Transition method of out-of-plane space path, dispensing path planning method and dispensing device

Abstract

The present application relates to the technical field of automation, in particular to a transition method of spatial path of different surfaces, a dispensing path planning method with the transition method of spatial path of different surfaces and a dispensing device applying the dispensing path planning method, the design method of the transition method of spatial curve of different surfaces determines the tangent points of two spatial curves of different surfaces and a transition curve respectively, determines two tangent vectors according to the two tangent points, constructs a spatial tangent line transition model, and combines the given boundary conditions, the two tangent points and the two tangent vectors to obtain a suitable transition curve path, thereby solving the transition problem between the spatial paths of different surfaces and avoiding the influence on the beat and efficiency of the dispensing machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation, in particular to a transition method of spatial paths in different planes, a dispensing path planning method and a dispensing device. BACKGROUND

[0002] With the advent of the intelligent era, people's demand for electronic components is increasing, so the application demand of dispensing machines is also increasing, and the rhythm and precision of dispensing machines in the working process are increasingly strict. The solution to the transition problem between two paths in the working process of the dispensing machine is a research hotspot in recent years, but most scholars and researchers focus on the transition problem between specific plane curves such as line segments and circular arcs in the same plane, and no one has proposed a solution to the transition problem between spatial curves in different planes, which leads to the reduction of the rhythm and efficiency of the dispensing machine due to the transition problem when encountering similar problems. Therefore, the solution to the smooth transition problem between spatial curves is the key to further improving the performance of the dispensing machine. SUMMARY

[0003] The present application provides a transition method of spatial paths in different planes, a dispensing path planning method and a dispensing device to solve the transition problem between curves in different planes.

[0004] In order to solve the above technical problems, the present application adopts the following technical solutions:

[0005] The present application provides a transition method of spatial paths in different planes, the spatial path comprising a first moving path and a second moving path, the first moving path and the second moving path being in different planes, the first moving path and the second moving path being connected by a transition curve path, and the transition curve path being determined by the following steps:

[0006] A. determining a tangent point of the first moving path and the transition path as a first tangent point, a tangent vector at the first tangent point as a first tangent vector, determining a tangent point of the second moving path and the transition path as a second tangent point, and a tangent vector at the second tangent point as a second tangent vector;

[0007] B. setting the transition curve path tangent to the first tangent vector and the tangent point being the first tangent point, and setting the transition curve path tangent to the second tangent vector and the tangent point being the second tangent point;

[0008] C. constructing a spatial tangent transition model of the transition curve path tangent to the first tangent vector and the second tangent vector and giving boundary conditions;

[0009] D. solving the spatial tangent transition model to obtain the transition curve path.

[0010] Furthermore, in step A, determining the first tangent point and the second tangent point specifically includes:

[0011] Set the transition ratio per∈[0,0.5] for the first movement path and the second movement path.

[0012] Furthermore, step C specifically includes:

[0013] C1. Construct the expression for the path parameters of the transition curve:

[0014] x = r1cos(k1θ) + b1θ + c1,

[0015] y = r²sin(k²θ) + b²θ + c²

[0016] z = a3θ 3 +b3θ 2 +c3θ+d3,

[0017] Where r1, k1, b1, c1, r2, k2, b2, c2, a3, b3, c3, and d3 are all undetermined coefficients, θ is a variable and θ∈[0,π]; (x,y,z) are the trajectory coordinates of the transition curve path.

[0018] C2. Differentiating the expression described in B1 yields the parametric equation for the tangent vector of the transition curve:

[0019] x' = -r1 k1sin(k1θ) + b1,

[0020] y'=r2 k2cos(k2θ)+b2,

[0021] z'=3a3θ 2 +2b3θ+c3;

[0022] C3. Based on the first tangent point P1 = {x1, y1, z1}, the second tangent point P2 = {x2, y2, z2}, the first tangent vector P1' = {x1', y1', z1'}, and the second tangent vector P2' = {x2', y2', z2'} determined in step A, when θ = 0, substitute P1 and P1' into the formulas B1 and B2 respectively; when θ = φ, substitute P1 and P1' into the formulas B1 and B2 respectively, and twelve equations can be obtained.

[0023] C4. Based on the above twelve equations, find the values ​​of r1, k1, b1, c1, r2, k2, b2, c2, a3, b3, c3, and d3, and thus find the expression for the spatial parameter curve and the unique transition curve.

[0024] Specifically, after step D, step E, the length of the transition curve, is calculated using the following formula:

[0025]

[0026] Specifically, after step D, step F is further included, which is a speed calculation when moving along the transition curve, and the calculation formula is as follows:

[0027] Wherein, V max is Ts is a period, p is a chord height error of the curve, and d is a curvature radius of the curve.

[0028] The application further provides a dispensing path planning method, comprising the following steps:

[0029] S1. inputting nth moving path and n+1th moving path data to be connected into a planner, wherein n is an integer greater than 0;

[0030] S2. determining the turning type at the connection turning point of the two paths to be connected according to the received nth moving path and n+1th moving path data;

[0031] S3. determining whether the two paths are coplanar, and if not, executing step S4;

[0032] S4. obtaining the nth transition curve path by using the transition method of the non-coplanar spatial path;

[0033] S5. determining whether the n+1th moving path is an end path, and if so, executing S6, and if not, executing steps S1-S5;

[0034] S6. outputting all path parameters to an interpolator to complete the dispensing path planning.

[0035] The application further provides a dispensing device, comprising a rack body, a dispensing mechanism, a driving mechanism, a look-ahead planner and an interpolator, wherein the driving mechanism is used to drive the dispensing mechanism to move, the look-ahead planner plans the dispensing path according to the dispensing path planning method, and the interpolator is in signal connection with the look-ahead planner.

[0036] The application has the following beneficial effects: according to the determined first tangent point and second tangent point, the corresponding first tangent vector and second tangent vector are obtained, then the spatial tangent transition model is constructed, and the suitable transition curve path is obtained by combining the given boundary conditions to connect the two non-coplanar paths, so that the transition problem between the non-coplanar spatial paths is solved, and the influence on the beat and efficiency of the dispensing machine is avoided.

[0037] Meanwhile, the expression of the transition curve path parameter is constructed, the first tangent point, the second tangent point, the first tangent vector and the second tangent vector are combined through the expression, so that the transition curve path with the first tangent point as the starting point and the second tangent point as the terminal point is obtained, so that the point glue machine does not affect the beat and efficiency when walking along the transition curve path. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The curve schematic diagram of the transition method of the present application.

[0039] Figure 2 The flow chart of the transition method of the present application.

[0040] Figure 3 The flow chart of the point glue path planning method of the present application. DETAILED DESCRIPTION

[0041] In order to facilitate the understanding of those skilled in the art, the present application will be further described below in combination with embodiments and drawings, and the content mentioned in the embodiments is not a limitation of the present application. The present application is described in detail below in combination with the drawings.

[0042] In combination Figure 1 And Figure 2 As shown in the figure, a transition method of a spatial path, the spatial path includes a first moving path, a second moving path, the first moving path and the second moving path are in different planes, the first moving path and the second moving path are connected through a transition curve path; specifically, at least one of the first moving path and the second moving path is an arc;

[0043] The transition curve path is determined by the following steps:

[0044] A. The tangent point of the first moving path and the transition path is determined as the first tangent point, the tangent vector at the first tangent point is the first tangent vector, the tangent point of the second moving path and the transition path is determined as the second tangent point, and the tangent vector at the second tangent point is the second tangent vector;

[0045] B. The transition curve path is tangent to the first tangent vector and the tangent point is the first tangent point, and the transition curve path is tangent to the second tangent vector and the tangent point is the second tangent point;

[0046] C. The space tangent transition model of the transition curve path and the first tangent vector and the second tangent vector is constructed and the boundary condition is given;

[0047] D. The transition curve path is obtained by solving the space tangent transition model.

[0048] The application determines the first tangent vector and the second tangent vector according to the first tangent point and the second tangent point, constructs the space tangent line transition model through the first tangent point, the second tangent point, the first tangent vector and the second tangent vector, and combines the given boundary conditions to obtain the suitable transition curve path, that is, the transition curve path connects the first moving path and the second moving path, thereby solving the transition problem between the non-planar space paths and avoiding the influence on the pace and efficiency of the point glue machine.

[0049] Specifically, in step A, determining the first tangent point and the second tangent point specifically includes: setting the transition ratio per of the first moving path and the second moving path per∈[0, 0.5].

[0050] The transition ratio per is specifically: the ratio value given by the user, for example, refer to Figure 1 When the set ratio is 0.1, the length of the first moving path is X, and the length of the second moving path is Y, that is, the first tangent point is located at the position of 0.9X length from the first end of the first moving path, and the second tangent point is located at the position of 0.1Y length from the first end of the second moving path; if the first moving path / second moving path is an arc, the first tangent point / second tangent point can also be determined in a proportional per division manner according to the central angle. That is, when moving to the first tangent point, the device subsequently moves according to the transition path, and starts to move according to the second moving path at the second tangent point, thereby achieving the effect of smooth transition and avoiding the influence on the efficiency and pace of the action.

[0051] Specifically, in step C, specifically includes:

[0052] C1. Construct the expression of the transition curve path parameter:

[0053] x=r1cos(k1θ)+b1θ+c1,

[0054] y=r2sin(k2θ)+b2θ+c2,

[0055] z=a3θ 3 +b3θ 2 +c3θ+d3,

[0056] wherein r1, k1, b1, c1, r2, k2, b2, c2, a3, b3, c3 and d3 are undetermined coefficients, (x, y, z) is the trajectory coordinates of the transition curve path, and the angle θ is the rotation angle of the transition curve around the central axis. Since the transition curve is a smooth transition to the end trajectory of the device, the rotation angle θ should not be greater than π during the transition, and the smooth transition of the two intersection line segments is mapped to the plane, that is, the transition arc cannot be greater than half a circle, so θ∈[0, π];

[0057] C2. Derivation of the expression of B1 obtains the tangent vector parameter equation expression of the transition curve:

[0058] x' = -r1 k1 sin(k1 θ) + b1,

[0059] y' = r2 k2 cos(k2 θ) + b2,

[0060] z' = 3a3 θ + 2b3 θ + c3. 2

[0061] C3. According to the first tangent point P1 = {x1, y1, z1} determined in step A, the second tangent point P2 = {x2, y2, z2} and the first tangent vector P1' = {x1', y1', z1'}, the second tangent vector P2' = {x2', y2', z2'}, take θ = 0 and θ = φ respectively into the formulas of B1 and B2, twelve equations are obtained.

[0062] Wherein φ is the value of the value range set by the user, for different values, the curvature of the curve gradually increases with the increase of the value;

[0063] C4. According to the above twelve equations, the values of r1, k1, b1, c1, r2, k2, b2, c2, a3, b3, c3 and d3 are solved, so as to obtain the expression of the space parameter curve and the unique transition curve.

[0064] The expression of the transition curve path parameter is one of the core points of the present application, that is, when solving the space transition curve, the first tangent point P1, the second tangent point P2, the first tangent vector P1' and the second tangent vector P2' are combined, therefore the proportion set by the user and the given boundary condition can be given in combination with the performance parameters of the dispensing device and the requirements for the path. Through the above conditions combined with the expression, the set proportion and the given boundary condition can be met, that is, when the dispensing machine moves along the transition curve obtained by the expression, the beat and efficiency will not change greatly, so as to achieve the effect of smooth transition to different planes.

[0065] Specifically, after step D, it further includes step E. Length calculation of transition curve, and the calculation formula is as follows:

[0066]

[0067] Specifically, after step D, it further includes step F. Speed calculation when moving along the transition curve, and the calculation formula is as follows:

[0068] Wherein V max ​Ts is a period, p is a chord height error of the curve, and d is a radius of curvature of the curve.

[0069] That is, after the transition curve is determined, the length of the transition curve path and the speed along the transition curve path are calculated, so that the movement of the device is more stable and smooth, and the change of the speed is not too large.

[0070] As shown in Figure 3 The application further provides a dispensing path planning method, comprising the following steps:

[0071] S1. inputting the nth moving path and the nth+1 moving path data to be connected into a planner, wherein n is an integer greater than 0;

[0072] S2. determining the turning type at the connection turning point of the two paths to be connected according to the received nth moving path and nth+1 moving path data;

[0073] S3. determining whether the two paths are coplanar, if not, executing step S4; if yes, using the prior art to design the transition path;

[0074] The determination method of whether the two paths are coplanar is as follows:

[0075] S31. determining the types of the two connecting line segments, if both of the two connecting line segments are straight line segments, executing step S32; if the two connecting line segments are an arc line segment and a straight line segment respectively, executing step S33; if both of the two connecting line segments are arc line segments, executing step S34;

[0076] S32. since when both of the two connecting line segments are straight line segments, they are coplanar, at this time, the prior path design method can be used, for example, directly taking the two connecting line segments as the path;

[0077] S33. calculating the normal vector of the arc line segment the direction vector of the straight line segment If then the arc line segment and the straight line segment are coplanar, otherwise not;

[0078] S34. calculating the normal vectors of the two arc line segments respectively as calculating and whether they are equal, if yes, the two arc line segments are coplanar, otherwise not;

[0079] S4. obtaining the nth transition curve path by using the transition method of the out-of-plane space path described above, wherein n is an integer greater than 0;

[0080] S5. Determine whether the (n+1)th movement path is the end point path, if yes, execute S6, if not, execute steps S1-S5;

[0081] S6. Output all path parameters to the interpolator, and complete the dispensing path planning. The present application also provides a dispensing device, comprising a rack body, a dispensing mechanism, a driving mechanism, a look-ahead planner and an interpolator, wherein the driving mechanism is used to drive the dispensing mechanism to move, the look-ahead planner plans the dispensing path according to the dispensing path planning method described above, and the interpolator is in signal connection with the look-ahead planner.

[0082] The present embodiment also provides a dispensing device, comprising a rack body, a dispensing mechanism, a driving mechanism, a look-ahead planner and an interpolator, wherein the driving mechanism is used to drive the dispensing mechanism to move, the look-ahead planner plans the dispensing path according to the dispensing path planning method described above, and the interpolator is in signal connection with the look-ahead planner. The dispensing path planning method described above is used to plan the path, so that the transition between the non-planar paths can be smoothly realized in the dispensing process, and the action of the dispensing device is more stable and efficient.

[0083] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Although the present application is disclosed as above with the preferred embodiment, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content without departing from the scope of the present application, and any simple modification, equivalent change and modification of the above embodiment within the scope of the present application are all within the scope of the present application.

Claims

1. A method of transitioning a non-planar spatial path, the method comprising: The space path comprises a first movement path and a second movement path, the first movement path and the second movement path are out of plane, the first movement path and the second movement path are connected through a transition curve path, and determining the transition curve path comprises the following steps: ​ A. determining a first tangent point of the first movement path and the transition curve path as a first tangent point, a tangent vector at the first tangent point as a first tangent vector, determining a second tangent point of the second movement path and the transition curve path as a second tangent point, and a tangent vector at the second tangent point as a second tangent vector; B. setting the transition curve path tangent to the first tangent vector and the tangent point being the first tangent point, and setting the transition curve path tangent to the second tangent vector and the tangent point being the second tangent point; C. constructing a space tangent transition model of the transition curve path tangent to the first tangent vector and the second tangent vector and giving boundary conditions; D. solving the space tangent transition model to obtain the transition curve path; In step C, specifically comprising: C1. constructing an expression of a parameter of the transition curve path: x = r1cos(k1θ) + b1θ + c1, y = r2sin(k2θ) + b2θ + c2, z = a3θ 3 + b3θ 2 + c3θ + d3, wherein r1, k1, b1, c1, r2, k2, b2, c2, a3, b3, c3 and d3 are to-be-determined coefficients, the angle θ is a rotation angle of the transition curve around a central axis, θ is a variable and θ ∈ [0, π]; (x, y, z) is a trajectory coordinate of the transition curve path; C2. deriving the expression in C1 to obtain a tangent vector parameter equation expression for constructing the transition curve: x' = -r1k1sin(k1θ) + b1, y' = r2k2cos(k2θ) + b2, z' = 3a3θ 2 + 2b3θ + c3; C3. according to the first tangent point P1 = {x1, y1, z1}, the second tangent point P2 = {x2, y2, z2}, the first tangent vector P1' = {x1', y1', z1'} and the second tangent vector P2' = {x2', y2', z2'} determined in step A, substituting P1 and P1' into the formulas of C1 and C2 respectively when θ = 0, and substituting P1 and P1' into the formulas of C1 and C2 respectively when θ = φ, twelve equations are obtained; C4. according to the twelve equations, the values of r1, k1, b1, c1, r2, k2, b2, c2, a3, b3, c3 and d3 are obtained, so that the expression of the space parameter curve and the unique transition curve are obtained.

2. The method of transitioning an out-of-plane space path of claim 1, wherein: In step A, the first tangent point and the second tangent point are determined specifically as follows: The transition ratio per of the first movement path and the second movement path is set to be in the range of [0, 0.5].

3. The method of transitioning an out-of-plane space path of claim 1, wherein: After step D, there is further a step E of calculating the length of the transition curve, and the calculation formula is as follows: 。 4. The method of transitioning an out-of-plane space path of claim 2, wherein: After step D, there is further a step F of calculating the speed when moving along the transition curve, and the calculation formula is as follows: where V max is Ts is a period, is a sag error of the curve, is a radius of curvature of the curve.

5. A dispensing path planning method, characterized in that: The method comprises the following steps: S1. inputting the data of the n-th movement path and the n+1-th movement path to be connected to a planner, wherein n is an integer greater than 0; S2. the planner judges the turning type at the turning point of the two paths to be connected according to the received data of the n-th movement path and the n+1-th movement path; S3. Determine whether the two-phase paths are coplanar, if not, execute step S4; S4. Obtain the nth transition curve path by using the transition method of the out-of-plane spatial path according to any one of claims 1-4, n is an integer greater than 0; S5. Determine whether the nth+1 movement path is the end point path, if yes, execute S6, if not, execute steps S1-S5; S6. Output all path parameters to the interpolator to complete the dispensing path planning.

6. A dispensing device, characterized by: The device comprises a rack body, a dispensing mechanism, a driving mechanism, a look-ahead planner and an interpolator, the driving mechanism is used to drive the dispensing mechanism to move, the look-ahead planner plans the dispensing path according to the dispensing path planning method of claim 5, and the interpolator is in signal connection with the look-ahead planner.

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