Double-Y-shaped precise positioning device and control method thereof

Abstract

The invention provides a double-Y-shaped precise positioning device and a control method thereof. The double-Y-shaped precise positioning device comprises a base; the double-Y-shaped movement mechanism is arranged on the base and comprises a first Y-shaped branch and a second Y-shaped branch which are symmetrically arranged, execution ends are arranged at the tail ends of the first Y-shaped branch and the second Y-shaped branch, and the first Y-shaped branch and the second Y-shaped branch are linked through a middle connecting part; the driving assembly is connected with the double-Y-shaped movement mechanism and used for driving the first Y-shaped branch and the second Y-shaped branch to do linear movement along the X axis and the Y axis and do rotating movement around the axes. The detection assembly comprises a plurality of displacement sensors which are respectively used for detecting real-time position information of the first Y-shaped branch, the second Y-shaped branch and the execution end; and the control module is electrically connected with the driving assembly and the detection assembly, and is used for receiving the position information of the detection assembly and controlling the operation parameters of the driving assembly. The structure is stable, motion coupling interference can be effectively suppressed, and control is accurate.

Description

Technical Field

[0001] This invention relates to the field of positioning equipment technology, specifically to a double Y-shaped precision positioning device and its control method. Background Technology

[0002] In various fields such as precision manufacturing, semiconductor processing, automated assembly, and heavy industrial production, the multi-dimensional motion control accuracy and response speed of positioning devices have become core indicators affecting production efficiency and product quality. For example, in precision manufacturing and semiconductor processing, positioning deviations at the micron or even nanometer level can lead to device scrapping; in automated assembly lines, the collaborative assembly of multiple components places stringent requirements on the linkage response speed of positioning devices; and in heavy industrial scenarios such as hoisting positioning systems, gate positioning systems, and traveling positioning systems in coking workshops of iron and steel plants, positioning devices must simultaneously consider stability under heavy load conditions and the accuracy of multi-directional movement to ensure the continuous and reliable production process.

[0003] However, existing positioning technologies are insufficient to meet the aforementioned high-precision, high-response, multi-dimensional motion requirements. Traditional positioning devices often employ single-axis independent drive or cross-shaped structures. When achieving composite motion along the X-axis, Y-axis, and rotation, these structures are prone to cumulative errors due to poor inter-axis linkage. Furthermore, during complex motion trajectory switching, adjustment lags and excessive positioning deviations frequently occur, directly leading to reduced production efficiency and lower product qualification rates.

[0004] Due to its inherent advantage of symmetrical linkage, the double-Y structure is considered a potential solution for multi-directional coordinated motion. However, this structure still faces significant technical bottlenecks in practical applications: on the one hand, the motion coupling interference between the double-Y branches is prominent, and the synchronization of the symmetrical structure is easily affected by mechanical deformation and driving errors; on the other hand, the positioning algorithm for the double-Y structure is not yet mature, and the complex kinematic relationship makes trajectory planning and deviation correction difficult, making it hard to achieve precise control.

[0005] In summary, existing technologies for multi-dimensional motion positioning suffer from shortcomings such as poor structural linkage, large cumulative errors, motion coupling interference, and complex control algorithms, failing to meet the urgent needs of various fields for high-precision and high-stability positioning. Therefore, developing a structurally stable, motion-coupled interference-effective, and precisely controlled dual-Y-shaped positioning device and corresponding control method has become a pressing technical problem to be solved in this field. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, the present invention provides a double Y-shaped precision positioning device and its control method, which has a stable structure, can effectively suppress motion coupling interference and has precise control.

[0007] The present invention adopts the following technical solution.

[0008] A double Y-shaped precision positioning device, comprising: Base; A double Y-shaped motion mechanism is mounted on a base and includes a first Y-shaped branch and a second Y-shaped branch arranged symmetrically. The ends of the first Y-shaped branch and the second Y-shaped branch are each provided with an execution end, and the two are linked together through an intermediate connecting part. A drive assembly, which is connected to a double Y-shaped motion mechanism, is used to drive the first Y-shaped branch and the second Y-shaped branch to perform linear motion along the X-axis and Y-axis, and to perform rotational motion around the axes; The detection component includes multiple displacement sensors for detecting the real-time position information of the first Y-shaped branch, the second Y-shaped branch, and the execution end, respectively. The control module is electrically connected to the drive component and the detection component, and is used to receive the position information of the detection component and control the operating parameters of the drive component.

[0009] Furthermore, both the first Y-shaped branch and the second Y-shaped branch include a main arm and a support arm connected to the main arm at one end via an elastic hinge. The main arm is connected to the intermediate connecting part as a whole, and the execution end is located at the end of the support arm away from the main arm.

[0010] Furthermore, the drive assembly includes a servo motor and a ball screw that is connected to the servo motor via a reducer.

[0011] Furthermore, the displacement sensor is a grating ruler sensor or a laser displacement sensor.

[0012] A control method based on the above-mentioned double Y-shaped precision positioning device includes the following steps: S1. The control module receives the target positioning command sent by the host computer and parses it to obtain the target position parameters of the execution end; S2. The detection component collects the initial position information of the execution end and sends it to the control module; S3. The control module calculates the motion trajectory of the first Y-shaped branch and the second Y-shaped branch and the target driving parameters of the driving component based on the difference between the target position parameters and the initial position information. S4. The control module sends corresponding drive signals to the drive component according to the obtained motion trajectory and target drive parameters to drive the double Y-shaped motion mechanism to move. S5. The detection component collects the actual position information of the double Y-shaped motion mechanism during its motion process and feeds it back to the control module; S6. The control module compares the actual position information with the target position parameters in real time. If there is a deviation, it adjusts the target drive parameters of the drive component and resends the corresponding drive signal to the drive component according to the adjusted target drive parameters until the actual position information matches the target position parameters.

[0013] Furthermore, in step S3, the motion trajectories of the first Y-shaped branch and the second Y-shaped branch are calculated using an inverse kinematics model, and a smooth transition motion path is generated by combining the linkage relationship between the first Y-shaped branch and the second Y-shaped branch.

[0014] Furthermore, in step S6, the target driving parameters of the driving component are adjusted using a PID control algorithm, and the proportional coefficient, integral coefficient, and derivative coefficient are dynamically adjusted according to the magnitude of the deviation value.

[0015] The beneficial effects of this invention are as follows: This invention addresses the shortcomings of traditional single-axis / cross-shaped structures, such as poor linkage and easy accumulation of errors, as well as the motion coupling interference inherent in existing double-Y-shaped structures. By employing a double-Y-shaped symmetrical structure design, the first and second Y-shaped branches form a symmetrical linkage, structurally reducing mutual interference between axes and significantly lowering synchronization errors in complex motions. This design is suitable for multi-dimensional motion requirements in precision manufacturing, heavy industry, and other scenarios, ensuring consistent coordinated motion along the X-axis, Y-axis, and rotational direction, and resolving the problem of large positioning deviations in traditional devices during complex trajectory motions.

[0016] This invention improves positioning accuracy to the ±0.05μm level by using a high-precision configuration of drive and detection components (such as a high-precision permanent magnet synchronous servo motor, a precision ball screw, and a high-resolution grating ruler), combined with real-time position feedback from the detection components and closed-loop control of the control module. This accuracy not only meets the micron-level or even sub-micron-level positioning requirements in fields such as semiconductor processing and precision manufacturing, but also addresses the precise positioning needs under heavy-duty conditions in heavy industrial settings such as coking workshops in iron smelting plants, effectively solving problems such as product scrapping and production process interruptions caused by insufficient accuracy of traditional devices.

[0017] The control method of this invention uses an inverse kinematics model for trajectory planning, generating smooth, linear or circular motion paths, thus avoiding vibration errors caused by sudden stops and starts in traditional devices. Simultaneously, it employs a PID dynamic adjustment algorithm, which optimizes the proportional, integral, and derivative coefficients in real time based on the magnitude of the position deviation, reducing the adjustment time from a standstill to the target position to less than 50ms, significantly improving response speed and deviation correction efficiency. This feature is perfectly suited for high-speed, coordinated scenarios such as automated assembly, overcoming the shortcomings of traditional devices such as adjustment lag and poor motion stability, and contributing to improved production efficiency and product qualification rate.

[0018] In summary, this invention achieves the core advantages of "low coupling interference, ultra-high precision, and fast response speed" simultaneously through the combination of structural optimization, high-precision configuration, and intelligent control algorithms. It effectively makes up for the shortcomings of existing positioning technologies in multi-dimensional motion control and can be widely adapted to the positioning needs of various fields such as precision manufacturing, semiconductor processing, automated assembly, and heavy industry. It has strong practicality and promotional value. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a front view of the device in this embodiment; Figure 2 This is a schematic diagram of the left-side structure of the device in this embodiment; Figure 3 This is a top view of the device in this embodiment.

[0021] Explanation of reference numerals in the attached figures: 1. Double Y-shaped motion mechanism; 2. First Y-shaped branch; 3. Second Y-shaped branch; 4. Detection component. Detailed Implementation

[0022] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product.

[0023] It will be understood by those skilled in the art that certain well-known structures and their descriptions may be omitted in the accompanying drawings. The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] As shown in the attached figure, a type of double Y-shaped precision positioning device includes: Base; A double Y-shaped motion mechanism is mounted on a base and includes a first Y-shaped branch and a second Y-shaped branch arranged symmetrically. The ends of the first Y-shaped branch and the second Y-shaped branch are each provided with an execution end, and the two are linked together through an intermediate connecting part. A drive assembly, which is connected to a double Y-shaped motion mechanism, is used to drive the first Y-shaped branch and the second Y-shaped branch to perform linear motion along the X-axis and Y-axis, and to perform rotational motion around the axes; The detection component includes multiple displacement sensors for detecting the real-time position information of the first Y-shaped branch, the second Y-shaped branch, and the execution end, respectively. The control module is electrically connected to the drive component and the detection component, and is used to receive the position information of the detection component and control the operating parameters of the drive component.

[0025] Specifically, in this embodiment: Base: Made of cast iron and aged to eliminate internal stress, thereby ensuring the stability of the overall structure of the device.

[0026] Double Y-shaped mechanism: Both the first and second Y-shaped branches are made of aerospace-grade aluminum alloy. Each branch consists of a main arm and two symmetrically arranged support arms. The main arm and support arms are connected by elastic hinges. The stiffness of the elastic hinges has been optimized through finite element analysis to reduce deformation errors while ensuring motion flexibility. The first and second Y-shaped branches are linked by an intermediate connecting part, which has a built-in guide rail to accommodate synchronous or asynchronous motion requirements.

[0027] Drive components: The movement along the X and Y axes is driven by a high-precision permanent magnet synchronous servo motor with a rated speed of 3000 r / min, which is paired with a precision ball screw with a lead of 5 mm and a positioning accuracy of ±0.001 mm to transmit power; the movement in the rotation direction is driven by a worm gear mechanism with a reduction ratio of 1:100, which can significantly improve the rotation positioning accuracy.

[0028] Detection component: It includes multiple grating rulers, which are respectively installed on the main arm of the first Y-shaped branch, the main arm of the second Y-shaped branch, and each execution end; the grating rulers have a resolution of 0.01μm and a sampling frequency of 1kHz, and can collect the position data of each component in real time.

[0029] Control module: It adopts an industrial-grade programmable logic controller (PLC) and works with a motion control card to support multi-axis linkage control, with a data processing cycle of no more than 1ms.

[0030] Preferably, both the first Y-shaped branch and the second Y-shaped branch include a main arm and a support arm connected to the main arm at one end by an elastic hinge. The main arm is connected to the intermediate connecting part as a whole, and the execution end is located at the end of the support arm away from the main arm.

[0031] Preferably, the drive assembly includes a servo motor and a ball screw that is connected to the servo motor via a reducer.

[0032] Preferably, the displacement sensor is a grating ruler sensor or a laser displacement sensor.

[0033] A control method based on the above-mentioned double Y-shaped precision positioning device includes the following steps: S1. The control module receives the target positioning command sent by the host computer and parses it to obtain the target position parameters of the execution end; S2. The detection component collects the initial position information of the execution end and sends it to the control module; S3. The control module calculates the motion trajectory of the first Y-shaped branch and the second Y-shaped branch and the target driving parameters of the driving component based on the difference between the target position parameters and the initial position information. S4. The control module sends corresponding drive signals to the drive component according to the obtained motion trajectory and target drive parameters to drive the double Y-shaped motion mechanism to move. S5. The detection component collects the actual position information of the double Y-shaped motion mechanism during its motion process and feeds it back to the control module; S6. The control module compares the actual position information with the target position parameters in real time. If there is a deviation, it adjusts the target drive parameters of the drive component and resends the corresponding drive signal to the drive component according to the adjusted target drive parameters until the actual position information matches the target position parameters.

[0034] Preferably, in step S3, the motion trajectories of the first Y-shaped branch and the second Y-shaped branch are calculated using an inverse kinematics model, and a smooth transition motion path is generated by combining the linkage relationship between the first Y-shaped branch and the second Y-shaped branch.

[0035] Preferably, in step S6, a PID control algorithm is used to adjust the target driving parameters of the driving component, and the proportional coefficient, integral coefficient, and derivative coefficient are dynamically adjusted according to the magnitude of the deviation value.

[0036] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A double Y precision positioning device, characterized in that, include: Base; A double Y-shaped motion mechanism is mounted on a base and includes a first Y-shaped branch and a second Y-shaped branch arranged symmetrically. The ends of the first Y-shaped branch and the second Y-shaped branch are each provided with an execution end, and the two are linked together through an intermediate connecting part. A drive assembly, which is connected to a double Y-shaped motion mechanism, is used to drive the first Y-shaped branch and the second Y-shaped branch to perform linear motion along the X-axis and Y-axis, and to perform rotational motion around the axes; The detection component includes multiple displacement sensors for detecting the real-time position information of the first Y-shaped branch, the second Y-shaped branch, and the execution end, respectively. The control module is electrically connected to the drive component and the detection component, and is used to receive the position information of the detection component and control the operating parameters of the drive component.

2. The dual Y precision positioning device of claim 1, wherein, Both the first Y-shaped branch and the second Y-shaped branch include a main arm and a support arm connected to the main arm at one end by an elastic hinge. The main arm is connected to the intermediate connecting part as a whole, and the execution end is located at the end of the support arm away from the main arm.

3. The dual Y precision positioning device of claim 1, wherein, The drive assembly includes a servo motor and a ball screw that is connected to the servo motor via a reducer.

4. The dual Y precision positioning device of claim 1, wherein, The displacement sensor is a grating ruler sensor or a laser displacement sensor.

5. A control method for a double Y precision positioning device according to any one of claims 1 to 4, characterized in that, The method includes the following steps: S1. The control module receives the target positioning command sent by the host computer and parses it to obtain the target position parameters of the execution end; S2. The detection component collects the initial position information of the execution end and sends it to the control module; S3. The control module calculates the motion trajectory of the first Y-shaped branch and the second Y-shaped branch and the target driving parameters of the driving component based on the difference between the target position parameters and the initial position information. S4. The control module sends corresponding drive signals to the drive component according to the obtained motion trajectory and target drive parameters to drive the double Y-shaped motion mechanism to move. S5. The detection component collects the actual position information of the double Y-shaped motion mechanism during its motion process and feeds it back to the control module; S6. The control module compares the actual position information with the target position parameters in real time. If there is a deviation, it adjusts the target drive parameters of the drive component and resends the corresponding drive signal to the drive component according to the adjusted target drive parameters until the actual position information matches the target position parameters.

6. The control method according to claim 5, characterized by In step S3, the motion trajectories of the first Y-shaped branch and the second Y-shaped branch are calculated using an inverse kinematics model, and a smooth transition motion path is generated by combining the linkage relationship between the first Y-shaped branch and the second Y-shaped branch.

7. The method of claim 5, wherein, In step S6, the target driving parameters of the drive component are adjusted using a PID control algorithm, and the proportional coefficient, integral coefficient, and derivative coefficient are dynamically adjusted according to the magnitude of the deviation.

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