Control implementation method for large-load high-precision six-dimensional pose adjustment

Abstract

The invention discloses a control implementation method for large-load high-precision six-dimensional pose adjustment, six-dimensional pose adjustment of a load is realized through a large-load high-precision pose adjustment device, and horizontal X-axis displacement adjustment adopts a first servo driver to drive a first servo motor to realize movement in the X-axis direction in a horizontal plane; the horizontal Y-axis displacement adjustment adopts a second servo driver to drive a second servo motor to realize the movement in the Y-axis direction in the horizontal plane; z-axis displacement adjustment, alpha-axis attitude adjustment and beta-axis attitude adjustment adopt third to sixth servo drivers to respectively drive third to sixth servo motors, so that the load moves in the Z-axis direction and rotates around the X-axis and the Y-axis; a seventh servo driver and an eighth servo driver are adopted for driving a seventh servo motor and an eighth servo motor to synchronously move in the same direction to achieve rotation around the Z axis in gamma-axis posture adjustment. The six-degree-of-freedom precision adjusting device can achieve six-degree-of-freedom manual or automatic precision adjustment, and is high in positioning precision, high in adjusting efficiency and compact in structure.

Description

Technical Field

[0001] The present invention belongs to the technical field of equipment manufacturing, and specifically relates to a control implementation method for high-precision six-dimensional posture adjustment of a large load. Background Art

[0002] High-pressure neutron diffractometers have multiple functions such as diffraction and imaging. They have important applications in condensed matter physics, chemistry, new energy, materials science, geology and other fields. They can be used to study the structure and physical properties of materials under extreme conditions such as high pressure, high and low temperature, and magnetic fields, and provide support for basic scientific research, cutting-edge cross-disciplinary research, and solving key technical problems. In high-pressure neutron experiments, the position and direction of the beam need to be adjusted as required. Therefore, it is necessary to carry the pressure beam through high-load and high-precision six-dimensional posture adjustment to achieve precise adjustment of the three-dimensional position and spatial posture of the pressure beam, thereby achieving precise adjustment of the spatial position and posture of the pressure part during neutron diffraction. Summary of the invention

[0003] The purpose of the present invention is to provide a control implementation method, computer equipment, computer-readable storage medium and computer program product for high-precision six-dimensional posture adjustment of large load, which can provide manual or automatic precision adjustment of six degrees of freedom of two-dimensional centering displacement, height displacement, pitch attitude, roll attitude and yaw attitude according to load adjustment needs under heavy load conditions, and has high positioning accuracy, high adjustment efficiency and compact structure.

[0004] In order to achieve the above-mentioned purpose, one aspect of the present invention provides a control implementation method for large-load high-precision six-dimensional posture adjustment, wherein the six-dimensional posture adjustment of the load is realized by a large-load high-precision posture adjustment device, and the large-load high-precision posture adjustment device includes a rotation adjustment component, a two-dimensional displacement adjustment component, a parallel height adjustment component and a motion control system. The rotation adjustment component is located at the bottom layer of the entire device, and is used to realize the rotation angle adjustment of the load around the vertical Z axis. The two-dimensional displacement adjustment component is located above the rotation adjustment component, and is used to realize the two-dimensional displacement adjustment of the load in the horizontal plane. The parallel height adjustment component is located above the two-dimensional displacement adjustment component, and is used to install the load and realize the height displacement adjustment of the load along the vertical Z axis and the rotation angle adjustment around the X axis and the Y axis. The motion control system is used to control the horizontal X-axis displacement adjustment, the horizontal Y-axis displacement adjustment, the Z-axis displacement adjustment, the α-axis posture adjustment, the β-axis posture adjustment and the γ-axis posture adjustment.

[0005] Among them, the horizontal X-axis displacement adjustment adopts the first servo driver to drive the first servo motor, and realizes the movement along the X-axis direction in the horizontal plane through the screw transmission and the precision guide rail guidance; the horizontal Y-axis displacement adjustment adopts the second servo driver to drive the second servo motor, and realizes the movement along the Y-axis direction in the horizontal plane through the screw transmission and the precision guide rail guidance; the Z-axis displacement adjustment, α-axis posture adjustment, and β-axis posture adjustment adopt the third, fourth, fifth, and sixth servo drivers to drive the third, fourth, fifth, and sixth servo motors respectively, and use the worm gear transmission and the precision guide assembly guidance to realize the movement of the load along the Z-axis direction and the rotational movement around the X-axis and the Y-axis; the γ-axis posture adjustment adopts the seventh and eighth servo drivers to drive the seventh and eighth servo motors to move synchronously in the same direction respectively to realize the rotational movement around the Z-axis.

[0006] Preferably, the motion control system realizes the control of Z-axis displacement adjustment, α-axis posture adjustment and β-axis posture adjustment through Ethercat technology.

[0007] When the Z-axis displacement is adjusted, the motion axis of the third servo motor is used as the main axis, and the motion axes of the fourth, fifth, and sixth servo motors are used as slave axes to establish an electronic gear mode with the main axis; when the third servo motor is controlled to move forward, the fourth, fifth, and sixth servo motors synchronously follow the forward movement to drive the load to rise; when the third servo motor is controlled to move reversely, the fourth, fifth, and sixth servo motors synchronously follow the reverse movement to drive the load to fall, and the load displacement adjustment amount is the motion displacement amount of the motion axis of the third servo motor;

[0008] When the α-axis posture is adjusted, the motion axis of the fourth servo motor is used as the main axis, and the motion axis of the third servo motor is used as the slave axis to establish an electronic gear mode with the main axis; when the fourth servo motor is controlled to move forward, the third servo motor synchronously follows the reverse motion, driving the load to rotate forward along the α-axis; when the fourth servo motor is controlled to move reversely, the third servo motor synchronously follows the forward motion, driving the load to rotate reversely along the α-axis; if the displacement of the motion axis of the fourth servo motor is dZ 2 , the center distance between the third servo motor and the fourth servo motor motion axis is L 12 , then the roll angle change is Δα=arctan(2×dZ 2 / L 12 );

[0009] When the β-axis posture is adjusted, the movement axis of the sixth servo motor is used as the main axis, and the movement axis of the fifth servo motor is used as the slave axis to establish an electronic gear mode with the main axis; when the sixth servo motor is controlled to move forward, the fifth servo motor synchronously follows the reverse movement, driving the load to rotate forward along the β-axis; when the sixth servo motor is controlled to move reversely, the fifth servo motor synchronously follows the forward movement, driving the load to rotate reversely along the β-axis; if the displacement of the movement axis of the sixth servo motor is dZ 4, the center distance between the fifth servo motor and the sixth servo motor motion axis is L 34 , then the pitch angle change is Δβ=arctan(2×dZ 4 / L 34 ).

[0010] Preferably, the motion control system performs motion control as follows to move the load from the current posture to the target posture:

[0011] Sending an absolute position positioning instruction to the first servo driver through the motion control system, the target position being the X coordinate of the target posture;

[0012] After the first servo motor moves to the target position, an absolute position positioning instruction is sent to the second servo driver through the motion control system, and the target position is the Y coordinate of the target posture;

[0013] After the second servo motor moves to the target position, the electronic gear mode is released for the motion axes of the third, fourth, fifth and sixth servo motors. Then the motion axis of the third servo motor is used as the main axis, and the motion axes of the fourth, fifth and sixth servo motors are used as slave axes to establish electronic gear modes with the main axis. The slave axes move synchronously with the main axis in the same direction, and the transmission ratio is 1. The absolute position positioning command is sent to the third servo driver through the motion control system. The target position is z 2 -tan(x 1 ×π / 180)×L 12 / 2, where z 2 is the Z coordinate of the target pose, x 1 is the X coordinate of the current pose;

[0014] After the third servo motor moves to the target position, the electronic gear mode is released for the motion axes of the third, fourth, fifth and sixth servo motors. Then the motion axis of the fourth servo motor is used as the main axis, and the motion axis of the third servo motor is used as the slave axis to establish an electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the opposite direction, and the transmission ratio is 1. The absolute position positioning command is sent to the fourth servo driver through the motion control system. The target position is tan(α 2 ×π / 180)×L 12 / 2+z 2 , where α 2 is the rolling angle of the target posture;

[0015] After the fourth servo motor moves to the target position, the electronic gear mode is released for the motion axes of the third, fourth, fifth and sixth servo motors. Then the motion axis of the sixth servo motor is used as the main axis, and the motion axis of the fifth servo motor is used as the slave axis to establish an electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the opposite direction, and the transmission ratio is 1. The absolute position positioning command is sent to the sixth servo driver through the motion control system. The target position is tan(β 2 ×π / 180)×L 34 / 2+z 2 , where β 2 is the pitch angle of the target posture;

[0016] After the sixth servo motor moves to the target position, the motion axis of the seventh servo motor is used as the main axis, and the motion axis of the eighth servo motor is used as the slave axis to establish an electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the same direction, and the transmission ratio is 1. The absolute position positioning instruction is sent to the seventh servo driver through the motion control system, and the target position is the yaw angle of the target posture;

[0017] After the seventh servo motor moves to the target position, the posture adjustment is completed.

[0018] Another aspect of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above method.

[0019] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor.

[0020] Another aspect of the present invention provides a computer program product, comprising a computer program, which implements the steps of the above method when executed by a processor.

[0021] The control implementation method, computer equipment, computer-readable storage medium and computer program product for high-precision six-dimensional posture adjustment with large load capacity according to the above aspects of the present invention can provide manual or automatic precision adjustment of six degrees of freedom of two-dimensional centering displacement, height displacement, pitch attitude, roll attitude and yaw attitude according to load adjustment needs under heavy load conditions, and have high positioning accuracy, high adjustment efficiency and compact structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings used in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work:

[0023] Figure 1 This is a structural diagram of a high-precision posture adjustment device with a large load capacity according to an embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of a method for releasing the electronic gear mode of axes Z1, Z2, Z3, and Z4 according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of a Z-axis displacement adjustment method according to an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of an α-axis posture adjustment method according to an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of a β-axis posture adjustment method according to an embodiment of the present invention;

[0028] Figure 6 It is a structural diagram of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] An embodiment of the present invention provides a control implementation method for large-load high-precision six-dimensional posture adjustment. Through a large-load high-precision posture adjustment device, manual or automatic precision adjustment of six degrees of freedom of two-dimensional centering displacement, height displacement, pitch attitude, roll attitude, and yaw attitude can be provided according to load adjustment needs under heavy load conditions.

[0031] like Figure 1 As shown, the large-load high-precision posture adjustment device includes a rotation adjustment component 1, a two-dimensional displacement adjustment component 2, a parallel height adjustment component 3 and a motion control system. The rotation adjustment component 1 is located at the bottom layer of the entire device, and is used to adjust the rotation angle of the load around the vertical Z axis (γ axis); the two-dimensional displacement adjustment component 2 is located above the rotation adjustment component 1, and is used to adjust the two-dimensional displacement of the load in the horizontal plane; the parallel height adjustment component 3 is located above the two-dimensional displacement adjustment component 2, and is used to install the load and realize the height displacement adjustment of the load along the vertical Z axis and the rotation angle adjustment around the X axis (α axis) and the Y axis (β axis); the motion control system is used to realize the motion control and position display of the three-axis displacement and three-axis posture.

[0032] Among them, the horizontal X-axis displacement adjustment adopts the first servo driver DX to drive the first servo motor MX, and realizes the movement along the X-axis direction in the horizontal plane through the screw transmission and the precision guide rail guidance; the horizontal Y-axis displacement adjustment adopts the second servo driver DY to drive the second servo motor MY, and realizes the movement along the Y-axis direction in the horizontal plane through the screw transmission and the precision guide rail guidance; the Z-axis displacement adjustment, α-axis posture adjustment, and β-axis posture adjustment adopt four-way servo driver (third servo driver DZ 1 , the fourth servo drive DZ 2 、The fifth servo driver DZ 3 、Sixth servo driver DZ 4 ) respectively drive four servo motors (the third servo motor MZ 1 、The fourth servo motor MZ 2 、The fifth servo motor MZ 3 、Sixth servo motor MZ 4 ), using worm gear transmission and precision guide assembly guidance, coordinated movement to achieve load adjustment along the corresponding axis; γ-axis posture adjustment uses 2 servo drivers (seventh servo driver Dγ1, eighth servo driver Dγ 2 ) respectively drive two servo motors (the seventh servo motor Mγ1, the eighth servo motor Mγ 2 ) Synchronous movement in the same direction realizes rotational movement around the Z axis.

[0033] The motion control system realizes communication and control between 8 sets of servo drives and servo motors through Ethercat (Ethernet for Control Automation Technology) fieldbus technology. 1 , MZ 2 , MZ 3 , MZ 4 It can switch between the three motion states of Z-axis displacement adjustment, α-axis posture adjustment, and β-axis posture adjustment. The third, fourth, fifth, and sixth servo motors MZ 1 , MZ 2 , MZ 3 , MZ 4 The corresponding motion axes are Z1, Z2, Z3, and Z4.

[0034] When the Z-axis displacement is adjusted, the third servo motor MZ 1 The motion axis is used as the main axis, the fourth, fifth and sixth servo motors MZ 2 , MZ 3 , MZ 4 The motion axes are used as slave axes and master axes to establish electronic gear mode; when controlling the third servo motor MZ1 When moving in the forward direction, the fourth, fifth, and sixth servo motors MZ 2 , MZ 3 , MZ 4 Positive synchronous following movement drives the load up; when controlling the third servo motor MZ 1 When moving in the reverse direction, the fourth, fifth, and sixth servo motors MZ 2 , MZ 3 , MZ 4 The reverse synchronous following movement drives the load down, and the load displacement adjustment amount is the movement displacement of the Z1 axis.

[0035] When the α-axis posture is adjusted, the fourth servo motor MZ 2 The motion axis is used as the main axis, and the third servo motor MZ 1 The moving axis is used as the slave axis to establish an electronic gear mode with the main axis; when controlling the fourth servo motor MZ 2 When moving in the forward direction, the third servo motor MZ 1 Synchronously follows the reverse motion, driving the load to rotate in the positive direction along the α axis; when controlling the fourth servo motor MZ 2 When moving in reverse, the third servo motor MZ 1 Synchronously follows the positive motion and drives the load to rotate in the opposite direction along the α axis; if the fourth servo motor MZ 2 The displacement of the moving axis is dZ 2 、The third servo motor MZ 1 and the fourth servo motor MZ 2 The center distance of the motion axis is L 12 , then the roll angle change is Δα=arctan(2×dZ 2 / L 12 ).

[0036] When the β-axis posture is adjusted, the sixth servo motor MZ 4 The motion axis is used as the main axis, the fifth servo motor MZ 3 The moving axis is used as the slave axis to establish an electronic gear mode with the main axis; when controlling the sixth servo motor MZ 4 When moving in the forward direction, the fifth servo motor MZ 3 Synchronously follows the reverse motion, driving the load to rotate along the β axis in the positive direction; when controlling the sixth servo motor MZ 4 When moving in reverse, the fifth servo motor MZ 3 Synchronously follows the positive motion and drives the load to rotate in the opposite direction along the β axis; if the sixth servo motor MZ 4 The displacement of the moving axis is dZ 4 、The fifth servo motor MZ 3 and the sixth servo motor MZ 4 The center distance of the motion axis is L 34, then the pitch angle change is Δβ=arctan(2×dZ 4 / L 34 ).

[0037] In one embodiment, the motion control coupling function block MC_GearIn in the industrial automation programming tool is used to establish an electronic gear mode, and the slave axis is coupled to the main axis, so that the slave axis and the main axis can run synchronously at a certain speed ratio; the motion control decoupling function block MC_GearOut is used to release the electronic gear mode, and the slave axis is separated from the main axis.

[0038] like Figure 2 As shown, the decoupling method of axes Z1, Z2, Z3, and Z4 through the motion control decoupling function block MC_GearOut is as follows: through the axis coupling status bit axis.Status.Coupled, it is judged whether axes Z1, Z2, Z3, and Z4 are all released from the electronic gear mode. If so, the electronic gear mode release execution is completed. Otherwise, it is judged whether axis Z1 is in the electronic gear mode. If so, the variable MC is triggered. GearOut.Execute is set to 1, the axis Z1 decoupling function block is started, and the decoupling function block completes the flag MC GearOut.Done determines whether the electronic gear mode decoupling is successful. If so, the trigger variable is set to 0. Otherwise, the error flag MC_GearOut.Error of the decoupling function block determines whether an error occurs in the electronic gear mode decoupling. If so, the trigger variable is set to 0. According to the above steps, the electronic coupling mode of axes Z2, Z3, and Z4 is released in turn, and then it is determined again whether the electronic gear mode of axes Z1, Z2, Z3, and Z4 are all released.

[0039] The X-axis and Y-axis displacements are adjusted to single-axis motion control. After the system is powered on and enabled, the X-axis and Y-axis displacements can be adjusted by sending motion instructions to the first servo driver DX and the second servo driver DY through the motion control system.

[0040] like Figure 3As shown, the Z-axis displacement adjustment method is: after the system is powered on and enabled, the axis coupling status bit axis.Status.Coupled is used to determine whether the Z1 axis is not in the electronic gear mode and the Z2, Z3, and Z4 axes are in the electronic gear mode. If so, the Z1 axis executes the motion command as the main axis, and the slave axes Z2, Z3, and Z4 follow the main axis to move synchronously in the same direction. At the same time, the trigger variables of the axis Z1 and Z2 coupling function blocks MC_GearIn_Z1Z2, the axis Z1 and Z3 coupling function blocks MC_GearIn_Z1Z3, and the axis Z1 and Z4 coupling function blocks MC_GearIn_Z1Z4 are set to 0; otherwise, the Z1, Z2, Z3, and Z4 decoupling programs are executed. After the decoupling program is successfully executed, the main axis of the axis Z1 and Z2 coupling function blocks is set to the Z1 axis, the slave axis is set to the Z2 axis, the reduction ratio is set to 1, and the coupling direction is set to the same direction. The trigger variable MC_GearIn_Z1Z2.Exe Set cute to 1, start the axis Z1 and Z2 coupling function block, and judge whether the electronic gear mode coupling is successful through the flag bit MC_GearIn_Z1Z2.InGear in the electronic gear coupling. If so, set the trigger variable to 0. Otherwise, judge whether the electronic gear mode coupling is interrupted according to the flag bit MC_GearIn_Z1Z2.CommandAborted of the coupling instruction execution being interrupted by other instructions. If so, set the trigger variable to 0. Otherwise, judge whether the electronic gear mode coupling has an error according to the error flag bit MC_GearIn_Z1Z2.Error of the coupling instruction. If so, set the trigger variable to 0. According to the above steps, establish the same-direction electronic gear mode with Z1 as the main axis and Z3 as the slave axis and Z1 as the main axis and Z4 as the slave axis, and then judge again whether the Z1 axis is not in the electronic gear mode and the Z2, Z3, and Z4 axes are all in the electronic gear mode.

[0041] like Figure 4As shown in the figure, the α-axis posture adjustment method is as follows: after the system is powered on and enabled, the axis.Status.Coupled status bit is used to determine whether the Z1 axis is in the electronic gear mode and the Z2, Z3, and Z4 axes are not in the electronic gear mode. If so, the Z2 axis executes the motion command as the main axis, and the slave axis Z1 follows the main axis to move synchronously in the opposite direction, and the MC_GearIn_Z2Z1 trigger variable is set to 0; otherwise, the Z1, Z2, Z3, and Z4 decoupling programs are executed. After the decoupling program is successfully executed, the main axis of the axis Z2 and Z1 coupling function block is set to the Z2 axis, the slave axis to the Z1 axis, the reduction ratio to 1, and the coupling direction to the reverse direction, and the trigger variable MC_GearIn_Z2Z1.Execute is set to 1 to start the coupling of the axis Z2 and Z1. Function block, judges whether the electronic gear mode coupling is successful through the MC_GearIn_Z2Z1.InGear flag bit, if so, sets the trigger variable to 0, otherwise judges whether the electronic gear mode coupling is interrupted according to the MC_GearIn_Z2Z1.CommandAborted flag bit, if so, sets the trigger variable to 0, otherwise judges whether the electronic gear mode coupling issues an error according to the MC_GearIn_Z2Z1.Error flag bit, if so, sets the trigger variable to 0, and then judges again whether the Z1 axis is in the electronic gear mode and the Z2, Z3, and Z4 axes are not in the electronic gear mode, until the Z1 axis is in the electronic gear mode and the Z2, Z3, and Z4 axes are not in the electronic gear mode.

[0042] like Figure 5As shown in the figure, the β-axis posture adjustment method is as follows: after the system is powered on and enabled, the axis.Status.Coupled status bit is used to determine whether the Z4 axis is in the electronic gear mode and the Z1, Z2, and Z3 axes are not in the electronic gear mode. If so, the Z4 axis executes the motion command as the main axis, and the slave axis Z3 follows the main axis to move synchronously in the opposite direction, and the MC_GearIn_Z4Z3 trigger variable is set to 0; otherwise, the Z1, Z2, Z3, and Z4 decoupling programs are executed. After the decoupling program is successfully executed, the main axis of the axis Z4 and Z3 coupling function block is set to the Z4 axis, the slave axis to the Z3 axis, the reduction ratio to 1, and the coupling direction to the reverse direction, and the trigger variable MC_GearIn_Z4Z3.Execute is set to 1 to start the coupling of the axis Z4 and Z3. Function block, judges whether the electronic gear mode coupling is successful through the MC_GearIn_Z4Z3.InGear flag bit, if so, sets the trigger variable to 0, otherwise judges whether the electronic gear mode coupling is interrupted according to the MC_GearIn_Z4Z3.CommandAborted flag bit, if so, sets the trigger variable to 0, otherwise judges whether the electronic gear mode coupling issues an error according to the MC_GearIn_Z4Z3.Error flag bit, if so, sets the trigger variable to 0, and then judges again whether the Z4 axis is in the electronic gear mode and the Z1, Z2, and Z3 axes are not in the electronic gear mode, until the Z4 axis is in the electronic gear mode and the Z1, Z2, and Z3 axes are not in the electronic gear mode.

[0043] The γ-axis posture adjustment method is as follows: After the system is powered on, the seventh servo motor Mγ 1 The motion axis is used as the main axis, the eighth servo motor Mγ 2 The moving axis is used as the slave axis to establish an electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the same direction, and the transmission ratio is 1. The seventh servo driver Dγ is driven by the motion control system. 1 The γ-axis attitude can be adjusted by sending motion commands.

[0044] Assume the current pose parameter is P 1 (x 1 ,y 1 , z 1 , α 1 , β 1 , γ 1 ), the target pose parameter is P 2 (x 2 ,y 2 , z 2 , α 2 , β 2 , γ 2 ), the third servo motor MZ 1 and the fourth servo motor MZ 2 The center distance of the motion axis is L 12、The fifth servo motor MZ 3 and the sixth servo motor MZ 4 The center distance of the motion axis is L 34 , then the current posture P 1 Move to the target pose P 2 The process includes:

[0045] Step 1: Power on the large-load high-precision posture adjustment device system and enable all servo motors;

[0046] Step 2: Send an absolute position command to the first servo driver DX through the motion control system, and the target position is X 2 ;

[0047] Step 3: After the first servo motor MX moves to the target position, the motion control system sends an absolute position positioning instruction to the second servo driver DY, and the target position is y 2 ;

[0048] Step 4: After the second servo motor MY moves to the target position, the third, fourth, fifth, and sixth servo motors MZ 1 , MZ 2 , MZ 3 , MZ 4 The electronic gear mode is released for the motion axes, and then the third servo motor MZ 1 The motion axis is used as the main axis, the fourth, fifth and sixth servo motors MZ 2 , MZ 3 , MZ 4 The motion axes are used as slave axes to establish electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the same direction, and the transmission ratio is 1. The motion control system is used to control the third servo driver DZ 1 Send absolute position positioning command, the target position is z 2 -tan(x 1 ×π / 180)×L 12 / 2;

[0049] Step 5: Third Servo Motor MZ 1 After moving to the target position, the third, fourth, fifth, and sixth servo motors MZ 1 , MZ 2 , MZ 3 , MZ 4 The electronic gear mode is released for all the moving axes, and then the fourth servo motor MZ 2 The motion axis is used as the main axis, and the third servo motor MZ 1 The moving axis is used as the slave axis to establish an electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the opposite direction, and the transmission ratio is 1. The fourth servo drive DZ is transmitted through the motion control system 2Send an absolute position positioning command, the target position is tan(α 2 ×π / 180)×L 12 / 2+z 2 ;

[0050] Step 6: Fourth Servo Motor MZ 2 After moving to the target position, the third, fourth, fifth, and sixth servo motors MZ 1 , MZ 2 , MZ 3 , MZ 4 The electronic gear mode is released for all the moving axes, and then the sixth servo motor MZ 4 The motion axis is used as the main axis, the fifth servo motor MZ 3 The moving axis is used as the slave axis to establish an electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the opposite direction, and the transmission ratio is 1. The sixth servo driver DZ is sent through the motion control system 4 Send an absolute position positioning command, the target position is tan(β 2 ×π / 180)×L 34 / 2+z 2 ;

[0051] Step 7: Sixth Servo Motor MZ 4 After moving to the target position, the seventh servo motor Mγ 1 The motion axis is used as the main axis, the eighth servo motor Mγ 2 The moving axis is used as the slave axis to establish an electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the same direction, and the transmission ratio is 1. The seventh servo driver Dγ is driven by the motion control system. 1 Send absolute position positioning command, the target position is γ 2 ;

[0052] Step 8: Seventh Servo Motor Mγ 1 After moving to the target position, the posture adjustment is completed, and the current load posture parameter is P 2 (x 2 ,y 2 , z 2 , α 2 , β 2 , γ 2 ).

[0053] The control implementation method of the heavy-load high-precision six-dimensional posture adjustment of the above embodiment of the present invention adopts a motion control system to control 8 sets of servo systems through field bus technology to drive 7 motion axes to realize the heavy-load high-precision posture adjustment device. Under heavy-load conditions, according to the load adjustment needs, it can provide manual or automatic precision adjustment of six degrees of freedom of two-dimensional centering displacement, height displacement, pitch attitude, roll attitude, and yaw attitude, and has high positioning accuracy, high adjustment efficiency, and compact structure. It has the following beneficial effects:

[0054] (1) The present invention has high positioning accuracy. Under the working conditions of a load height of 2m and a load weight of 20 tons, the positioning accuracy of the three-dimensional displacement within the moving range of ±30mm can reach ±10μm, the positioning accuracy of the roll and pitch posture within the moving range of ±1° can reach ±0.02°, and the positioning accuracy of the yaw posture within the moving range of ±30° can reach ±0.01°.

[0055] (2) The present invention uses a motion control system to control the communication and control between 8 servo drivers and motors through field bus technology, and can switch arbitrarily between three-axis displacement and three-axis posture adjustment, which can effectively improve the adjustment efficiency.

[0056] An embodiment of the present invention further provides a computer device, which may be a server, and its internal structure diagram may be as shown in FIG. Figure 6 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store operating parameter data of each framework. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the steps of the method of the embodiment of the present invention are implemented.

[0057] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0058] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method of the embodiment of the present invention are implemented.

[0059] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps of the method of the embodiment of the present invention when executed by a processor.

[0060] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A control implementation method for high-precision six-dimensional posture adjustment with large load, characterized in that: The six-dimensional posture adjustment of the load is achieved by a large-load high-precision posture adjustment device, which includes a rotation adjustment component, a two-dimensional displacement adjustment component, a parallel height adjustment component and a motion control system. The rotation adjustment component is located at the bottom layer of the entire device and is used to achieve the rotation angle adjustment of the load around the vertical Z axis. The two-dimensional displacement adjustment component is located above the rotation adjustment component and is used to achieve the two-dimensional displacement adjustment of the load in the horizontal plane. The parallel height adjustment component is located above the two-dimensional displacement adjustment component and is used to install the load and achieve the height displacement adjustment of the load along the vertical Z axis and the rotation angle adjustment around the X axis and the Y axis. The motion control system is used to control the horizontal X-axis displacement adjustment, the horizontal Y-axis displacement adjustment, the Z-axis displacement adjustment, the α-axis posture adjustment, the β-axis posture adjustment and the γ-axis posture adjustment. Among them, the horizontal X-axis displacement adjustment adopts the first servo driver to drive the first servo motor, and realizes the movement along the X-axis direction in the horizontal plane through the screw transmission and the precision guide rail guidance; the horizontal Y-axis displacement adjustment adopts the second servo driver to drive the second servo motor, and realizes the movement along the Y-axis direction in the horizontal plane through the screw transmission and the precision guide rail guidance; the Z-axis displacement adjustment, α-axis posture adjustment, and β-axis posture adjustment adopt the third, fourth, fifth, and sixth servo drivers to drive the third, fourth, fifth, and sixth servo motors respectively, and use the worm gear transmission and the precision guide assembly guidance to realize the movement of the load along the Z-axis direction and the rotational movement around the X-axis and the Y-axis; the γ-axis posture adjustment adopts the seventh and eighth servo drivers to drive the seventh and eighth servo motors to move synchronously in the same direction respectively to realize the rotational movement around the Z-axis.

2. The method according to claim 1, characterized in that The motion control system realizes the control of Z-axis displacement adjustment, α-axis posture adjustment and β-axis posture adjustment through Ethercat technology. When the Z-axis displacement is adjusted, the motion axis of the third servo motor is used as the main axis, and the motion axes of the fourth, fifth, and sixth servo motors are used as slave axes to establish an electronic gear mode with the main axis; when the third servo motor is controlled to move forward, the fourth, fifth, and sixth servo motors synchronously follow the forward movement to drive the load to rise; when the third servo motor is controlled to move reversely, the fourth, fifth, and sixth servo motors synchronously follow the reverse movement to drive the load to fall, and the load displacement adjustment amount is the motion displacement amount of the motion axis of the third servo motor; When the α-axis posture is adjusted, the moving axis of the fourth servo motor is used as the main axis, and the moving axis of the third servo motor is used as the slave axis to establish an electronic gear mode with the main axis; when the fourth servo motor is controlled to move forward, the third servo motor synchronously follows the reverse movement, driving the load to rotate forward along the α-axis; when the fourth servo motor is controlled to move reversely, the third servo motor synchronously follows the forward movement, driving the load to rotate reversely along the α-axis; if the displacement of the moving axis of the fourth servo motor is dZ2, and the center distance between the moving axes of the third servo motor and the fourth servo motor is L 12 , then the roll angle change is Δα=arctan(2×dZ2 / L 12 ); When the β-axis posture is adjusted, the movement axis of the sixth servo motor is used as the main axis, and the movement axis of the fifth servo motor is used as the slave axis to establish an electronic gear mode with the main axis; when the sixth servo motor is controlled to move forward, the fifth servo motor synchronously follows the reverse movement, driving the load to rotate forward along the β-axis; when the sixth servo motor is controlled to move reversely, the fifth servo motor synchronously follows the forward movement, driving the load to rotate reversely along the β-axis; if the displacement of the movement axis of the sixth servo motor is dZ4, and the center distance between the movement axes of the fifth servo motor and the sixth servo motor is L 34 , then the pitch angle change is Δβ=arctan(2×dZ4 / L 34 ).

3. The method according to claim 2, characterized in that The motion control system performs motion control as follows to move the load from the current posture to the target posture: Sending an absolute position positioning instruction to the first servo driver through the motion control system, the target position being the X coordinate of the target posture; After the first servo motor moves to the target position, an absolute position positioning instruction is sent to the second servo driver through the motion control system, and the target position is the Y coordinate of the target posture; After the second servo motor moves to the target position, the electronic gear mode is released for the motion axes of the third, fourth, fifth and sixth servo motors. Then the motion axis of the third servo motor is used as the main axis, and the motion axes of the fourth, fifth and sixth servo motors are used as slave axes to establish electronic gear modes with the main axis. The slave axes move synchronously with the main axis in the same direction, and the transmission ratio is 1. The absolute position positioning command is sent to the third servo driver through the motion control system. The target position is z2-tan(x1×π / 180)×L 12 / 2, where z2 is the Z coordinate of the target pose and x1 is the X coordinate of the current pose; After the third servo motor moves to the target position, the electronic gear mode is released for the motion axes of the third, fourth, fifth and sixth servo motors. Then the motion axis of the fourth servo motor is used as the main axis, and the motion axis of the third servo motor is used as the slave axis to establish an electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the opposite direction, and the transmission ratio is 1. The absolute position positioning command is sent to the fourth servo driver through the motion control system. The target position is tan(α2×π / 180)×L 12 / 2+z2, where α2 is the rolling angle of the target posture; After the fourth servo motor moves to the target position, the electronic gear mode is released for the motion axes of the third, fourth, fifth and sixth servo motors. Then the motion axis of the sixth servo motor is used as the main axis, and the motion axis of the fifth servo motor is used as the slave axis to establish an electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the opposite direction, and the transmission ratio is 1. The absolute position positioning command is sent to the sixth servo driver through the motion control system. The target position is tan(β2×π / 180)×L 34 / 2+z2, where β2 is the pitch angle of the target posture; After the sixth servo motor moves to the target position, the motion axis of the seventh servo motor is used as the main axis, and the motion axis of the eighth servo motor is used as the slave axis to establish an electronic gear mode with the main axis. The slave axis moves synchronously with the main axis in the same direction, and the transmission ratio is 1. The absolute position positioning instruction is sent to the seventh servo driver through the motion control system, and the target position is the yaw angle of the target posture; After the seventh servo motor moves to the target position, the posture adjustment is completed.

4. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 3.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

6. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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