraint module releases the constraint force of all elements, the drive module releases the flexible rope, and all bistable elements autonomously and synchronously restore the initial state. The steps of some of its unit control methods are as follows: Step 1: Start the system self-test. The control module detects the operating status of each module motor, lead screw slide, and array slide rail slide, and checks for motor jamming and slide rail jamming. After confirming that the equipment is fault-free, it enters the standby state. Step 2: By issuing array control commands, the control module first sends drive commands to the drive module, which then drives the rope winding drum and pulls the flexible rope, causing all units in the entire array to synchronously complete the shape change. Step 3: The control module issues basic constraint commands to the boundary constraint control module. The boundary constraint module first applies temporary constraints to all bistable elements to lock the transition mode of all elements and prevent the array from resetting itself. Step 4: Select the bistable elements that need to be restored to their original positions. After the control module parses the instructions, it only issues boundary release instructions to the boundary constraint control module corresponding to the elements, and the corresponding lead screw slide is reset and the constraint force is released. Step 5: The drive module releases the flexible rope. The selected unit autonomously resets based on its own characteristics. The boundary constraint mechanism of the unselected bistable unit remains in a compressed state, continuously locking the jump shape and maintaining a steady state.

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