A connecting rod turntable and decoupling control method thereof

Abstract

A connecting rod turntable and a decoupling control method thereof belong to the technical field of associative motion control mechanisms. The technical solution steps are as follows: measure the length L of the hypotenuse of the triangular structure; convert the A-axis coordinate input by the system into the coordinate of the Z0 axis according to Z0=L*cosα and input it to the Z0 axis; if it is a speed control method, according to ΔZ0=L*(cosα 1 ‑cosα 2 ) is converted into the periodic displacement of Z0 and input into the Z0 axis. The beneficial effect is that the horizontal displacement generated by the movement of the Z0 axis is directly integrated into the closed loop of the X axis by measuring superposition. The displacement directly calculated by the grating ruler has high accuracy and no delay, and a more effective control level can be achieved on this mechanical structure. In addition, after the optimized control algorithm, during the rotation of the A axis, the X axis has the motion characteristics of RTCP, which reduces the requirements for the dynamic performance of the X axis motor.

Description

Technical Field

[0001] The invention belongs to the technical field of associative motion control mechanisms, and in particular relates to a connecting rod turntable and a decoupling control method thereof. Background Art

[0002] The control method of connecting rod decoupling is mainly applied in the Chinese patent application with application number CN201810806333.1, the applicant is Kede CNC Co., Ltd., and the name is a cradle turntable driven by a ball screw. The simplified motion process of the structure is as follows Figure 2 shown.

[0003] According to the traditional control method, the axis movement in two directions is controlled separately. Assume that the vertical direction is the Z0 axis, the horizontal direction is the X axis, the horizontal sliding mechanism of the turntable is the X′, the turntable swing mechanism is the A axis, the grating ruler of the Z0 axis is installed on the turntable base, and the direction is parallel to the vertical guide rail of the Z0 axis. The Z0 axis reading head is installed on the Z axis lead screw nut, and the X axis grating ruler is installed on the bed, and the direction is parallel to the X axis guide rail. The X axis reading head is installed on the turntable base and moves horizontally with the turntable machine tool. This traditional installation method has the following defects when controlling:

[0004] 1. It is necessary to additionally calculate the horizontal displacement ΔX′ of the turntable caused by the Z0 axis when dragging the turntable;

[0005] 2. The calculated value of the turntable's horizontal instantaneous displacement usually has a certain delay and error, which is superimposed on the X-axis command, and the position expression is not accurate enough, which has a negative impact on the accuracy;

[0006] 3. Compared with ordinary linear axis control methods, the changes are relatively large and the application is more complicated;

[0007] 4. The A-axis and the X-axis are mutually coupled in the control algorithm. Summary of the invention

[0008] In order to solve the problems existing in the above-mentioned prior art, the present invention proposes a connecting rod turntable and a decoupling control method thereof, which reduces the dynamic performance requirements of the X-axis, eliminates the need to manually calculate the horizontal displacement ΔX′ of the turntable caused by the Z0 axis, and improves the control accuracy.

[0009] The technical solution is as follows:

[0010] A connecting rod turntable, characterized in that it includes: a turntable column, a connecting rod turntable, an X-axis grating ruler reading head, an X-axis grating ruler, a turntable base, a sliding mechanism A, and a sliding mechanism B. The turntable column is vertically installed on the turntable base, the connecting rod turntable is slidably connected to the turntable column through the sliding mechanism A, the connecting rod turntable is slidably connected to the turntable base through the sliding mechanism B, the X-axis grating ruler reading head is installed on the sliding mechanism B, and the X-axis grating ruler is installed below the turntable base and is arranged opposite to the X-axis grating ruler reading head.

[0011] Furthermore, the sliding mechanism A includes: a Z0-axis ball screw, a Z0-axis slide, a first rotation node of a connecting rod mechanism, a connecting rod of the connecting rod mechanism, and a Z0-axis guide rail. The Z0-axis guide rail is arranged on the turntable column, the Z0-axis ball screw is connected to the Z0-axis guide rail, the Z0-axis slide is slidingly connected to the Z0-axis guide rail, one end of the connecting rod of the connecting rod mechanism is rotatably connected to the Z0-axis slide through the first rotation node of the connecting rod mechanism, and the other end is connected to the connecting rod turntable.

[0012] Furthermore, the sliding mechanism B includes: a horizontal guide rail, a second rotation node of a connecting rod mechanism, and a horizontal slide. The horizontal guide rail is arranged on the turntable base, the connecting rod turntable is rotatably connected to the horizontal slide through the second rotation node of the connecting rod mechanism, the horizontal slide is slidably connected to the horizontal guide rail, and the X-axis grating scale reading head is installed on the horizontal slide.

[0013] Furthermore, it also includes a connecting rod turntable slide, a bed, a turntable guide rail, a turntable drag screw, and a turntable drag nut. The bed is provided with the turntable guide rail, the turntable drag screw and the connecting rod turntable slide. The connecting rod turntable slide is slidably connected to the turntable guide rail, and the turntable drag screw is provided with the turntable drag nut.

[0014] The present invention also includes a decoupling control method for a connecting rod turntable, the steps of which are as follows:

[0015] S1. Measure the length L of the hypotenuse of the triangular structure;

[0016] S2, input the A-axis coordinates of the system, according to

[0017] Z0=L*cosα

[0018] Convert to the coordinates of the Z0 axis and input them to the Z0 axis. Z0 represents the length of the nut position of the Z0 axis relative to the reference point of the Z0 axis. The reference point is located at the intersection of the extension lines of the displacement trajectories of the two rotation nodes of the connecting rod structure. α represents the angle of the turntable, that is, the angle between the normal line of the turntable and the positive direction of the X′ axis.

[0019] If it is a speed control method, follow

[0020] ΔZ0=L*(cosα1-cosα2)

[0021] Converted into the periodic displacement of Z0 and input into the Z0 axis, ΔZ0 represents the displacement of the Z0 axis, α1 represents the angle of the turntable before moving, and α2 represents the angle of the turntable after moving.

[0022] Furthermore, the connecting rod turntable is assembled before measuring the length L of the hypotenuse of the triangular structure. The assembly steps are as follows:

[0023] S0.1. Install the X-axis grating ruler parallel to the X-axis on the bed;

[0024] S0.2. Align the x-axis grating ruler reading head with the x-axis grating ruler, fix it on the horizontal slide, repeatedly move the connecting rod turntable horizontally, and check the reading;

[0025] S0.3. Install the circular grating of the connecting rod turntable opposite to the rotation center of the A-axis, coaxially.

[0026] Further, the length L of the hypotenuse of the triangular structure is obtained by the following steps:

[0027] Move Z0 to the first position, record Z0 coordinate Z01, A-axis angle α1; move Z0 to the second position, record Z0 coordinate Z02, turntable angle α2, and the following equation can be obtained:

[0028] L*cosα1-L*cosα2=Z01-Z02;

[0029] Then the length L of the hypotenuse of the triangle structure is obtained:

[0030] L = ΔZ0 / (cosα1-cosα2).

[0031] Further, the detailed steps of step S2 are as follows:

[0032] S2.1, command A0, i.e. Δα, is sent to the Z0 controller; command X is sent to the X-axis controller;

[0033] S2.2, Z0 controller calculates the distance Δα that the A-axis needs to travel in the next cycle based on the command and the feedback of the A-axis rotation angle. The command angle Δα issued includes the following error and speed feedforward.

[0034] The A0-axis controller calculates the distance Δα that the A-axis needs to travel in the next cycle based on the command and the feedback of the A-axis rotation angle. The command angle Δα issued includes the following error and speed feedforward; the X-axis executes the same process.

[0035] S2.3, before inputting to the Z0 actuator, Δα is converted into the current straight-line distance ΔZ0 that Z0 needs to travel according to the formula ΔZ0=L(cosα1-cos(α1+Δα)), and then the instruction is sent to the Z0 actuator; ΔX is sent to the X-axis actuator;

[0036] S2.4, the Z0 actuator drives the turntable linkage mechanism to generate an A-axis swing angle change Δα′ and a horizontal displacement ΔX′ in the X-axis direction. Δα′ is used to participate in the closed-loop operation of the next cycle; the X-axis actuator also generates a displacement ΔX0, which is superimposed on the horizontal displacement ΔX′ generated by the turntable linkage mechanism to participate in the closed-loop operation of the next cycle;

[0037] S2.5. Execute steps S2.1 to S2.4 periodically and cyclically.

[0038] The beneficial effects of the present invention are:

[0039] The connecting rod turntable and the decoupling control method thereof described in the present invention have the following beneficial effects: in the traditional control method, the closed-loop control of the Z0 axis and the X axis are independent of each other, and the displacement in the horizontal direction needs to be manually calculated, and then the displacement in the horizontal direction is manually added to the X axis instruction. In addition to the calculation error, there is also a large delay in the middle. However, after changing the control algorithm, the horizontal displacement generated by the movement of the Z0 axis is directly integrated into the closed loop of the X axis by measuring and superimposing. The displacement directly calculated by the grating ruler has high accuracy and no delay, and a more effective control level can be achieved on this mechanical structure.

[0040] In addition, with the optimized control algorithm, the X-axis has the motion characteristics of RTCP during the rotation of the A-axis, which reduces the requirements for the dynamic performance of the X-axis motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the connecting rod turntable structure of the present invention;

[0042] Figure 2 A simplified schematic diagram of the motion process of the solution structure involved in the background technology;

[0043] Figure 3 This is the traditional control algorithm diagram;

[0044] Figure 4 This is a schematic diagram of the decoupling control algorithm of the present invention;

[0045] Figure 5 This is a control flow chart of the decoupling control algorithm of the present invention;

[0046] The reference numerals in the figure are as follows: 1-turntable column, 2-Z0 axis ball screw, 3-Z0 axis slide, 4-first rotation node of the connecting rod mechanism, 5-connecting rod mechanism connecting rod, 6-Z0 axis guide rail, 7-horizontal guide rail, 8-connecting rod turntable, 9-second rotation node of the connecting rod mechanism, 10-X-axis grating scale reading head, 11-horizontal slide, 12-connecting rod turntable slide, 13, X-axis grating scale, 14-turntable base, 15-bed, 16-turntable guide rail, 17-turntable drag screw, 18-turntable drag nut. DETAILED DESCRIPTION

[0047] The following is combined with Figure 1-Figure 5 The connecting rod turntable and its decoupling control method are further explained.

[0048] Example 1

[0049] A connecting rod turntable, characterized in that it includes: a turntable column 1, a connecting rod turntable 8, an X-axis grating ruler reading head 10, an X-axis grating ruler 13, a turntable base 14, a sliding mechanism A, and a sliding mechanism B. The turntable column 1 is vertically installed on the turntable base 14, the connecting rod turntable 8 is slidably connected to the turntable column 1 through the sliding mechanism A, the connecting rod turntable 8 is slidably connected to the turntable base 14 through the sliding mechanism B, the X-axis grating ruler reading head 10 is installed on the sliding mechanism B, and the X-axis grating ruler 13 is installed below the turntable base 14 and fixed to the bed, and is arranged opposite to the X-axis grating ruler reading head 10.

[0050] Furthermore, the sliding mechanism A includes: a Z0-axis ball screw 2, a Z0-axis slide 3, a connecting rod mechanism first rotation node 4, a connecting rod mechanism link 5, and a Z0-axis guide rail 6. The Z0-axis guide rail 6 is arranged on the turntable column 1, the Z0-axis ball screw 2 is connected to the Z0-axis guide rail 6, the Z0-axis slide 3 is slidingly connected to the Z0-axis guide rail 6, one end of the connecting rod mechanism link 5 is rotatably connected to the Z0-axis slide 3 through the connecting rod mechanism first rotation node 4, and the other end is connected to the connecting rod turntable 8.

[0051] Furthermore, the sliding mechanism B includes: a horizontal guide rail 7, a second rotation node 9 of a connecting rod mechanism, and a horizontal slide 11. The horizontal guide rail 7 is arranged on the turntable base 14. The connecting rod turntable 8 is rotatably connected to the horizontal slide 11 through the second rotation node 9 of the connecting rod mechanism. The horizontal slide 11 is slidably connected to the horizontal guide rail 7, and the X-axis grating scale reading head 10 is installed on the horizontal slide 11.

[0052] Furthermore, it also includes a connecting rod turntable slide 12, a bed 15, a turntable guide rail 16, a turntable drag screw 17, and a turntable drag nut 18. The bed 15 is provided with the turntable guide rail 16, the turntable drag screw 17 and the connecting rod turntable slide 12. The connecting rod turntable slide 12 is slidably connected to the turntable guide rail 16, and the turntable drag screw 17 is provided with the turntable drag nut 18; the connecting rod turntable slide 12 is fixed on the turntable base 14, and then slidably connected to the turntable guide rail 16 on the bed 15.

[0053] A decoupling control method for a connecting rod turntable, the steps are as follows:

[0054] S1. Measure the length L of the hypotenuse of the triangular structure;

[0055] S2, input the A-axis coordinates of the system, according to

[0056] Z0=L*cosα

[0057] Convert it into the coordinates of the Z0 axis and input it to the Z0 axis. Z0 represents the length of the nut position of the Z0 axis relative to the reference point of the Z0 axis. The reference point is located at the intersection of the extended lines of the displacement trajectories of the two rotation nodes of the connecting rod structure. α represents the angle of the turntable, that is, the angle between the normal line of the turntable and the positive direction of the X′ axis.

[0058] If it is a speed control method, follow

[0059] ΔZ0=L*(cosα1-cosα2)

[0060] Converted into the periodic displacement of Z0 and input into the Z0 axis, ΔZ0 represents the displacement of the Z0 axis, α1 represents the angle of the turntable before moving, and α2 represents the angle of the turntable after moving.

[0061] Furthermore, the connecting rod turntable is assembled before measuring the length L of the hypotenuse of the triangular structure. The assembly steps are as follows:

[0062] S0.1. Install the X-axis grating ruler parallel to the X-axis on the bed;

[0063] S0.2. Align the X-axis grating ruler reading head with the X-axis grating ruler, fix it on the horizontal slide, repeatedly move the connecting rod turntable horizontally, and check the reading;

[0064] S0.3. Install the circular grating of the connecting rod turntable opposite to the rotation center of the A-axis, coaxially.

[0065] Further, the length L of the hypotenuse of the triangular structure is obtained by the following steps:

[0066] Move Z0 to the first position, record Z0 coordinate Z01, A-axis angle α1; move Z0 to the second position, record Z0 coordinate Z02, turntable angle α2, and the following equation can be obtained:

[0067] L*cosα1-L*cosα2=Z01-Z02;

[0068] Then the length L of the hypotenuse of the triangle structure is obtained:

[0069] L = ΔZ0 / (cosα1-cosα2).

[0070] Further, the detailed steps of step S2 are as follows:

[0071] S2.1, command A0, i.e. Δα, is sent to the Z0 controller; command x is sent to the X-axis controller;

[0072] S2.2, Z0 controller calculates the distance Δα that the A-axis needs to travel in the next cycle based on the command and the feedback of the A-axis rotation angle. The command angle Δα issued includes the following error and speed feedforward.

[0073] The A0-axis controller calculates the distance Δα that the A-axis needs to travel in the next cycle based on the command and the feedback of the A-axis rotation angle. The command angle Δα issued includes the following error and speed feedforward; the X-axis executes the same process.

[0074] S2.3, before inputting to the Z0 actuator, Δα is converted into the current straight-line distance ΔZ0 that Z0 needs to travel according to the formula ΔZ0=L(cosα1-cos(α1+Δα)), and then the instruction is sent to the Z0 actuator; ΔX is sent to the X-axis actuator;

[0075] S2.4, the Z0 actuator drives the turntable linkage mechanism to generate an A-axis swing angle change Δα′ and a horizontal displacement ΔX′ in the X-axis direction. Δα′ is used to participate in the closed-loop operation of the next cycle; the X-axis actuator also generates a displacement ΔX0, which is superimposed on the horizontal displacement ΔX′ generated by the turntable linkage mechanism to participate in the closed-loop operation of the next cycle;

[0076] S2.5. Execute steps S2.1 to S2.4 periodically and cyclically.

[0077] Example 2

[0078] The control method proposed in this application only needs to change one place compared with the traditional control solution, which is convenient and fast, low cost and effective. The implementation of the technical solution described in this application only needs to modify the reading head of the X axis from the turntable base to the turntable support slider.

[0079] The traditional control method is shown in the algorithm schematic diagram as follows Figure 3 As shown;

[0080] The schematic diagram of the control scheme mentioned in this application is as follows Figure 4 As shown;

[0081] It should be noted that the dotted part in the figure does not need to be implemented additionally. It only needs to change the installation position of the X-axis reading head, and no changes are required to the X-axis control algorithm.

[0082] In the traditional control algorithm, the horizontal displacement needs to be calculated based on Z0 and added to the instruction X. However, here, since the reading head is installed on the turntable support slider, the horizontal displacement of the turntable caused by the movement of the Z0 axis can be fed back to the closed loop of the X axis in real time through the grating ruler (or other measuring device).

[0083] Assuming that the X-axis command X remains unchanged, the horizontal center of the turntable can be automatically kept unchanged during the dragging process of the Z0 axis. Figure 2 The X left of the A-axis rotation center is always X1.

[0084] The unique advantages of this control structure are summarized as follows:

[0085] 1. Since the horizontal displacement of the turntable is measured by the grating ruler, the part of calculating the horizontal displacement is omitted, saving manpower.

[0086] 2. Since the horizontal displacement of the turntable is measured by a grating ruler, the real-time and accuracy of the value can be guaranteed, ensuring the required control accuracy.

[0087] 3. In actual applications, since the reading head is installed on the turntable support slider, the horizontal displacement of the turntable will be automatically added to the horizontal displacement feedback of the X-axis. There is no need to make any changes to the control algorithm of the X-axis, which also saves manpower.

[0088] Implementation steps:

[0089] Assembly:

[0090] 1. Install the grating ruler parallel to the X-axis on the bed, and proceed to step 2 after checking that it is correct;

[0091] 2. Align the X-axis grating ruler reading head with the grating ruler, fix it on the support slider of the horizontal turntable, repeatedly move the turntable horizontally to check that the reading is normal, and then proceed to step 3;

[0092] 3. Install the rotary table's circular grating facing the A-axis rotation center, coaxially, and proceed to step 4 after repeated checks;

[0093] Measurement:

[0094] 4. Measure the length of the hypotenuse of the triangular structure. After measuring the length, repeatedly move Z0 and verify whether the hypotenuse length, A-axis angle and Z0 coordinate can perfectly match the triangle. After completing the measurement, proceed to step 6. If the triangles calculated at each position are greatly different, recheck the assembly and restart from step 1. If there is no accurate measuring device, proceed to step 5;

[0095] 5. Move Z0 to the first position, record Z0 coordinate Z01, A-axis angle α1, move Z0 to the second position, record Z0 coordinate Z02, turntable angle α2. Since the turntable mechanical structure is installed at right angles, the hypotenuse length can be calculated according to the following formula, assuming that the hypotenuse length is L:

[0096] L*cosα1-L*cosα2=Z01-Z02

[0097] L = ΔZ0 / (cosα1-cosα2)

[0098] When calculating the result, you should find several positions to verify whether the calculated L is correct. If the L values ​​calculated repeatedly are very different, it means that the result of the mechanical assembly is not a right angle. You should check the mechanical assembly carefully and restart from step 1. If you think the calculated hypotenuse length is accurate enough, proceed to step 6.

[0099] Algorithm:

[0100] 6. Change the system A-axis control method, convert the A-axis coordinates input by the system into the coordinates of the Z0 axis according to the following Z0=L*sinα, and input them to the Z0 axis. If it is a speed control method, follow

[0101] ΔZ0=L*(cosα1-cosα2)

[0102] Convert it into the periodic displacement (i.e. velocity) of Z0 and input it to the Z0 axis without any change to other axes.

[0103] The flow chart of connecting rod decoupling control is as follows: Figure 5 As shown;

[0104] Here are the steps:

[0105] 1. Command A0, i.e. Δα, is sent to the Z0 controller; command x is sent to the X-axis controller;

[0106] 2. The A0 controller calculates the distance Δα that the A-axis needs to travel in the next cycle based on the command and the feedback of the A-axis rotation angle. The command angle Δα issued includes the following error and speed feedforward; the same is true for ΔX;

[0107] 3. Before inputting to the Z0 actuator, Δα is converted into the current straight-line distance ΔZ0 that Z0 needs to travel according to the formula, and then the command is sent to the Z0 actuator, which is generally a servo motor, inverter and other actuators; similarly, ΔX is sent to the X-axis actuator;

[0108] 4. The Z0 actuator drives the turntable linkage mechanism to produce an A-axis swing angle change Δα′ and a horizontal displacement ΔX′ in the X-axis direction. Δα′ is used to participate in the closed-loop operation of the next cycle. The X-axis actuator also produces a displacement ΔX0, which is superimposed on the horizontal displacement ΔX′ produced by the turntable linkage mechanism to participate in the closed-loop operation of the next cycle.

[0109] 5. Repeat this process in a cyclical cycle.

[0110] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A decoupling control method for a connecting rod turntable, characterized in that: The connecting rod turntable comprises: a turntable column (1), a connecting rod turntable (8), an X-axis grating ruler reading head (10), an X-axis grating ruler (13), a turntable base (14), a sliding mechanism A, and a sliding mechanism B. The turntable column (1) is vertically mounted on the turntable base (14); the connecting rod turntable (8) is slidably connected to the turntable column (1) via the sliding mechanism A; the connecting rod turntable (8) is slidably connected to the turntable base (14) via the sliding mechanism B; the X-axis grating ruler reading head (10) is mounted on the sliding mechanism B; the X-axis grating ruler (13) is mounted below the turntable base (14) and is arranged opposite to the X-axis grating ruler reading head (10); The decoupling control method of the connecting rod turntable performs the following steps: S1. Measure the length L of the hypotenuse of the triangular structure; S2, input the A-axis coordinates of the system, according to Z0=L*cosα Convert to the coordinates of the Z0 axis and input them to the Z0 axis. Z0 represents the length of the nut position of the Z0 axis relative to the reference point of the Z0 axis. The reference point is located at the intersection of the extension lines of the displacement trajectories of the two rotation nodes of the connecting rod structure. α represents the angle of the turntable, that is, the angle between the normal line of the turntable and the positive direction of the X' axis. If it is a speed control method, follow ΔZ0=L*(cosα1-cosα2) Converted into the periodic displacement of Z0 and input to the Z0 axis, ΔZ0 represents the displacement of the Z0 axis, α1 represents the angle of the turntable before moving, and α2 represents the angle of the turntable after moving; The detailed steps of step S2 are as follows: S2.1, command A0, i.e. Δα, is sent to the Z0 controller; command X is sent to the X-axis controller; S2.2, Z0 controller calculates the distance Δα that the A-axis needs to travel in the next cycle based on the command and the feedback of the A-axis rotation angle. The command angle Δα issued includes the following error and speed feedforward. The A0-axis controller calculates the distance Δα that the A-axis needs to travel in the next cycle based on the command and the feedback of the A-axis rotation angle. The command angle Δα issued includes the following error and speed feedforward. The X-axis executes the same process. S2.3, before inputting to the Z0 actuator, Δα is converted into the current straight-line distance ΔZ0 that Z0 needs to travel according to the formula ΔZ0=L(cosα1-cos(α1+Δα)), and then the instruction is sent to the Z0 actuator; ΔX is sent to the X-axis actuator; S2.4, the Z0 actuator drives the turntable linkage mechanism to generate the A-axis swing angle change Δα' and the X-axis horizontal displacement ΔX', which is used to participate in the closed-loop operation of the next cycle; the X-axis actuator also generates a displacement ΔX0, which is superimposed on the horizontal displacement ΔX' generated by the turntable linkage mechanism to participate in the closed-loop operation of the next cycle; S2.

5. Execute steps S2.1 to S2.4 periodically and cyclically.

2. The decoupling control method of the connecting rod turntable according to claim 1, characterized in that: The sliding mechanism A comprises: a Z0-axis ball screw (2), a Z0-axis slide (3), a first rotation node (4) of a connecting rod mechanism, a connecting rod (5) of the connecting rod mechanism, and a Z0-axis guide rail (6); the Z0-axis guide rail (6) is arranged on the turntable column (1); the Z0-axis ball screw (2) is connected to the Z0-axis guide rail (6); the Z0-axis slide (3) is slidably connected to the Z0-axis guide rail (6); one end of the connecting rod (5) of the connecting rod mechanism is rotatably connected to the Z0-axis slide (3) through the first rotation node (4) of the connecting rod mechanism, and the other end is connected to the connecting rod turntable (8).

3. The decoupling control method of the connecting rod turntable according to claim 1, characterized in that: The sliding mechanism B comprises: a horizontal guide rail (7), a second rotation node (9) of a connecting rod mechanism, and a horizontal slide (11); the horizontal guide rail (7) is arranged on the turntable base (14); the connecting rod turntable (8) is rotatably connected to the horizontal slide (11) via the second rotation node (9) of the connecting rod mechanism; the horizontal slide (11) is slidably connected to the horizontal guide rail (7); and the X-axis grating scale reading head (10) is installed on the horizontal slide (11).

4. The decoupling control method of the connecting rod turntable according to claim 1, characterized in that: The invention also comprises a connecting rod turntable slide (12), a bed (15), a turntable guide rail (16), a turntable drag screw (17), and a turntable drag nut (18); the bed (15) is provided with the turntable guide rail (16), the turntable drag screw (17) and the connecting rod turntable slide (12); the connecting rod turntable slide (12) is slidably connected to the turntable guide rail (16); and the turntable drag screw (17) is provided with the turntable drag nut (18).

5. The decoupling control method of the connecting rod turntable according to claim 1, characterized in that: Before measuring the length L of the hypotenuse of the triangular structure, assemble the connecting rod turntable. The assembly steps are as follows: S0.

1. Install the X-axis grating ruler parallel to the X-axis on the bed; S0.

2. Align the X-axis grating ruler reading head with the X-axis grating ruler, fix it on the horizontal slide, repeatedly move the connecting rod turntable horizontally, and check the reading; S0.

3. Install the circular grating of the connecting rod turntable opposite to the rotation center of the A-axis, coaxially.

6. The decoupling control method of the connecting rod turntable according to claim 1, characterized in that: Obtain the length L of the hypotenuse of the triangular structure by following the steps below: Move Z0 to the first position, record Z0 coordinate Z01, A-axis angle α1; move Z0 to the second position, record Z0 coordinate Z02, turntable angle α2, and the following equation can be obtained: L*cosα1-L*cosα2=Z01-Z02; Then the length L of the hypotenuse of the triangle structure is obtained: L = ΔZ0 / (cosα1-cosα2).

Images