Gantry deflection angle calibration method and device and computer readable storage medium

Abstract

The invention relates to the industrial field, and discloses a gantry deflection angle calibration method and device and a computer readable storage medium. The gantry deflection angle calibration method is applied to a gantry frame and comprises the steps that a first parallel shaft is controlled to fix the first end of a transverse shaft to the current position; providing first power which is gradually increased to drive the transverse shaft to rotate around the first end, and obtaining the distance between the position of the second end and the reference position when the first power reaches a preset power value as a first distance; providing gradually increased second power to drive the transverse shaft to rotate around the first end, and acquiring the distance between the position of the second end and the reference position when the second power reaches a preset power value as a second distance; acquiring a target position of the second end according to the first distance and the second distance; and controlling the second end to move to the target position. Compared with the prior art, the gantry deflection angle calibration method and device and the computer readable storage medium provided by the embodiment of the invention have the advantage of avoiding initial mechanical force accumulation of the gantry.

Description

technical field [0001] The invention relates to the industrial field, and in particular, to a gantry declination calibration method, device and computer-readable storage medium. Background technique [0002] The gantry linear drive control technology is widely used in precision manufacturing such as semiconductor packaging and testing, laser cutting and machine tool processing. The mechanical rigidity of these applications is strong, which makes the gantry synchronization deviation more likely to cause mechanical force accumulation, which is very important for the synchronization of servo motor control. Higher performance requirements, the initial declination angle of the gantry will affect the degree of gantry force accumulation, the greater the declination angle, the stronger the mechanical force accumulation degree during the movement, which increases the control current of the servo and compresses the linear range of the servo control. Seriously affects the synchronous c...

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Problems solved by technology

[0003] However, the inventors of the present invention have found that in some cases, the installation deviation of the machinery will lead to mechanical accumulation at the absolute position. Even if the absolute mechanical calibration is performed on the initial deflection angle of the gantry, there may still be mechanical accumulation at the initial position.

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