chord drive and position detection device

Abstract

A chord drive and position detection device includes a substrate, a first magnet array and a second magnet array arranged side by side along a long side of the substrate, a movable rod with one pivot end pivotally connected to the substrate, a chord wound around the pivot end and capable of driving the pivot end to pivot relative to the substrate, with one end of the chord fixed to the substrate, a magnetic sensing module corresponding to the first magnet array and the second magnet array and with one end connected to the other end of the chord, and an actuator connected to the other end of the magnetic sensing module. The actuator drives the magnetic sensing module to reciprocate along the first magnet array and the second magnet array, and drives the pivot end of the movable rod to pivot, causing the movable rod to reciprocate relative to the substrate. When the magnetic sensing module moves to a target straight line position of the first magnet array and the second magnet array, it senses a first magnetic field strength from the first magnet array and a second magnetic field strength from the second magnet array, and estimates the target straight line position based on the first magnetic field strength, the second magnetic field strength, and a built-in lookup table.

Claims

1. A chord actuation and position detection device, comprising: One substrate; A first magnet array and a second magnet array are arranged side by side along a long side of the substrate, and the magnetic field strength of the first magnet array and the second magnet array is different and non-repeating at any position; a movable rod, one of which is pivotally connected to the substrate; a tendon rope, which is wound around the pivot end and can drive the pivot end to pivot relative to the substrate, and one end of the tendon rope is fixed to the substrate. A magnetic sensing module is configured corresponding to the first magnet array and the second magnet array, and one end of the module is connected to the other end of the tendon cord; and an actuator is connected to the other end of the magnetic sensing module to drive the magnetic sensing module to reciprocate along the first magnet array and the second magnet array, and to drive the pivot end of the movable rod to pivot so that the movable rod reciprocates relative to the substrate; wherein when the magnetic sensing module moves to a line position to be measured by the first magnet array and the second magnet array, it senses a first magnetic field strength from the first magnet array and a second magnetic field strength from the second magnet array, and the magnetic sensing module estimates the line position to be measured based on the first magnetic field strength, the second magnetic field strength and a built-in lookup table, wherein the lookup table records the magnetic field strength of the first magnet array and the second magnet array at a plurality of line positions.

2. The tendon chord drive and position detection device as described in claim 1, wherein, One end of the tendon is connected to a fixing part of the base plate via a spring.

3. The tendon chord drive and position detection device as described in claim 1, wherein, The first magnet array consists of a plurality of first magnets connected in series and arranged with staggered magnetic poles, and the second magnet array consists of a plurality of second magnets connected in series and arranged with staggered magnetic poles. The widths of the first magnets and the second magnets are different and are misaligned in the longitudinal position, so that the magnetic sensing module can sense the first magnetic field strength and the second magnetic field strength of different intensities at the line position to be measured.

4. The tendon chord drive and position detection device as described in claim 3, wherein, The lookup table records a set of magnetic field strengths consisting of two magnetic field strengths corresponding to each of the straight line positions. The two magnetic field strengths in each set of magnetic field strengths are obtained in advance by the magnetic sensing module moving to each of the straight line positions to sense the magnetic field strengths of the first magnet array and the second magnet array.

5. The tendon chord drive and position detection device as described in claim 4, wherein, The magnetic sensing module includes two Hall sensors and a microcontroller electrically connected to the Hall sensors. Each Hall sensor corresponds to a first magnet array and a second magnet array to sense the magnetic field strength of the first magnet array and the second magnet array, respectively, and obtains and outputs the first magnetic field strength and the second magnetic field strength to the microcontroller. The microcontroller searches a lookup table based on the first magnetic field strength and the second magnetic field strength, and obtains two sets of magnetic field strengths corresponding to the two straight positions closest to the position of the line to be measured from the lookup table. Then, it uses interpolation to calculate the position of the line to be measured based on the two sets of magnetic field strengths corresponding to the two straight positions closest to the position of the line to be measured, and the first magnetic field strength and the second magnetic field strength.

6. The tendon chord drive and position detection device as described in claim 5, wherein, The lookup table also records multiple pivot positions of the movable rod corresponding to the straight line positions. The microcontroller uses interpolation to calculate a pivot position of the movable rod corresponding to the straight line position to be measured based on the two pivot positions corresponding to the two straight line positions closest to the line position to be measured, as well as the two sets of magnetic field strengths corresponding to these two pivot positions, the first magnetic field strength, and the second magnetic field strength.

7. The tendon chord drive and position detection device as claimed in claim 1, wherein, The actuator is a linear actuator.

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