Patent ID: 11911896
Assignee: WUXI FRIEDRICH MEASUREMENT AND CONTROL INSTRUMENTS CO., LTD
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 7:
8. A control method of a nanoscale positioning apparatus with a stroke greater than a micron-scale movement and multiple degrees of freedom, comprising the following steps:
step 1: arranging a base, branch chain mechanisms, a working table, a first acquisition unit, a second acquisition unit and a computer, wherein
each of the branch chain mechanisms comprises an electric cylinder, an electromagnet, a micro-motion drive mechanism, a laser interferometer, a grating measuring device, a self-locking upper hinge and a self-locking lower hinge, two sides of each parallel branch chain mechanism being connected to the base and the working table through a first plurality of hinge base supporting pieces and a second plurality of hinge base supporting pieces, respectively;
a top of the base is connected to a first end of the electric cylinder through the self-locking lower hinge;
a second end of the electric cylinder is connected to a first end of the micro-motion drive mechanism;
a second end of the micro-motion drive mechanism is connected to a bottom of the working table through the self-locking upper hinge;
the grating measuring device is provided on the electric cylinder;
the grating measuring device is connected to the first acquisition unit through a first wire;
the laser interferometer is connected to the second acquisition unit through a second wire;
the first acquisition unit and the second acquisition unit are connected to the computer through a third wire and a fourth wire, respectively; and
the computer is connected to a servo drive system of the electric cylinder, an electromagnetic drive system of the electromagnet and a piezoelectric drive system of the micro-motion drive mechanism through a fifth wire, a sixth wire and a seventh wire, respectively;
step 2: driving, by the computer, the servo drive system of the electric cylinder, so as to drive a piston end of the electric cylinder to move; transmitting, by the grating measuring device through the first acquisition unit, a movement amount of a grating reader to the computer; and when the electric cylinder moves for a required amount, driving, by the computer, the electric cylinder to stop;
step 3: starting, by the computer, a piezoelectric ceramic driver in the piezoelectric drive system of the micro-motion drive mechanism; driving, by the piezoelectric ceramic driver, the micro-motion drive mechanism to move in a vertical direction; and measuring, by the laser interferometer, a movement amount of the working table, and transmitting the movement amount of the working table to the computer through the second acquisition unit; and
step 4: receiving, by the computer, the movement amount of the working table; and when a specified amount is reached, driving, by the computer, the self-locking lower hinge and the self-locking upper hinge to achieve self-locking,
wherein
the self-locking upper hinge comprises a first spherical-hinge base and a second spherical-hinge base;
the first spherical-hinge base is hinged to the bottom of the working table through a first pin shaft;
a first side of the first spherical-hinge base is provided with a first fixed arc groove, and a second side of the first spherical-hinge base is connected to an electromagnet;
the second spherical-hinge base is hinged to the bottom of the working table through a second pin shaft;
one side of the second spherical-hinge base is provided with a second fixed arc groove;
a steel ball is provided in the first fixed arc groove and the second fixed arc groove;
the first spherical-hinge base is provided with a first through hole, and the second spherical-hinge base is provided with a second through hole;
a pull rod is provided in the first through hole and the second through hole;
a first end of the pull rod is hinged to the second spherical-hinge base through a third pin shaft;
a second end of the pull rod is exposed out of the first through hole, and a magnetic plate is provided at the second end of the pull rod;
one end of the magnetic plate is located on a side of the electromagnet;
a spring is provided between the first spherical-hinge base and the magnetic plate; and

a lower end portion of the steel ball is connected to an upper end of the micro-motion drive mechanism.