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

Abstract

The application discloses a control implementation method of large-load high-precision six-dimensional position adjustment, and realizes six-dimensional position adjustment of a load through a large-load high-precision position adjustment device, wherein horizontal X-axis displacement adjustment is realized by driving a first servo motor through a first servo driver to move along the X-axis direction in a horizontal plane; horizontal Y-axis displacement adjustment is realized by driving a second servo motor through a second servo driver to move along the Y-axis direction in the horizontal plane; Z-axis displacement adjustment, alpha-axis attitude adjustment and beta-axis attitude adjustment are realized by driving third to sixth servo motors through third to sixth servo drivers respectively to move along the Z-axis direction and rotate around the X-axis and the Y-axis; and gamma-axis attitude adjustment is realized by driving seventh and eighth servo motors through seventh and eighth servo drivers respectively to rotate around the Z-axis synchronously and in the same direction. The application can realize manual or automatic precise adjustment of six degrees of freedom, and has high positioning precision, high adjustment efficiency and compact structure.

Description

Technical Field

[0001] The present invention belongs to the technical field of equipment manufacturing, and in particular 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, including diffraction and imaging, and 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 matter under extreme conditions such as high pressure, high and low temperatures, and magnetic fields, providing support for basic scientific research, cutting-edge interdisciplinary research, and solving key technical problems. During high-pressure neutron experiments, the position and direction of the beam must be adjusted as required. Therefore, a high-load, high-precision six-dimensional position adjustment system is required to support the pressure beam and achieve precise adjustment of its three-dimensional position and spatial attitude. This, in turn, allows for precise adjustment of the spatial position and attitude of the pressure component 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 large-load high-precision six-dimensional posture adjustment, 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, which realizes the six-dimensional posture adjustment of the load through a large-load high-precision posture adjustment device. 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 movement along the X-axis direction in the horizontal plane through screw transmission and precision guide rail guidance; the horizontal Y-axis displacement adjustment adopts the second servo driver to drive the second servo motor, and realizes movement along the Y-axis direction in the horizontal plane through screw transmission and 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 worm gear transmission and precision guide assembly guidance to realize the load movement along the Z-axis direction and rotational movement around the X-axis and 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 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 in the forward direction, the fourth, fifth, and sixth servo motors follow the forward movement synchronously, driving the load to rise; when the third servo motor is controlled to move in the reverse direction, the fourth, fifth, and sixth servo motors follow the reverse movement synchronously, driving the load to fall. 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 dZ2, and the center distance between the motion 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 );

[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 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 ).

[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, where the target position is the X coordinate of the target posture;

[0012] After the first servo motor moves to the target position, it sends an absolute position positioning instruction to the second servo driver through the motion control system. 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 an electronic gear mode 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;

[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(α2×π / 180)×L 12 / 2+z2, where α2 is the roll 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(β2×π / 180)×L 34 / 2+z2, where β2 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 with a transmission ratio of 1. The motion control system sends an absolute position positioning command to the seventh servo driver. The target position is the yaw angle of the target posture.

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

[0018] Another aspect of the present invention provides a computer device, comprising 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] Yet 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] According to the control implementation method, computer equipment, computer-readable storage medium and computer program product of the above-mentioned aspects of the present invention for high-precision six-dimensional posture adjustment with large load, it is possible to 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 the positioning accuracy is high, the adjustment efficiency is high and the structure is compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions 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. Those skilled in the art can also derive other drawings based on these drawings without inventive efforts.

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

[0024] Figure 2 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 1 is a schematic diagram of a Z-axis displacement adjustment method according to an embodiment of the present invention;

[0026] Figure 4is 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] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall 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 achieved 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 load's rotation angle 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 load's two-dimensional displacement within the horizontal plane. The parallel height adjustment component 3 is located above the two-dimensional displacement adjustment component 2 and is used to mount the load and adjust the load's height displacement along the vertical Z axis and the rotation angle around the X axis (α axis) and Y axis (β axis). The motion control system is used to achieve motion control and position display of three-axis displacement and three-axis posture.

[0032] The horizontal X-axis displacement adjustment adopts a first servo driver DX to drive a first servo motor MX, and realizes the movement along the X-axis direction in the horizontal plane through the screw transmission and the precise guide rail guidance. The horizontal Y-axis displacement adjustment adopts a second servo driver DY to drive a second servo motor MY, and realizes the movement along the Y-axis direction in the horizontal plane through the screw transmission and the precise guide rail guidance. The Z-axis displacement adjustment, the alpha-axis attitude adjustment and the beta-axis attitude adjustment adopt four servo drivers (a third servo driver DZ1, a fourth servo driver DZ2, a fifth servo driver DZ3 and a sixth servo driver DZ4) to respectively drive four servo motors (a third servo motor MZ1, a fourth servo motor MZ2, a fifth servo motor MZ3 and a sixth servo motor MZ4), and realize the adjustment of the load along the corresponding axis through the coordinated movement of the worm and gear transmission and the precise guide component guidance. The gamma-axis attitude adjustment adopts two servo drivers (a seventh servo driver Dγ1 and an eighth servo driver Dγ2) to respectively drive two servo motors (a seventh servo motor Mγ1 and an eighth servo motor Mγ2) to realize the rotation movement around the Z-axis through the synchronous and same-direction movement.

[0033] The motion control system realizes the communication and control between the eight sets of servo drivers and servo motors through the Ethercat (Ethernet for Control Automation Technology) field bus technology. The four servo motors MZ1, MZ2, MZ3 and MZ4 can be switched between the Z-axis displacement adjustment, the alpha-axis attitude adjustment and the beta-axis attitude adjustment, and the corresponding movement axes of the third, fourth, fifth and sixth servo motors MZ1, MZ2, MZ3 and MZ4 are Z1, Z2, Z3 and Z4.

[0034] When the Z-axis displacement adjustment is performed, the movement axis of the third servo motor MZ1 is taken as the main shaft, and the movement axes of the fourth, fifth and sixth servo motors MZ2, MZ3 and MZ4 are taken as the slave shafts to establish the electronic gear mode with the main shaft. When the third servo motor MZ1 is controlled to move forward, the fourth, fifth and sixth servo motors MZ2, MZ3 and MZ4 are controlled to move forward synchronously, and drive the load to rise. When the third servo motor MZ1 is controlled to move reversely, the fourth, fifth and sixth servo motors MZ2, MZ3 and MZ4 are controlled to move reversely synchronously, and drive the load to descend. The displacement adjustment amount of the load is the movement displacement amount of the Z1 axis.

[0035] When the α-axis posture is adjusted, the motion axis of the fourth servo motor MZ2 is used as the main axis, and the motion axis of the third servo motor MZ1 is used as the slave axis to establish an electronic gear mode with the main axis; when the fourth servo motor MZ2 is controlled to move forward, the third servo motor MZ1 synchronously follows the reverse motion, driving the load to rotate forward along the α-axis; when the fourth servo motor MZ2 is controlled to move reversely, the third servo motor MZ1 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 MZ2 is dZ2, and the center distance between the motion axes of the third servo motor MZ1 and the fourth servo motor MZ2 is L 12 , then the roll angle change is Δα=arctan(2×dZ2 / L 12 ).

[0036] When the β-axis posture is adjusted, the movement axis of the sixth servo motor MZ4 is used as the main axis, and the movement axis of the fifth servo motor MZ3 is used as the slave axis to establish an electronic gear mode with the main axis; when the sixth servo motor MZ4 is controlled to move forward, the fifth servo motor MZ3 synchronously follows the reverse movement, driving the load to rotate forward along the β-axis; when the sixth servo motor MZ4 is controlled to move reversely, the fifth servo motor MZ3 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 MZ4 is dZ4, and the center distance between the movement axes of the fifth servo motor MZ3 and the sixth servo motor MZ4 is L 34 , then the pitch angle change is Δβ=arctan(2×dZ4 / 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 to couple the slave axis 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 decouple the slave axis 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 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, starting the axis Z1 decoupling function block, 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 is used to determine whether an error occurs in the electronic gear mode decoupling. If so, the trigger variable is set to 0. Follow the above steps to release the electronic coupling mode of axes Z2, Z3, and Z4 in turn, and then determine again whether the electronic gear mode of axes Z1, Z2, Z3, and Z4 is released.

[0039] The X and Y axis displacements are adjusted to single-axis motion control. After the system is powered on and enabled, the X 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 3 As 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 all 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 and move synchronously in the same direction. At the same time, the trigger variables of the axis Z1 and Z2 coupling function block MC_GearIn_Z1Z2, the axis Z1 and Z3 coupling function block MC_GearIn_Z1Z3, and the axis Z1 and Z4 coupling function block MC_GearIn_Z1Z4 are set to 0; otherwise, the Z1, Z2, Z3, and Z4 decoupling program is executed. After the decoupling program is successfully executed, the main axis of the axis Z1 and Z2 coupling function block is set to Z1 axis, the slave axis is set to Z2 axis, the reduction ratio is 1, the coupling direction is in the same direction, and the trigger variable MC_GearIn_Z1Z2.Exe is set. Set cute to 1 to start the coupling function block of axes Z1 and Z2. Use the flag MC_GearIn_Z1Z2.InGear in the electronic gear coupling to determine whether the electronic gear mode coupling is successful. If so, set the trigger variable to 0. Otherwise, use the flag MC_GearIn_Z1Z2.CommandAborted that the coupling instruction is interrupted by other instructions to determine whether the electronic gear mode coupling is interrupted. If so, set the trigger variable to 0. Otherwise, use the error flag MC_GearIn_Z1Z2.Error in the coupling instruction to determine whether the electronic gear mode coupling has an error. If so, set the trigger variable to 0. Follow the above steps to 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. Then determine 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, 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 electronic gear mode and the Z2, Z3, and Z4 axes are not in 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 in reverse synchronous motion, and the MC_GearIn_Z2Z1 trigger variable is set to 0; otherwise, the Z1, Z2, Z3, and Z4 decoupling program is 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. The trigger variable MC_GearIn_Z2Z1.Execute is set to 1 to start the coupling of the axis Z2 and Z1. Function block, uses the MC_GearIn_Z2Z1.InGear flag to determine whether the electronic gear mode coupling is successful. If so, the trigger variable is set to 0. Otherwise, it is determined whether the electronic gear mode coupling is interrupted according to the MC_GearIn_Z2Z1.CommandAborted flag. If so, the trigger variable is set to 0. Otherwise, it is determined whether the electronic gear mode coupling issues an error according to the MC_GearIn_Z2Z1.Error flag. If so, the trigger variable is set to 0. Then, it is determined again whether the Z1 axis is in electronic gear mode and the Z2, Z3, and Z4 axes are not in electronic gear mode, until the Z1 axis is in electronic gear mode and the Z2, Z3, and Z4 axes are not in electronic gear mode.

[0042] like Figure 5As shown, 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 electronic gear mode and the Z1, Z2, and Z3 axes are not in 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 in reverse synchronous motion. At the same time, 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. The trigger variable MC_GearIn_Z4Z3.Execute is set to 1 to start the coupling of the axis Z4 and Z3. Function block, uses the MC_GearIn_Z4Z3.InGear flag to determine whether the electronic gear mode coupling is successful. If so, the trigger variable is set to 0. Otherwise, the MC_GearIn_Z4Z3.CommandAborted flag is used to determine whether the electronic gear mode coupling is interrupted. If so, the trigger variable is set to 0. Otherwise, the MC_GearIn_Z4Z3.Error flag is used to determine whether the electronic gear mode coupling issues an error. If so, the trigger variable is set to 0. Then, it is determined again whether the Z4 axis is in electronic gear mode and the Z1, Z2, and Z3 axes are not in electronic gear mode, until the Z4 axis is in electronic gear mode and the Z1, Z2, and Z3 axes are not in electronic gear mode.

[0043] The γ-axis posture adjustment method is as follows: after the system is powered on and enabled, the motion axis of the seventh servo motor Mγ1 is used as the main axis, and the motion axis of the eighth servo motor Mγ2 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 γ-axis posture can be adjusted by sending motion instructions to the seventh servo driver Dγ1 through the motion control system.

[0044] Assume that the current pose parameters are P1 (x1, y1, z1, α1, β1, γ1), the target pose parameters are P2 (x2, y2, z2, α2, β2, γ2), and the center distance between the motion axes of the third servo motor MZ1 and the fourth servo motor MZ2 is L. 12 The center distance between the fifth servo motor MZ3 and the sixth servo motor MZ4 motion axis is L 34 , the process of moving from the current posture P1 to the target posture P2 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, with the target position being X2;

[0047] Step 3: After the first servo motor MX moves to the target position, it sends an absolute position positioning instruction to the second servo driver DY through the motion control system, and the target position is y2;

[0048] Step 4: After the second servo motor MY moves to the target position, the electronic gear mode is released for the motion axes of the third, fourth, fifth, and sixth servo motors MZ1, MZ2, MZ3, and MZ4. Then, the motion axis of the third servo motor MZ1 is used as the main axis, and the motion axes of the fourth, fifth, and sixth servo motors MZ2, MZ3, and MZ4 are used as slave axes to establish an electronic gear mode 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 DZ1 through the motion control system. The target position is z2-tan(x1×π / 180)×L 12 / 2;

[0049] Step 5: After the third servo motor MZ1 moves to the target position, the electronic gear mode is released for the motion axes of the third, fourth, fifth, and sixth servo motors MZ1, MZ2, MZ3, and MZ4. Then, the motion axis of the fourth servo motor MZ2 is used as the master axis, and the motion axis of the third servo motor MZ1 is used as the slave axis to establish an electronic gear mode with the master axis. The slave axis moves synchronously with the master axis in the opposite direction, and the transmission ratio is 1. The absolute position positioning command is sent to the fourth servo driver DZ2 through the motion control system. The target position is tan(α2×π / 180)×L 12 / 2+z2;

[0050] Step 6: After the fourth servo motor MZ2 moves to the target position, the electronic gear mode is released for the motion axes of the third, fourth, fifth, and sixth servo motors MZ1, MZ2, MZ3, and MZ4. Then, the motion axis of the sixth servo motor MZ4 is used as the master axis, and the motion axis of the fifth servo motor MZ3 is used as the slave axis to establish an electronic gear mode with the master axis. The slave axis moves synchronously with the master axis in the opposite direction, and the transmission ratio is 1. The absolute position positioning command is sent to the sixth servo driver DZ4 through the motion control system. The target position is tan(β2×π / 180)×L 34 / 2+z2;

[0051] Step 7: After the sixth servo motor MZ4 moves to the target position, the motion axis of the seventh servo motor Mγ1 is used as the main axis, and the motion axis of the eighth servo motor Mγ2 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 with a transmission ratio of 1. The absolute position positioning command is sent to the seventh servo driver Dγ1 through the motion control system, and the target position is γ2;

[0052] Step 8: After the seventh servo motor Mγ1 moves to the target position, the posture adjustment is completed, and the current load posture parameters are P2 (x2, y2, z2, α2, β2, γ2).

[0053] The control method for implementing high-load, high-precision six-dimensional posture adjustment in the above-mentioned embodiment of the present invention uses a motion control system to control eight servo systems through fieldbus technology to drive seven motion axes. The high-load, high-precision posture adjustment device can provide manual or automatic precision adjustment of six degrees of freedom (DOF)—two-dimensional centration, height displacement, pitch, roll, and yaw—according to load adjustment requirements under heavy-load conditions. It also features high positioning accuracy, high adjustment efficiency, and a compact structure. This 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 weight of 20 tons, the positioning accuracy of the three-dimensional displacement can reach ±10μm within the moving range of ±30mm, the positioning accuracy of the roll and pitch posture can reach ±0.02° within the moving range of ±1°, and the positioning accuracy of the yaw posture can reach ±0.01° within the moving range of ±30°.

[0055] (2) The present invention adopts a motion control system to control the communication and control between 8 servo drives 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] The 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 via a system bus. 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 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 via 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 shown in the figure, or combine certain components, or have a different component arrangement.

[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 merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. A control method for high-precision six-dimensional posture adjustment with large load, characterized in that: The six-dimensional posture adjustment of the load is achieved through a large-load, high-precision posture adjustment device. 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 adjust the rotation angle 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 adjust the two-dimensional displacement 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 adjust the height of the load along the vertical Z axis and the rotation angle around the X axis and 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 load movement along the Z-axis direction and rotational movement around the X-axis and 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 rotational movement around the Z-axis; The motion control system uses EtherCAT technology to achieve the control of Z-axis displacement adjustment, α-axis posture adjustment and β-axis posture adjustment. 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 in the forward direction, the fourth, fifth, and sixth servo motors follow the forward movement synchronously, driving the load to rise; when the third servo motor is controlled to move in the reverse direction, the fourth, fifth, and sixth servo motors follow the reverse movement synchronously, driving the load to fall. 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 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 dZ2, and the center distance between the motion axes of the third servo motor and the fourth servo motor is L 12 , then the roll angle change is αα=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 ).

2. The method according to claim 1, wherein The motion control system performs motion control as follows to move the payload from the current posture to the target posture: Sending an absolute position positioning instruction to the first servo driver through the motion control system, where the target position is the X coordinate of the target posture; After the first servo motor moves to the target position, it sends an absolute position positioning instruction to the second servo driver through the motion control system. 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 an electronic gear mode 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 roll 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 with a transmission ratio of 1. The motion control system sends an absolute position positioning command to the seventh servo driver. The target position is the yaw angle of the target posture. The posture adjustment is completed after the seventh servo motor moves to the target position.

3. 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 claim 1 or 2.

4. 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 claim 1 or 2 are implemented.

5. 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 claim 1 or 2 are implemented.

Images