Coordinate positioning deflection method, device and equipment of multi-axis parallel motor and storage medium

Abstract

The invention discloses a coordinate positioning deflection method, device and equipment of a multi-axis parallel motor and a storage medium, and relates to the field of motor control. Constructing a virtual plane coordinate system at an initial position based on an electric actuator controlled by three parallel motors; the central points of the electric actuators are positioned on the same circumference; receiving a task instruction of the control platform deck, analyzing a distribution task of each electric actuator and carrying out position positioning; when the allocation task is translation operation, calculating the horizontal feed amount of each electric actuator according to the plane-coordinate system and the current position coordinate; when the distribution task is the deflection operation, the deflection feeding amount of each electric actuator is determined according to the plane coordinate system and the current position; and the servo driving system is controlled to feed the deviation rectifying carrying table, and the current position coordinates are updated. According to the scheme, rotary motion is converted into linear feed amount calculation, the control time sequence coordination problem among multiple modules is avoided, and the technical bottlenecks that a traditional structure is large in size, slow in response and low in precision are successfully solved.

Description

Technical Field

[0001] This application relates to the field of motor control, and in particular to a coordinate positioning deflection method, device, equipment and storage medium for a multi-axis parallel motor. Background Technology

[0002] Industrial equipment is the foundation of modern manufacturing, and mechanical motion control and precise positioning are among its core technologies. In automated production processes, repetitive motion position control, precise alignment, visual focusing, and complex motion trajectory control are frequently required. Traditional mechanical motion control solutions typically employ a modular design approach, developing independent motion control modules for different functional requirements. For translational motion in a planar coordinate system, the conventional solution uses a combination of two linear motion axis modules. When simultaneous translation and deflection functions are required, a DDR rotary platform module needs to be superimposed in series on top of the translation module.

[0003] This traditional approach has significant technical limitations: First, the modular series connection results in a bulky mechanical structure, especially when simultaneous translation and rotation are required, necessitating a three-layer structure and severely hindering miniaturization. Second, the series connection between modules is prone to mechanical resonance, significantly reducing system control accuracy, making it difficult to improve either axial or radial motion precision. Furthermore, since translation and deflection are implemented by different modules, the system must execute the two actions step-by-step, making synchronous motion control impossible and leading to low efficiency. Finally, DDR motors are not only expensive but also have limited load-bearing capacity; in a series structure, their load adaptability is further deteriorated, making it difficult to meet the demands of modern industry for high-precision, high-efficiency, and highly adaptable motion control systems.

[0004] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0005] This application provides a coordinate positioning and deflection method, device, equipment, and storage medium for a multi-axis parallel motor, which has the advantages of compact structure, high control precision, high motion efficiency, and low cost.

[0006] On the one hand, this application provides a coordinate positioning deflection method for a multi-axis parallel motor, the method comprising: A virtual planar coordinate system is constructed at the initial position based on electric actuators controlled by at least three parallel motors; wherein at least two electric actuators move horizontally along one coordinate axis, one electric actuator moves horizontally along another coordinate axis, and the center points of the electric actuators are located on the same circle; The system receives task instructions from the control platform, parses the assigned tasks for each electric actuator, and performs position positioning. When the assigned task is a translation operation, the system calculates the horizontal feed amount of each electric actuator based on the planar coordinate system and the current position coordinates. When the assigned task is a deflection operation, the system calculates the deflection feed amount of each electric actuator based on the planar coordinate system and the current position. Control the servo drive system to feed the correction stage and update the current position coordinates.

[0007] Specifically, the electric actuator includes a motor fixed on a plane, a lead screw connected to the motor shaft, and a load-bearing bearing assembly connected to the lead screw; The load-bearing assembly includes a bidirectional guide rail assembly, a sliding block, and a rotary bearing disposed on the sliding block; The rotary bearing is located below the platform; a virtual circle is constructed with the center point of the rotating shaft as the center point of the electric actuator, and the center point of the circle is the origin of the coordinate axis. The bearing assembly converts the linear motion of the motor into rotational motion.

[0008] Specifically, when the lead screw of the electric actuator moves in extension or retraction, the bidirectional guide rail assembly includes a linear guide rail mounted on the lead screw, and a sliding block inside the linear guide rail is pushed by the lead screw in the direction of another coordinate axis.

[0009] Specifically, determine the initial deflection angle of each electric actuator in the virtual coordinate system under the initial state. Virtual circumference radius The center of the platform coincides with the origin of the virtual coordinate system before the platform moves. Before receiving the task command from the control platform, detect the center of the platform. Check if the coordinate point coincides with the origin of the coordinate system. If the coordinate point does not coincide, move the center of the platform circle. The x and y values ​​are inverted and used as the feed amount for the motor shaft to restore the platform to a horizontal position. Further detection of the deflection angle of the platform relative to the virtual coordinate system. When the deflection angle When the value is not zero, calculate the feed amount of each motor shaft and control the servo drive system to perform deflection reset.

[0010] Specifically, when the assigned task is a translation operation, the target positioning coordinates are obtained. Based on the current platform center Calculate the feed rate for each motor shaft:

[0011]

[0012] Among them This indicates the feed amount in the X direction. This indicates the feed rate in the Y direction; This is the feed rate coefficient; The feed control data is sent to the servo drive system.

[0013] Specifically, when the assigned task is a deflection operation, the target deflection angle of the platform is determined. ; Detect the current deflection angle of the platform relative to the virtual coordinate system. If the current deflection angle When it is not zero, based on the target deflection angle Deflection angle and virtual circumference radius Calculate the feed rate for each motor shaft:

[0014]

[0015] This indicates the feed amount in the X direction. This indicates the feed rate in the Y direction; Indicates the initial deflection angle of the electric actuator ; The feed control data is sent to the servo drive system.

[0016] Specifically, after sending the feed control data to the servo drive system, the solution also includes: Receive feedback signals from the servo drive system and update the current platform centerline based on the feedback signal. and the current deflection angle; Use the task report generator to generate a task report, including time, task ID, feed amount of each electric actuator, current position returned by the encoder of each electric actuator, and current position data of the stage.

[0017] On the other hand, this application provides a coordinate positioning deflection device for a multi-axis parallel motor, the device comprising: An initialization module is used to construct a virtual planar coordinate system at an initial position based on electric actuators controlled by at least three parallel motors; wherein at least two electric actuators move horizontally along one coordinate axis, one electric actuator moves horizontally along another coordinate axis, and the center points of the electric actuators are located on the same circle; The feed calculation module is used to receive the task instructions from the control platform, parse the assigned task of each electric actuator, and perform position positioning. Specifically, when the assigned task is a translation operation, the horizontal feed amount of each electric actuator is calculated based on the planar coordinate system and the current position coordinates. When the assigned task is a deflection operation, the deflection feed amount of each electric actuator is calculated based on the planar coordinate system and the current position. The drive update module is used to control the servo drive system to feed the correction stage and update the current position coordinates.

[0018] In another aspect, this application provides a computer device including a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, wherein the at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the processor to implement the coordinate positioning deflection method for a multi-axis parallel motor described above.

[0019] In another aspect, this application provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the coordinate positioning and deflection method for a multi-axis parallel motor described above.

[0020] The beneficial effects of the technical solution provided in this application include at least the following: Compared with related technical solutions, traditional solutions rely on physical rotation modules to achieve deflection functions, while this solution integrates translation and rotation functions within a single structure through the coordination of a virtual coordinate system and the spatial layout of the actuators. Related technologies require two independent modules to complete the composite motion step by step, while this solution achieves synchronous action through the coordinated control of parallel actuators. In terms of mechanical structure, the traditional three-layer serial architecture is simplified to a planar parallel layout, eliminating the height accumulation problem caused by module stacking. In terms of control logic, this solution converts rotational motion into linear feed calculation, avoiding the control timing coordination problem between multiple modules. In particular, this solution is especially suitable for fields such as semiconductor packaging equipment with stringent requirements for space utilization and motion accuracy, successfully solving the technical bottlenecks of traditional structures such as large size, slow response, and low accuracy. Attached Figure Description

[0021] Figure 1 This is a flowchart of the coordinate positioning deflection method for a multi-axis parallel motor provided in the embodiments of this application; Figure 2 A schematic diagram of a possible form of multi-axis parallel actuator system is shown; Figure 3 It shows Figure 2 Top view of a multi-axis parallel actuator system; Figure 4 A schematic diagram of a possible form of electric actuator is disclosed. Figure 5 The algorithm flowchart of the coordinate positioning deflection method for multi-axis parallel motors is listed; Figure 6 This diagram shows the stage in the virtual plane coordinate system in its initial state. Figure 7 This is a schematic diagram describing the translation state based on a planar coordinate system. Figure 8 This is a schematic diagram describing the deflection state based on a planar coordinate system; Figure 9 This is a structural block diagram of the coordinate positioning deflection device for a multi-axis parallel motor provided in the embodiments of this application; Figure 10 A structural block diagram of a computer device provided in an exemplary embodiment of this application is shown. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0023] In this article, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0024] The mechanical motion control of industrial equipment typically employs a modular design, requiring translation and deflection functions to be achieved through the series connection of different modules. This structure results in bulky equipment, increased risk of mechanical resonance, and difficulty in improving control precision. For example, traditional solutions use a combination of linear motion axis modules and DDR rotary modules, which not only significantly impacts miniaturization but also reduces efficiency due to step-by-step operations. The high cost of the rotary modules further limits load capacity. In precision assembly or automated inspection scenarios, this structure struggles to meet the demands for rapid and accurate positioning within compact spaces. The inadequacy of response speed and collaborative control capabilities in traditional solutions becomes particularly pronounced when the stage needs to simultaneously adjust its position and deflect its angle.

[0025] To address these issues, researchers first analyzed the physical limitations of existing modular structures, discovering that a serial layout was the root cause of volume and accuracy problems. By studying the kinematic characteristics of parallel mechanisms, they considered symmetrically distributing multiple actuators to create geometric constraints. Further exploration revealed how to unify translational and rotational motions into a single coordinate system, discovering that constructing a virtual planar coordinate system could transform the two motion modes into a mathematical relationship of linear feed rates. Ultimately, this led to the core idea of ​​achieving composite actions through the coordinated motion of parallel actuators, abandoning traditional rotary modules and instead utilizing actuator spatial layout and coordinate transformation to achieve functional integration.

[0026] Therefore, this application proposes a system composed of multi-axis parallel actuators, and specifically designs a coordinate positioning and deflection method for multi-axis parallel motors, such as... Figure 1 As shown, the method includes the following steps: S1. A virtual planar coordinate system is constructed at the initial position based on an electric actuator controlled by at least three parallel motors; A virtual plane coordinate system refers to a mathematical reference system established by the geometric position of the actuators. Considering the need to construct a stable virtual coordinate system for real-time positioning of the stage displacement and deflection attitude, as well as to ensure stage balance, this application selects at least three electric actuators (driven by motors) to support and control the stage (i.e., the worktable). Using the three-point positioning method (i.e., three points on the plane determine a unique circle, which is the center point of the electric actuator, also the stage connection point), a unique coordinate system can be directly constructed based on the positions of the electric actuators. For ease of modeling and analytical calculation, the electric actuators can be arranged orthogonally, with at least two actuators positioned to move horizontally along one coordinate axis and one actuator moving horizontally along another coordinate axis. For example, two actuators move along the X-axis and one along the Y-axis. This arrangement aligns the actuator movement direction with the coordinate system, facilitating feed rate calculation and coordinated motion control. In some embodiments, the arrangement and number can be achieved by equal-angle intervals, ensuring symmetrical displacement of each actuator during stage rotation and maintaining balanced rotational torque.

[0027] Figure 2 A schematic diagram of a possible form of multi-axis parallel actuator system is shown. Taking three electric actuators as an example, to simplify the calculation, a rectangular planar structure is formed by three actuators and an auxiliary support. Two X-axis electric actuators 1 and 2 move along one straight line, and one Y-axis electric actuator 3 moves along the other straight line. Figure 3This is a top view of the multi-axis parallel actuator system. Two actuators move along the X-axis (i.e., X-axis electric actuators 1 and 2), and one moves along the Y-axis (i.e., X-axis electric actuators 1 and 2). An additional unpowered follower module support is added to maintain symmetrical balance. The three electric actuators define a circle (the support is also located on this circle), and a virtual plane coordinate system can be constructed based on this circular plane.

[0028] S2. Receive the task instructions from the control platform, parse the assigned tasks of each electric actuator and perform position positioning; When the system receives a task instruction to control the platform, it will extract the specific target position and target deflection angle. Based on the target position and target deflection angle, combined with the current platform coordinates (e.g., the center or corner of the platform), the task can be broken down to determine the detailed task that needs to be controlled next, namely the translation and / or deflection operation of the platform.

[0029] When the assigned task is a translation operation, the horizontal feed of each electric actuator is calculated based on the plane coordinate system and the current position coordinates; when the assigned task is a deflection operation, the deflection feed of each electric actuator is calculated based on the plane coordinate system and the current position.

[0030] Specifically, the three electric actuators are arranged in a spatially symmetrical layout at their initial positions, with their center points forming a geometric constraint of a virtual circle. When the stage needs to translate, the control unit decomposes the displacement into linear feed amounts of each actuator along the coordinate axes according to a preset algorithm based on the difference between the target coordinates and the current position. For deflection operations, the rotation angle is converted into changes in the extension and retraction of each actuator using a trigonometric function model, and rotational torque is generated by utilizing the positional changes of symmetrical points on the circle.

[0031] S3. Control the servo drive system to feed the correction stage and update the current position coordinates.

[0032] The servo system dynamically adjusts the feed of each actuator to form a closed-loop control by providing real-time feedback of the stage's position and angle data, ensuring continuous correction during movement. The coordinate update mechanism recalculates the stage's spatial state after each action, providing accurate reference data for subsequent operations.

[0033] Compared to related technical solutions, traditional solutions rely on physical rotation modules to achieve deflection, while this solution integrates translation and rotation functions within a single structure through the coordination of a virtual coordinate system and actuator spatial layout. Related technologies require two independent modules to complete the composite motion step by step; this solution achieves synchronous action through the coordinated control of parallel actuators. In terms of mechanical structure, the traditional three-layer serial architecture is simplified to a planar parallel layout, eliminating the height accumulation problem caused by module stacking. In terms of control logic, this solution converts rotational motion into linear feed calculation, avoiding control timing coordination issues between multiple modules. In particular, this solution is especially suitable for fields such as semiconductor packaging equipment with stringent requirements for space utilization and motion accuracy, successfully solving the technical bottlenecks of traditional structures such as large size, slow response, and low precision.

[0034] Regarding the aforementioned and Figure 2 The electric actuator achieves linear displacement and angular deflection functions, which can be realized by combining a rotating shaft and slide rail system. To clearly describe the details of this function, this application uses... Figure 4 Taking one possible electric actuator structure disclosed herein as an example, the electric actuator includes a motor fixed on a plane, a lead screw connected to the motor shaft, and a bearing assembly connected to the lead screw. The motor can be fixed on the base plane by a support base, and the motor output is connected to the bearing assembly in sequence through a coupling and the lead screw. A stroke limiter can be set on the support base to control the extension and retraction of the lead screw.

[0035] The bearing assembly is key to achieving bidirectional displacement. It includes a bidirectional guide rail assembly, a sliding block, and a rotary bearing mounted on the sliding block. The platform sits and is mounted on the rotary bearing. The platform and bearing can be fixed by fasteners. A virtual circumference is constructed with the center point of the rotating shaft as the center point of the electric actuator. The center point of the circumference is the origin of the coordinate axis. The bearing assembly converts the linear motion of the motor screw into rotational motion, thus achieving both translation and deflection functions without the need for an additional DDR rotary platform.

[0036] The bidirectional guide rail assembly can be implemented by orthogonally superimposing a bottom guide rail and an upper guide rail, and achieving multi-directional displacement transmission through the combined movement of sliding blocks. For example, controlling the sliding direction of one guide rail to be parallel to the extension and retraction direction of the lead screw to push the sliding block; the sliding direction of the other guide rail to be perpendicular to the extension and retraction direction of the lead screw, and pushing the sliding block through the motor lead screw in another coordinate axis direction.

[0037] Alternatively, a single guide rail assembly can be used, in which a nut is fitted onto the lead screw to fix the linear guide rail onto the lead screw, and the guide rail is kept perpendicular to the lead screw. In this way, when the lead screw moves, it directly drives the entire guide rail to move linearly.

[0038] A slewing bearing is a rotating support component with axial load-bearing capacity. It can be implemented using ball bearings or crossed roller bearings. Its outer ring is rigidly connected to the platform via a fixing member, while the inner ring is fixed to a sliding block. The fixing member is a fastener with a lateral locking function, which can be implemented using a structure combining threaded holes and lateral grooves, allowing rotational freedom while fixing the platform and bearing.

[0039] Specifically, the rotational motion of the motor is converted into linear extension and retraction via a lead screw, pushing the sliding block to move along the orthogonal direction of the bidirectional guide rail assembly. During the sliding block's displacement, the rotary bearing generates a rotational component around the center of a virtual circle, causing the platform to simultaneously rotate during linear displacement. The orthogonal layout of the bidirectional guide rail assembly decouples the motion in the X and Y axes, and the axial bearing design of the rotary bearing converts the linear thrust into torque output. The fixing method of the fasteners ensures connection rigidity while achieving the platform's composite motion through the rotational freedom of the rotary bearing.

[0040] Taking a double-layer orthogonal guide rail as an example, it includes two mutually perpendicular linear guide rails, stacked in the order of bottom slide rail, first sliding block, upper slide rail, and second sliding block. When the lead screw of the electric actuator extends or retracts in a certain direction, the sliding direction of the bottom guide rail is parallel to the extension / retraction direction of the lead screw, pushing the first sliding block; the sliding direction of the other upper guide rail is perpendicular to the extension / retraction direction of the lead screw, pushing the second sliding block through the lead screw in another coordinate axis direction. Figure 3 Taking the structural layout as an example, when the lead screw of the X-axis electric actuator extends or retracts along the Y-axis, its bottom slide rail is parallel to the lead screw axis, pushing the first sliding block to move along the Y-axis. At this time, the X-axis degree of freedom of the upper slide rail allows the second sliding block to generate X-axis displacement under the drive of another (Y-axis) actuator. Similarly, when the lead screw of the Y-axis electric actuator extends or retracts along the X-axis, its bottom slide rail bears the X-axis thrust, while the Y-axis degree of freedom of the upper slide rail is controlled collaboratively by other (X-axis) actuators. Here, the X / Y-axis electric actuator refers to the actuator used to construct the virtual coordinate system X / Y axis.

[0041] For example, when only Y-axis motion is executed, the X-axis electric actuator performs active linear motion output in the Y direction, while the feed of the Y-axis electric actuator screw is 0, and the guide rail is subjected to force to perform passive linear motion output. When deflection is executed, the three electric actuators in the same plane coordinate system move simultaneously, and the linear motion mechanical output is converted from the bearing to rotational motion, completing the arc output control.

[0042] By synthesizing the extension vectors of the three actuators, the stage can achieve both planar translation and rotational torque through differentiated extension amounts, thus completing composite motion within a single structural level. Since the motion directions of the three actuators form specific angles with the coordinate axes, their extension amounts can be directly converted into vector components in the planar coordinate system. This simplifies the control algorithms for translation and deflection to solving a system of linear equations, significantly improving the response speed and control accuracy of multi-axis coordinated motion.

[0043] Regarding the optional motor types for electric actuators: The choice of motor type for electric actuators is based on a comprehensive consideration of specific business needs, response speed, working accuracy, and cost. From the perspective of cost reduction and efficiency improvement, ordinary motors are the most suitable, meeting most application scenarios and offering the highest cost-effectiveness. If faster response speed and higher working accuracy are required, linear motors or other suitable types of power output modules can be used.

[0044] Figure 5 The algorithm flowchart for the coordinate positioning deflection method of multi-axis parallel motors is listed. Initialization and reset are required in the initial stage of the system, that is, restoring the platform and electric actuators to their original positions. Figure 6 The initialization state shown in the diagram includes the following operations: 1. Determine the initial deflection angle of each electric actuator in the virtual coordinate system under the initial state. Virtual circumference radius and the center of the platform; The virtual planar coordinate system is established when the automatic actuator and the stage are in their initial states; therefore, the origin O of the coordinate system and the center of the stage's circle are... They overlap. Figure 2 Taking three automatic controllers as an example, with electric actuators set in the positive X-axis, positive Y-axis, and negative Y-axis directions respectively, the initial deflection angles of T1(x), T2(x), and T3(y) are... They are , , Virtual circumference radius It is the radius of the circle containing the center points of all electric actuators. It can be calculated by calibrating the installation position of each actuator with a laser rangefinder and is used to construct the geometric model for motion control.

[0045] 2. Before receiving the task command from the control platform, detect the center of the platform. Check if the coordinate point coincides with the origin of the coordinate system. If the coordinate point does not coincide, move the center of the platform circle. The x and y values ​​are inverted and used as the feed amount for the motor shaft to restore the platform to a horizontal position. Translation and reset: Check Checking whether the values ​​of x and y are non-zero, inverting non-zero values ​​and assigning them as feed values ​​to the corresponding electric actuator to control its feed motion, so that... ;Right now: If x is non-zero, invert x and use it as the feed amount to the electric actuator in the X direction; If y is non-zero, invert y and use it as the feed amount to the electric actuator in the Y direction; If x and y are non-zero, invert x and y and use them as feed values ​​to the electric actuators in the X and Y directions.

[0046] 3. Further detect the deflection angle of the platform relative to the virtual coordinate system. When the deflection angle When the value is not zero, calculate the feed amount of each motor shaft and control the servo drive system to perform deflection reset.

[0047] Specifically if If it is non-zero, invert it and assign it to the target deflection angle. ,Right now The feed rate function expression is called to calculate the feed rate of each axis and control the servo drive system to perform deflection reset.

[0048] Based on the foregoing, when the assigned task is a translation operation, the target positioning coordinates are obtained. The target positioning coordinates are issued by the relevant business unit, such as the central computer control system, the position correction control system of the corresponding link in the production line, or direct commands input by the user. This is based on the current center of the platform. Calculate the feed rate for each motor shaft:

[0049]

[0050] Among them This indicates the feed amount in the X direction. This indicates the feed rate in the Y direction; This is the feed coefficient, representing the equipment difference correction value for each feed component, such as the lead error of different suppliers' lead screws, the position deviation of the motor rotation angle, manufacturing and assembly process errors, etc. This value is calibrated after the hardware is manufactured, and the default value is 1.

[0051] For example, the initial deflection angles of three electric actuators T1(x), T2(x), and T3(y) are 90 degrees, 270 degrees, and 0 degrees, respectively, and the target positioning coordinate point is (3, -1). The current center of the platform Then the feed rate of each axis is: ; Furthermore, the feed control data can be sent to the servo drive system.

[0052] When the assigned task is a deflection operation, the target deflection angle of the stage must first be determined. and the center of the inspection platform Because deflection always occurs based on the center of the circle, the stage center must be checked before deflection is performed. With the origin of the virtual plane coordinate system To determine if they are completely aligned, if they are not aligned, a translation operation is required for initial reset, that is, the platform needs to be horizontally reset.

[0053] Furthermore, the current deflection angle of the platform relative to the virtual coordinate system is detected. If the current deflection angle When it is not zero, based on the target deflection angle Deflection angle and virtual circumference radius Calculate the feed rate for each motor shaft:

[0054]

[0055] This indicates the feed amount in the X direction. This indicates the feed rate in the Y direction; Indicates the initial deflection angle of the electric actuator ; in calculating the received and The corresponding feed control data is then sent to the servo drive system. It is particularly important to note that during deflection feed, all electric actuators must simultaneously execute parallel feed movements. For Figure 2 The platform support base, which is set up separately (working on), does not have a motor drive structure, but it still needs to be equipped with a bearing assembly to cooperate with the deflection and horizontal displacement of the other three electric actuators.

[0056] Target deflection angle This refers to the required rotation angle, which can be detected in real time using an angle sensor or encoder, and is used to quantify the target attitude of the stage. Current deflection angle. This refers to the actual rotational deviation of the stage, used to eliminate the influence of initial attitude error on motion control.

[0057] Specifically, a trigonometric function motion model is established to convert the rotation angle increment into a linear displacement. This is done when an initial deflection angle of the platform is detected. At the target deflection angle This deviation is added to the calculation to ensure that the final deflection angle reaches the expected value. This is achieved by adding the initial deflection angle... As a phase parameter, the displacement calculation is adapted to actuators with different layouts. The servo drive system uses the calculated... and Synchronous control of multi-axis motion enables the stage to complete precise deflection around a virtual center.

[0058] Furthermore, after sending the feed control data to the servo drive system, the solution also includes: Receive feedback signals from the servo drive system and update the current platform centerline based on the feedback signal. and current deflection angle ; Use the task report generator to generate a task report, including time, task ID, feed amount of each electric actuator, current position returned by the encoder of each electric actuator, and current position data of the stage.

[0059] The feedback signal is the actual displacement detection signal returned by the servo drive system after executing the feed control data. Specifically, it can be implemented using position feedback data from a photoelectric encoder or magnetic scale, used to verify the matching degree between theoretical calculations and actual motion values. The task report generator is a module unit used to record motion process parameters. It can be implemented using database storage combined with timestamps, integrating task execution time, unique task number, theoretical feed amount for each axis, encoder feedback position, and final coordinates of the stage into structured data.

[0060] Based on the above control logic, this application implements a method of controlling the positioning and deflection of a work platform in a planar coordinate system using multiple linear motion axes arranged in parallel within the same planar coordinate system. Linear motion is converted into rotary motion via bearings. The feed amount of the electric actuators for translational and deflection positioning is calculated according to different task categories. The servo system is controlled to complete the feed motion, update the position data, generate a business report, and submit it. This completely solves the problem of using linear motion axes in the X and Y directions with loaded rotary motion axes to achieve worktable deflection.

[0061] The following is a specific example: by Figure 3 Taking the system layout structure as an example, three electric actuators T1(x), T2(x), and T3(y) are arranged on the same basic plane. The center points of the three electric actuators are located on the same circle with radius R. The starting angles of the three axes are... , , The angles are 90°, 270°, and 0° respectively. T1(x) and T2(x) perform movement in the X direction, and T3(y) performs movement in the Y direction, with the X and Y axes moving in the positive direction. The worktable support is for user worktables / platforms that need to support high loads. The dashed lines indicate user worktables / platforms.

[0062] Initialization location configuration information: Origin of the plane coordinate system: Center of platform: And x=0, y=0; circumference radius: r=160mm; The calibration of the axis coordinates and the starting angle is as follows: T1(x) is 90°, T2(x) is 270°, and T3(y) is 0°. Axis feed rate: , , ; Current deflection angle Target deflection angle Feed rate coefficient ; Translation task: Let the obtained target positioning coordinates be... ,current Then the feed rates for each axis are: ; ; ; Controlling the servo drive to execute the feed motion causes the worktable to translate relative to the virtual coordinate system. , Figure 7 This is a schematic diagram describing the translation state based on a planar coordinate system.

[0063] Deflection task: consists of 3 steps. Step 1: Check the origin of the current working platform, i.e. If the coordinates do not coincide with the origin of the virtual coordinate system, perform a translation reset and update. ; Step 2: Calculate the deflection feed rate, assuming the target deflection angle obtained this time is... Read the current deflection angle of the worktable. Calculate the deflection feed for each of the three axes, as follows: ; ; ; Step 3: Control the three axes to simultaneously execute feed motion, so that the worktable deflects 2° relative to the current position; for example... Figure 8 (The workbench executes based on a planar coordinate system) The deflection diagram is a schematic diagram describing the deflection state based on a planar coordinate system.

[0064] Wait for the feed to complete, then update the current deflection angle. ; The task report generator is invoked to update the local log file and report it to the central control computer for auditing and other follow-up processing.

[0065] In summary, the beneficial effects of this solution are as follows: 1. It realizes the control of the work platform based on the virtual plane coordinate system by using three linear motion axes in parallel layout in a plane coordinate system; 2. By using configuration files and formal symbols, differences in mechanical structure design are avoided; 3. Compared to using two linear motion axes (X and Y axes) in parallel and then connecting a DDR rotary platform in series to achieve table positioning and deflection, using three linear motion axes in parallel results in: stronger load-bearing capacity, less structural vibration, more precise error control (three axes in parallel form a flat module), faster deflection response (control commands for three axes in parallel are sent once, and all three axes move simultaneously), and lower cost (DDR motors are much more expensive than ordinary motors). 4. The three-axis parallel system features a flat design, resulting in a smaller size, making it suitable for miniaturized and micro-sized applications.

[0066] Figure 9 This is a structural block diagram of the coordinate positioning deflection device for a multi-axis parallel motor provided in this application embodiment. The device includes: Initialization module 910 is used to construct a virtual planar coordinate system at the initial position based on electric actuators controlled by at least three parallel motors; wherein at least two electric actuators move horizontally along one coordinate axis, one electric actuator moves horizontally along another coordinate axis, and the center points of the electric actuators are located on the same circle; The feed calculation module 920 is used to receive the task instructions from the control platform, parse the assigned task of each electric actuator, and perform position positioning; wherein, when the assigned task is a translation operation, the horizontal feed amount of each electric actuator is calculated based on the plane coordinate system and the current position coordinates; when the assigned task is a deflection operation, the deflection feed amount of each electric actuator is calculated based on the plane coordinate system and the current position. The drive update module 930 is used to control the servo drive system to feed the correction stage and update the current position coordinates.

[0067] It should be noted that the coordinate positioning deflection device for a multi-axis parallel motor provided in this embodiment is only illustrated by the above-described division of functional modules / units. In practical applications, the above functions can be assigned to different functional modules / units as needed, that is, the internal structure of the coordinate positioning deflection device for a multi-axis parallel motor can be divided into different functional modules / units to complete all or part of the functions described above. Furthermore, the implementation method of the coordinate positioning deflection method for a multi-axis parallel motor provided in the above method embodiment and the implementation method of the coordinate positioning deflection device for a multi-axis parallel motor provided in this embodiment belong to the same concept. For details of the specific implementation process of the coordinate positioning deflection device for a multi-axis parallel motor provided in this embodiment, please refer to the above method embodiment, which will not be repeated here.

[0068] Figure 10 This illustration shows a structural block diagram of a computer device provided in an exemplary embodiment of this application. The computer device can be a desktop computer, a laptop computer, a handheld computer, or a cloud server, etc. The computer device may include, but is not limited to, a processor and memory. The processor and memory can be connected via a bus or other means. The processor can be a Central Processing Unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, graphics processing units (GPUs), embedded neural network processing units (NPUs) or other dedicated deep learning coprocessors, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.

[0069] In some embodiments, the computer device may also optionally include: a peripheral device interface and at least one peripheral device. The processor, memory, and peripheral device interface can be connected via a bus or signal lines. Each peripheral device can be connected to the peripheral device interface via a bus, signal lines, or a circuit board. Specifically, the peripheral device includes at least one of: a radio frequency circuit, a display screen, and a keyboard.

[0070] Those skilled in the art will understand that the structure shown in this embodiment does not constitute a limitation on the computer device, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0071] This application also discloses a computer-readable storage medium. Specifically, the computer-readable storage medium is used to store a computer program, which, when executed by a processor, implements the methods described in the above-described method embodiments. Those skilled in the art will understand that implementing all or part of the processes in the methods described in the above-described embodiments of this application can be accomplished by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0072] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A coordinate positioning and deflection method for a multi-axis parallel motor, characterized in that, The method includes: A virtual planar coordinate system is constructed at the initial position based on electric actuators controlled by at least three parallel motors; wherein at least two electric actuators move horizontally along one coordinate axis, one electric actuator moves horizontally along another coordinate axis, and the center points of the electric actuators are located on the same circle; The system receives task instructions from the control platform, parses the assigned tasks for each electric actuator, and performs position positioning. When the assigned task is a translation operation, the system calculates the horizontal feed amount of each electric actuator based on the planar coordinate system and the current position coordinates. When the assigned task is a deflection operation, the system calculates the deflection feed amount of each electric actuator based on the planar coordinate system and the current position. Control the servo drive system to feed the correction stage and update the current position coordinates.

2. The method according to claim 1, characterized in that, The electric actuator includes a motor fixed on a plane, a lead screw connected to the motor shaft, and a load-bearing bearing assembly connected to the lead screw; The bearing assembly includes a bidirectional guide rail assembly, a sliding block, and a rotary bearing disposed on the sliding block; The rotary bearing is located below the platform; a virtual circle is constructed with the center point of the rotating shaft as the center point of the electric actuator, and the center point of the circle is the origin of the coordinate axis. The bearing assembly converts the linear motion of the motor into rotational motion.

3. The method according to claim 2, characterized in that, When the lead screw of the electric actuator extends or retracts, the bidirectional guide rail assembly includes a linear guide rail mounted on the lead screw, and a sliding block inside the linear guide rail is pushed by the lead screw in the direction of another coordinate axis.

4. The method according to claim 1, characterized in that, Determine the initial deflection angle of each electric actuator in the virtual coordinate system under the initial state. Virtual circumference radius The center of the platform coincides with the origin of the virtual coordinate system before the platform moves. Before receiving the task command from the control platform, detect the center of the platform. Check if the coordinate point coincides with the origin of the coordinate system. If the coordinate point does not coincide, move the center of the platform circle. The x and y values ​​are inverted and used as the feed amount for the motor shaft to restore the platform to a horizontal position. Further detection of the deflection angle of the platform relative to the virtual coordinate system. When the deflection angle When the value is not zero, calculate the feed amount of each motor shaft and control the servo drive system to perform deflection reset.

5. The method according to claim 1, characterized in that, When the assigned task is a translation operation, obtain the target positioning coordinates. Based on the current platform center Calculate the feed rate for each motor shaft: Among them This indicates the feed amount in the X direction. This indicates the feed rate in the Y direction; This is the feed rate coefficient; The feed control data is sent to the servo drive system.

6. The method according to claim 5, characterized in that, When the assigned task is a deflection operation, determine the target deflection angle of the stage. ; Detect the current deflection angle of the platform relative to the virtual coordinate system. If the current deflection angle When it is not zero, based on the target deflection angle Deflection angle and virtual circumference radius Calculate the feed rate for each motor shaft: This indicates the feed amount in the X direction. This indicates the feed rate in the Y direction; Indicates the initial deflection angle of the electric actuator ; The feed control data is sent to the servo drive system.

7. The method according to claim 5 or 6, characterized in that, After sending the feed control data to the servo drive system, the solution further includes: Receive feedback signals from the servo drive system and update the current platform centerline based on the feedback signal. and current deflection angle ; Use the task report generator to generate a task report, including time, task ID, feed amount of each electric actuator, current position returned by the encoder of each electric actuator, and current position data of the stage.

8. A coordinate positioning deflection device for a multi-axis parallel motor, characterized in that, The device includes: An initialization module is used to construct a virtual planar coordinate system at an initial position based on electric actuators controlled by at least three parallel motors; wherein at least two electric actuators move horizontally along one coordinate axis, one electric actuator moves horizontally along another coordinate axis, and the center points of the electric actuators are located on the same circle; The feed calculation module is used to receive the task instructions from the control platform, parse the assigned task of each electric actuator, and perform position positioning; wherein, when the assigned task is a translation operation, the horizontal feed amount of each electric actuator is calculated based on the planar coordinate system and the current position coordinates; when the assigned task is a deflection operation, the deflection feed amount of each electric actuator is calculated based on the planar coordinate system and the current position. The drive update module is used to control the servo drive system to feed the correction stage and update the current position coordinates.

9. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, the code set, or instruction set being loaded and executed by the processor to implement the coordinate positioning deflection method for a multi-axis parallel motor as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The readable storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or instruction set is loaded and executed by a processor to implement the coordinate positioning and deflection method for a multi-axis parallel motor as described in any one of claims 1 to 7.

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