Laying track post-processing method and device, electronic equipment and storage medium

Abstract

The invention relates to a laying track post-processing method and device, electronic equipment and a storage medium, and the laying track post-processing method comprises the steps: pre-triggering a tow feeding / cutting valve terminal to output a signal through a position signal of a feeding shaft, storing feeding and cutting positions through an R variable planned in advance, and completing the selection control of tows; the laying track data file is read and analyzed, and a subprogram of each laying layer and a yarn increasing and decreasing subprogram of tow feeding and cutting are generated; fine adjustment control is conducted on the monofilament laying length based on R parameter analysis compensation, and independent feeding and cutting length compensation of each tow is achieved. According to the method, the laying track data generated by different fiber laying software can be post-processed into the NC program capable of being executed by the automatic fiber laying equipment, and efficient laying of parts is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of robotic automatic wire laying machines, and in particular to a laying trajectory post-processing method, device, electronic equipment and storage medium. Background Art

[0002] In terms of robot-specific automatic placement software, foreign countries have developed fully functional commercial automatic wire placement software. The VERICUT software developed by CGTECH in the United States can directly read model data from digital model files to generate placement trajectories, perform post-processing to obtain NC codes, and it also has processing simulation and verification functions. The robot automatic wire placement machine developed by EI in the United States uses this wire placement software. The CADFiber wire placement software developed by Coriolis in France can design continuous paths and post-processing parameters for each placement trajectory, and perform motion simulation on the placement trajectory, increasing the flexibility of post-processing. In China, relevant universities and research institutes have mainly carried out exploration and experiments in wire placement trajectory planning and post-processing algorithms in combination with their own automatic placement equipment. Currently, most of them are prototype systems, which still need further engineering application and practice. Summary of the invention

[0003] (1) Technical issues to be solved

[0004] The present application provides a placement trajectory post-processing method, device, electronic device and storage medium to solve the problem of converting the placement trajectory data generated by automatic wire placement software into an NC program executable by the wire placement equipment to achieve effective placement of parts.

[0005] (2) Technical solution

[0006] In a first aspect, the present application provides a post-processing method for a placement trajectory, comprising:

[0007] The position signal of the feed shaft pre-triggers the output signal of the tow feed / cut valve island, and the feed and cutting positions are stored by the pre-planned R variable to complete the selection control of the tow;

[0008] Read and parse the laying trajectory data file, generate subroutines for each layer and yarn increase and decrease subroutines for tow feeding and cutting;

[0009] Based on the R parameter analytical compensation, the single-filament laying length is fine-tuned and controlled to achieve independent feeding and cutting length compensation for each tow.

[0010] Furthermore, the position signal of the feed shaft pre-triggers the output signal of the tow feed / cutting valve island, and the feed and cutting positions are stored by the pre-planned R variable to complete the selection control of the tow, including:

[0011] The individual advance trigger time is customized for the rising and falling edges of each feed / cut signal to compensate for the placement contour error caused by the response time of the feed / cut valve island.

[0012] Furthermore, the reading and parsing of the laying trajectory data file to generate a subroutine for each layer and a yarn increase and decrease subroutine for tow feeding and cutting includes:

[0013] The matrix transformation algorithm is used to convert the vector programming method in which the CNC system directly controls the robot motion into RPY programming.

[0014] Furthermore, the reading and parsing of the laying trajectory data file, generating a subroutine for each laying layer and a yarn increase and decrease subroutine for tow feeding and cutting, also includes:

[0015] The point data of the laying trajectory file is read line by line, and a two-dimensional array / list of the feed axis position value, the tow number, and the tow usage status is established and output to the yarn increase / decrease subroutine.

[0016] In a second aspect, the present application provides a post-processing device for a laying trajectory, comprising:

[0017] The path control module is used to pre-trigger the output signal of the tow feeding / cutting valve island by the position signal of the feeding shaft, and complete the selection control of the tow by storing the feeding and cutting positions through the pre-planned R variable;

[0018] A program generation module is used to read and parse the laying trajectory data file, generate the subprograms for each layer and the yarn increase and decrease subprograms for tow feeding and cutting;

[0019] The fine-tuning control module is used to fine-tune the single-filament laying length based on R parameter analytical compensation, so as to realize independent feeding and cutting length compensation for each tow.

[0020] Furthermore, the path control module includes:

[0021] The advance trigger unit is used to customize the individual advance trigger time for the rising edge and falling edge of each feed / cut signal to compensate for the layup contour error caused by the response time of the feed / cut valve island.

[0022] Furthermore, the program generation module includes:

[0023] The programming conversion unit is used to convert the vector programming method in which the CNC system directly controls the robot motion into RPY programming by applying a matrix transformation algorithm.

[0024] Furthermore, the program generation module further includes:

[0025] The data reading unit is used to read the point data of the laying trajectory file line by line, establish a two-dimensional array / list of the feed axis position value, the tow number, and the tow usage status, and output it to the yarn increase and decrease subroutine.

[0026] In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-described post-processing method for the laying trajectory when executing the computer program.

[0027] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the placement trajectory post-processing method as described above is implemented.

[0028] (3) Beneficial effects

[0029] The above technical solution of the present application has the following advantages:

[0030] The first aspect of the present application provides a post-processing method for the placement trajectory, which is aimed at the wire placing equipment in the form of a robot-type automatic wire placing machine. It fully considers the control scheme of the CNC system directly controlling the robot and the compatibility of the NC post-program. The placement trajectory data generated by different wire placing software is post-processed into an NC program executable by the automatic wire placing equipment, thereby achieving efficient placement of parts. At the same time, this method is also applicable to wire placing equipment in various forms such as elevated bridge type, dynamic gantry type, and horizontal type.

[0031] It can be understood that the beneficial effects of the second, third and fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A schematic diagram of the process flow of the post-processing method of the laying trajectory provided in this application;

[0034] Figure 2 The placement path position triggering tow control logic diagram provided in this application;

[0035] Figure 3 A schematic diagram of the tow pre-trigger compensation control provided for this application;

[0036] Figure 4 A structure diagram of the NC program for placing wire laying trajectory post-processing provided in this application;

[0037] Figure 5 A schematic diagram of the structure of the post-processing device for the laying trajectory provided in this application;

[0038] Figure 6 A schematic diagram of the structure of the electronic device provided in this application. DETAILED DESCRIPTION

[0039] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0040] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0041] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0042] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means "two or more".

[0043] Each strand of the automatic wire laying machine can independently perform feeding and cutting actions to adapt to complex surfaces and contours and achieve variable width laying. The position signal of the feeding shaft triggers the signal of the wire feeding and cutting valve island, and the feeding and cutting positions are stored by pre-planned variables to complete the selection control of the wire bundle. The feeding and cutting control of the wire bundle are all completed under high-speed motion, which determines the efficiency and accuracy of the final laying. The post-processing technology of the robotic automatic wire laying machine is different from that of the gantry and horizontal wire laying machines. It is necessary to optimize the redundant degrees of freedom of the robot, control the robot through the CNC system, and process various program codes. Research on the post-processing technology and simulation system of the robotic wire laying platform can reduce production costs and improve the laying quality and efficiency of complex surfaces.

[0044] The present application is invented based on the research of the control scheme of directly controlling the robot by the numerical control system. It provides a post-processing method of the laying trajectory for the robot automatic wire laying machine to realize high-speed laying movement and complete the feeding and cutting actions of each wire bundle at the same time during the laying process.

[0045] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but are not intended to limit the scope of the present application.

[0046] like Figure 1 As shown, the post-processing method of the laying trajectory provided in this embodiment specifically includes the following steps:

[0047] The position signal of the feed shaft pre-triggers the output signal of the tow feed / cut valve island, and the feed and cutting positions are stored by the pre-planned R variable to complete the selection control of the tow;

[0048] Read and parse the laying trajectory data file, generate subroutines for each layer and yarn increase and decrease subroutines for tow feeding and cutting;

[0049] Based on the R parameter analytical compensation, the single-filament laying length is fine-tuned and controlled to achieve independent feeding and cutting length compensation for each tow.

[0050] This application performs post-processing on the laying trajectory data of the robotic automatic wire laying machine generated by the wire laying software to generate an executable numerical control NC program. The NC program includes the Ply1-PlyN subroutines for each laying layer and the pre-planned yarn increase and decrease subroutines for feeding / cutting of the tow. Among them, the laying subroutine needs to convert the vector programming method (A3 / B3 / C3 / AN3 / BN3 / CN3) in which the numerical control system directly controls the robot movement into RPY programming (ABC). At the same time, in order to solve the problem of uneven laying ends caused by the distance deviation of the single wire from the center line of the pressure roller and the movement accuracy deviation of the feeding and cutting mechanism, a single wire laying length fine-tuning method based on R parameter analytical compensation is provided to achieve independent feeding and cutting length compensation for each tow, thereby ensuring the laying accuracy of the part contour.

[0051] In some embodiments, the position signal of the feed shaft pre-triggers the output signal of the tow feed / cut valve island, and the feed and cut positions are stored by the pre-planned R variable to complete the selection control of the tow, including:

[0052] The individual advance trigger time is customized for the rising and falling edges of each feed / cut signal to compensate for the placement contour error caused by the response time of the feed / cut valve island.

[0053] In some embodiments, the reading and parsing of the laying trajectory data file to generate a subroutine for each layer and a yarn increase and decrease subroutine for tow feeding and cutting includes:

[0054] The matrix transformation algorithm is used to convert the vector programming method in which the CNC system directly controls the robot motion into RPY programming.

[0055] In some embodiments, the process of reading and parsing the laying trajectory data file, generating a subroutine for each layer and a yarn increase and decrease subroutine for feeding and cutting the tow, further includes:

[0056] The point data of the laying trajectory file is read line by line, and a two-dimensional array / list of the feed axis position value, the tow number, and the tow usage status is established and output to the yarn increase / decrease subroutine.

[0057] Post-processing is the process of converting the generated trajectory data into a processing program executable by the CNC system in a certain format, and performing kinematic simulation verification on the reliability of the processing program. For automatic wire laying, post-processing also includes the conversion of auxiliary instructions such as wire feeding, cutting, heating lamp on / off, strip number jump, and the combination of continuous laying instructions of adjacent layers. In order to achieve the above-mentioned purpose, the main steps of this application are as follows: First, in view of the problem that the wire feeding and cutting require laying deceleration to ensure contour accuracy, a wire high-speed feeding and cutting path control method is provided. Secondly, the laying trajectory data file is read and parsed, the laying subroutine and the yarn increase and decrease subroutine files are designed, and the corresponding program file segment header is added. At the same time, the matrix transformation algorithm is used to convert the vector programming method (A3 / B3 / C3 / AN3 / BN3 / CN3) of the CNC system directly controlling the robot movement into RPY programming (ABC), adapting to the control and programming method of the CNC system of the robotic automatic wire laying machine, and ensuring the uniformity of the NC program of the robotic automatic wire laying machine. Read the point data of the placement trajectory file line by line, establish a two-dimensional array / list of the feed axis position value, tow number, and tow usage status, and output it to the yarn increase and decrease subroutine. Finally, develop a single-filament placement length fine-tuning function based on R parameter analysis compensation to achieve independent feed and cut length compensation for each tow, thereby ensuring the placement accuracy of the part contour.

[0058] The post-processing method of the laying trajectory provided in the embodiment of the present application adopts a path control method to solve the problem that the feeding and cutting of the wire bundles need to be decelerated to ensure the contour accuracy. The position signal of the wire feeding shaft pre-triggers the action of the wire bundle feeding and cutting actuators, and the feeding and cutting positions are stored by the pre-planned R variable, thereby completing the selection control of the wire bundles. The feeding and cutting actions of the wire bundles are completed under high-speed laying motion without deceleration, which ensures the efficiency of the final forming of the laying. In order to solve the problem of uneven laying ends caused by the distance deviation of the single wire from the center line of the pressure roller and the deviation of the movement accuracy of the feeding and cutting mechanism, a single wire laying length fine-tuning control method based on R parameter analytical compensation is provided to achieve independent feeding and cutting length compensation for each wire bundle, thereby ensuring the laying accuracy of the part contour.

[0059] like Figure 2 As shown in the figure, the control logic of the automatic wire laying machine is to trigger the output signal of the wire feeding and cutting valve island by the position signal of the feeding axis W axis, and store the feeding and cutting positions through the pre-planned R variables, so as to complete the selection control of the wire bundle. The parameters that need to be set include: W coordinate axis number, starting address of the feeding / cutting valve island, valve island byte length, feeding and cutting control starting position (A_DBB), feeding and cutting monitoring starting position (A_DBB), the starting address of the R parameter corresponding to the output variable and the length of the parameter.

[0060] During the feeding and cutting process of the tow, the corresponding valve island action requires a certain response time. If the "feeding and cutting" instructions are sent according to the coordinate points programmed theoretically, it will lead to the laying contour error caused by the valve island response time. Therefore, the tow pre-trigger compensation control is used to pre-send the "feeding and cutting" instructions.

[0061] Before starting tow placement, the control system copies all these position lists from the subroutine to its internal memory. The path starts by setting a special initialization mode for all outputs, after which each signal is checked when the setting axis reaches the first position, and when the next switch position is reached, the corresponding output signal switches its state starting from the initial mode set at the beginning of the path. If the setting axis has passed the switch position, the next one is selected from the list. In order to compensate for the delays of external hardware devices (mechanical and feeding / cutting drives) connected to the outputs, such as Figure 3 As shown, a separate advance trigger time is customized for the rising edge (t1, t4) and falling edge (t2, t3) of each signal to compensate for the placement contour error caused by the response time of the feed / cutting valve.

[0062] Read and analyze the laying trajectory data file, design the laying trajectory program (Ply) and the yarn increase and decrease subroutine (Ply_XOUT). Figure 4 As shown, according to the trajectory planning and design of the automatic placement process software, an aviation composite component usually needs to lay dozens of layers of prepreg tows on the mold. Each layer is composed of dozens or even hundreds of strips, and each strip is composed of different numbers of tow fibers according to the requirements of increasing or decreasing yarns.

[0063] Specifically, read and parse the placement trajectory data file (.aptsource) generated by VERICUT VCP software, and adapt it to the 8-tow integrated head robot automatic fiber placement machine. Specific process:

[0064] a) Set the initial state of 1-8# tow Var_initial = ['0','0','0','0','0','0','0','0'];

[0065] b) Set the initial value of the number of changes in the state of 1-8# tows Nums = [0,0,0,0,0,0,0,0];

[0066] c) Establish a two-dimensional sequence of feed shaft position value, tow number, and tow usage status to store the W position coordinate Two_Dim_List of parameter changes;

[0067] d) Create new laying trajectory program files and yarn increase and decrease subprogram files;

[0068] e) Allocate parameters in the yarn increase / decrease subroutine file and set the clamping / feeding / cutting valve island start address and length;

[0069] f) Open the laying trajectory data file (.aptsource) and read it line by line, modify the macro program, and add the strip selection function;

[0070] g) Use the matrix transformation algorithm to convert the vector programming method (A3 / B3 / C3 / AN3 / BN3 / CN3) that the CNC system directly controls the robot's motion into RPY programming (ABC). Collect each coordinate value and calculate ABC through the A3 / B3 / C3 / AN3 / BN3 / CN3 coordinate value;

[0071]

[0072] dxp=AN3×COS(A mid )+BN3×SIN(A mid )

[0073]

[0074] ip=A3×COS(A mid )+B3×SIN(A mid )

[0075] jp=B3×COS(A mid )-A3×SIN(A mid )

[0076] kpp=C3×COS(B mid )+ip×SIN(B mid )

[0077]

[0078] A=A mid ×180 / Π

[0079] B=B mid ×180 / П

[0080] C temp =C mid ×180 / П

[0081] If C middle ≥0,

[0082] C=C temp -180.000

[0083] If C middle <0,

[0084] C=C temp+180.000

[0085] h) Read the point data of the laying trajectory file and generate an NC PLY program executable by the CNC system;

[0086] i) Add the following to the yarn increase / decrease subroutine file: MSG statement, R parameter reset, H code conversion, etc.;

[0087] j) Generate clamping, clamping retraction, feeding, feeding retraction, cutting, cutting retraction parameters. The core functions are: compare the state changes one by one, one by one, if there is a change, store the W value in the two-dimensional array Two_Dim_List, and update the initial value Var_initial for the next comparison. Generate a set of parameters for each strip. If the HEAT_OFF string is read, output the current strip parameters to the yarn increase and decrease subroutine;

[0088] k) After a strip ends, the initial state of the tow is set to 0 and the two-dimensional list is set to 0.

[0089] Finally, the single-filament placement length fine-tuning function based on R parameter analysis compensation can realize independent feeding and cutting length compensation for each filament bundle, thereby ensuring the placement accuracy of the part contour.

[0090] Each fiber of the automatic fiber placement machine can independently perform feeding and cutting actions to adapt to complex surfaces and contours and achieve variable width placement. The feeding and cutting actions need to be written into the post-program. By giving the feeding and cutting instructions for each fiber bundle during placement, accurate fiber bundle length placement can be achieved. However, during automatic placement, there will be problems with uneven placement ends due to the deviation of the fiber bundle from the center line of the pressure roller and the deviation of the movement accuracy of the feeding and cutting mechanism. Therefore, a single-filament placement length fine-tuning control method based on R parameter analysis compensation is added to the yarn increase and decrease subroutine to achieve independent feeding and cutting length compensation for each fiber bundle, thereby ensuring the placement accuracy of the part contour. Taking the 16-tow automatic fiber placement machine as an example, the specific implementation process is as follows:

[0091] a) define global variable arrays Feed

[16] and Cut

[16] in the CNC system, where Feed[0] and Cut[0] represent the feed and cut length fine-tuning changes of tow No. 1, Feed[1] and Cut[1] represent the feed and cut length fine-tuning changes of tow No. 2, and so on, Feed

[15] and Cut

[15] represent the feed and cut length fine-tuning changes of tow No. 16;

[0092] b) In the post-processing of the yarn increase and decrease subroutine, when each strip and each tow is parsed to generate the feeding and cutting position storage R parameter, the feeding [N-1] or cutting [N-1] variable is increased according to the feeding and cutting compensation rules of the tow N;

[0093] c) Using PLC or OPC UA drive technology to collect data for variable array feeding

[16] and cutting

[16] ;

[0094] d) Based on the human-computer interaction interface of the upper computer, the feed and cutting length of each tow are adjusted according to the actual placement, thereby ensuring the placement accuracy of the part contour.

[0095] The fine-tuning changes in the placement lengths of all tows that meet the placement requirements are saved in the database.

[0096] Corresponding to the post-processing method of the laying trajectory described in the above embodiment, as Figure 5 As shown, this embodiment provides a post-processing device for laying trajectory, and the post-processing device 500 for laying trajectory includes:

[0097] The path control module 501 is used to pre-trigger the output signal of the tow feeding / cutting valve island by the position signal of the feeding shaft, and complete the selection control of the tow by storing the feeding and cutting positions through the pre-planned R variable;

[0098] A program generation module 502 is used to read and parse the laying trajectory data file, generate a subroutine for each layer and a yarn increase and decrease subroutine for tow feeding and cutting;

[0099] The fine-tuning control module 503 is used to fine-tune the monofilament laying length based on the R parameter analytical compensation, so as to realize independent feeding and cutting length compensation for each tow.

[0100] In some embodiments, the path control module includes:

[0101] The advance trigger unit is used to customize the individual advance trigger time for the rising edge and falling edge of each feed / cut signal to compensate for the layup contour error caused by the response time of the feed / cut valve island.

[0102] In some embodiments, the program generation module includes:

[0103] The programming conversion unit is used to convert the vector programming method in which the CNC system directly controls the robot motion into RPY programming by applying a matrix transformation algorithm.

[0104] In some embodiments, the program generation module further includes:

[0105] The data reading unit is used to read the point data of the laying trajectory file line by line, establish a two-dimensional array / list of the feed axis position value, the tow number, and the tow usage status, and output it to the yarn increase and decrease subroutine.

[0106] It should be noted that the information interaction, execution process, etc. between the above-mentioned modules / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0107] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0108] The present application embodiment also provides an electronic device 600, such as Figure 6 As shown, it includes a memory 601, a processor 602, and a computer program 603 stored in the memory 601 and executable on the processor 602. When the processor 602 executes the computer program 603, the steps of the laying trajectory post-processing method provided in the first aspect are implemented.

[0109] In applications, the electronic device may include, but is not limited to, a processor and a memory. Figure 6 This is only an example of an electronic device and does not constitute a limitation on the electronic device. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as input and output devices, network access devices, etc. Input and output devices may include cameras, audio acquisition / playback devices, display screens, etc. Network access devices may include a network module for wirelessly communicating with external devices.

[0110] In applications, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0111] In application, the memory may be an internal storage unit of an electronic device in some embodiments, such as a hard disk or memory of the electronic device. The memory may also be an external storage device of the electronic device in other embodiments, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. The memory may also include both an internal storage unit and an external storage device of the electronic device. The memory is used to store operating systems, applications, boot loaders (BootLoader), data, and other programs, such as program codes of computer programs, etc. The memory may also be used to temporarily store data that has been output or is to be output.

[0112] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0113] The present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to an electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0114] Those of ordinary skill in the art will appreciate that the devices and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0115] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices, which can be electrical, mechanical or other forms.

[0116] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A post-processing method for laying trajectory, characterized in that: include: The position signal of the feed shaft pre-triggers the output signal of the tow feed / cut valve island, and the feed and cutting positions are stored by the pre-planned R variable to complete the selection control of the tow; Read and parse the laying trajectory data file, generate subroutines for each layer and yarn increase and decrease subroutines for tow feeding and cutting; Based on the R parameter analytical compensation, the single-filament laying length is fine-tuned and controlled to achieve independent feeding and cutting length compensation for each tow.

2. The post-processing method of the laying trajectory according to claim 1, characterized in that: The position signal of the feed shaft is used to pre-trigger the output signal of the tow feed / cutting valve island, and the feed and cutting positions are stored by the pre-planned R variable to complete the selection control of the tow, including: The individual advance trigger time is customized for the rising and falling edges of each feed / cut signal to compensate for the placement contour error caused by the response time of the feed / cut valve island.

3. The post-processing method of the laying trajectory according to claim 1, characterized in that: The method of reading and parsing the laying trajectory data file and generating a subroutine for each laying layer and a yarn increase and decrease subroutine for feeding and cutting the tow includes: The matrix transformation algorithm is used to convert the vector programming method in which the CNC system directly controls the robot motion into RPY programming.

4. The post-processing method of the laying trajectory according to claim 1, characterized in that: The method of reading and parsing the laying trajectory data file, generating a subroutine for each laying layer and a yarn increase and decrease subroutine for feeding and cutting the tow, also includes: The point data of the laying trajectory file is read line by line, and a two-dimensional array / list of the feed axis position value, the tow number, and the tow usage status is established and output to the yarn increase / decrease subroutine.

5. A post-processing device for laying trajectory, characterized in that: include: The path control module is used to pre-trigger the output signal of the tow feeding / cutting valve island by the position signal of the feeding shaft, and complete the selection control of the tow by storing the feeding and cutting positions through the pre-planned R variable; A program generation module is used to read and parse the laying trajectory data file, generate the subprograms for each layer and the yarn increase and decrease subprograms for tow feeding and cutting; The fine-tuning control module is used to fine-tune the single-filament laying length based on R parameter analytical compensation, so as to realize independent feeding and cutting length compensation for each tow.

6. The post-processing device for laying trajectory according to claim 5, characterized in that: The path control module comprises: The advance trigger unit is used to customize the individual advance trigger time for the rising edge and falling edge of each feed / cut signal to compensate for the layup contour error caused by the response time of the feed / cut valve island.

7. The post-processing device for laying trajectory according to claim 5, characterized in that: The program generation module comprises: The programming conversion unit is used to convert the vector programming method in which the CNC system directly controls the robot motion into RPY programming by applying a matrix transformation algorithm.

8. The post-processing device for laying trajectory according to claim 5, characterized in that: The program generation module further includes: The data reading unit is used to read the point data of the laying trajectory file line by line, establish a two-dimensional array / list of the feed axis position value, the tow number, and the tow usage status, and output it to the yarn increase and decrease subroutine.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the placement trajectory post-processing method according to any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the placement trajectory post-processing method according to any one of claims 1 to 4 is implemented.

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