Five-axis mechanism trajectory planning method, system and medium based on glue coating process

Abstract

The embodiment of the present application provides a five-axis mechanism trajectory planning method, system and medium based on the gluing process, the method comprising: setting the tool tip point and the tool axis vector bow height error limit value, using Bezier curve to fit the corner between the original path based on the initial tool path, to obtain the tool tip control point and the tool axis control point; calculating the fitting curve length of the speed planning unit based on the curve integration law, and obtaining the length of the entire speed planning unit according to the length of the fitting curve; performing multi-mode restrictions based on the length of the speed planning unit, and calculating the tool tip filter parameters and the tool axis filter parameters; based on the posture synchronization information, performing real-time trajectory planning adjustment according to the posture synchronization information; transmitting the trajectory planning results to the terminal in real time; the present invention can not only meet the common processes of CNC machine tools such as cutting and grinding of irregular materials, but also meet the high speed and high precision requirements of the gluing process of irregular objects.

Description

Technical Field

[0001] The present application relates to the technical field of trajectory planning, and in particular to a five-axis mechanism trajectory planning method, system and medium based on a glue coating process. Background Art

[0002] It is common to use five-axis CNC machine tools to cut and grind irregular materials. However, when using machine tools to glue irregular materials, it is easy to encounter problems such as repeated acceleration and deceleration at corners and excessive speed reduction, which leads to glue accumulation. The price of five-axis CNC machine tools is expensive, ranging from hundreds of thousands to millions of RMB, and the batch cost of industrial processing is high. The processing algorithm of five-axis CNC machine tools is generally divided into three steps: geometric curve fitting, forward trajectory planning, and path interpolation. Compared with point-to-point motion, the forward method greatly reduces the total processing time, but this method requires a one-time calculation to determine the planning parameters during backtracking and forward looking. The number of system cycles consumed by the calculation of this process is related to the window size, which affects the overall processing time. For the above problems, effective technical solutions are urgently needed. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a five-axis mechanism trajectory planning method, system and medium based on the gluing process, which calculates the posture synchronization information between the tool tip and the tool axis through the tool tip filter parameters and the tool axis filter parameters, and performs real-time trajectory planning adjustments based on the posture synchronization information, which can not only meet the common processes of CNC machine tools such as cutting and grinding of irregular materials, but also meet the high-speed and high-precision requirements of the gluing process of irregular objects.

[0004] The embodiment of the present application also provides a five-axis mechanism trajectory planning method based on the glue coating process, including:

[0005] Set the tool tip point and tool axis vector bow height error limit value, use Bezier curve to fit the corner between the original path based on the initial tool path, and obtain the tool tip control point and tool axis control point;

[0006] The length of the fitting curve of the speed planning unit is calculated based on the curve integration rule, and the length of the entire speed planning unit is obtained according to the length of the fitting curve;

[0007] Perform multi-mode restrictions based on the length of the speed planning unit and calculate tool tip filter parameters and tool axis filter parameters;

[0008] The posture synchronization information between the tool tip and the tool axis is calculated based on the tool tip filter parameters and the tool axis filter parameters, and the real-time trajectory planning is adjusted according to the posture synchronization information to obtain the trajectory planning results of the tool tip and the tool axis;

[0009] The trajectory planning results are transmitted to the terminal in real time.

[0010] Optionally, in the five-axis mechanism trajectory planning method based on the glue coating process described in the embodiment of the present application, a fifth-order Bezier curve is used to fit the corners between the original paths based on the initial tool path, and the tool tip control point and the tool axis control point are calculated, wherein the calculation formulas of the tool tip control point and the tool axis control point are as follows:

[0011] ,

[0012] Where P s , , P e are the three position points of the tool tip in three-dimensional space, and is a unit vector; c and d are intermediate parameters for calculating control points, and c and d have a proportional relationship.

[0013] Optionally, in the five-axis mechanism trajectory planning method based on the glue coating process described in the embodiment of the present application, the tool tip filtering parameters and the tool axis filtering parameters are calculated respectively based on the Cartesian space restriction, the joint space restriction and the geometric restriction based on the speed planning unit data;

[0014] The joint space restrictions include the maximum speed, minimum speed, maximum acceleration, minimum acceleration, maximum jerk and minimum jerk of each axis. The first-order filter delay time of the finite impulse response filter is calculated based on the joint space restrictions. and the second-order filter delay time ;

[0015] The geometric constraints include curvature and bow height errors;

[0016] The Cartesian spatial constraints include maximum velocity, maximum acceleration, and maximum jerk.

[0017] Optionally, in the five-axis mechanism trajectory planning method based on the glue coating process described in the embodiment of the present application, the maximum feed speed is calculated based on the Cartesian space constraint and the path length is calculated;

[0018] like + equal , then the current planned corner speed is determined to be 0;

[0019] like Less than + ,when If it is close to 0, it is determined that the speed at the current planned corner is close to the maximum feed speed;

[0020] If the current speed planning unit reaches the feed speed Vmax and the overlap time of the next speed planning unit + , the required path length Lmin is estimated based on the maximum feed speed.

[0021] Optionally, in the five-axis mechanism trajectory planning method based on the glue coating process described in the embodiment of the present application, the posture synchronization information between the tool tip and the tool axis is calculated based on the tool tip filter parameter and the tool axis filter parameter, and the real-time trajectory planning adjustment is performed according to the posture synchronization information to obtain the trajectory planning result of the tool tip and the tool axis, which specifically includes:

[0022] The speed planning unit length is used as the input parameter of trajectory planning, and the speed planning unit length is subject to Cartesian space restriction, joint space restriction and geometric restriction to obtain tool tip filter parameters and tool axis filter parameters.

[0023] Based on the tool tip filtering parameters and the tool axis filtering parameters, the signal is filtered through a finite filter response filter, and the tool tip and tool axis posture information is obtained;

[0024] Analyze whether the tool tip and tool axis positions are synchronized;

[0025] If synchronized, the trajectory planning result is generated;

[0026] If they are not synchronized, the planning strategy is readjusted, and the speed, position, acceleration and jerk are replanned based on the new planning strategy to generate the trajectory planning result.

[0027] Optionally, in the five-axis mechanism trajectory planning method based on the glue coating process described in the embodiment of the present application, the tool tip control point and the tool axis control point are obtained by fitting the corners between the original paths using a Bezier curve based on the initial tool path, and the method also includes:

[0028] Integrate a three-axis robot with a two-axis robot to form a five-axis robot;

[0029] Establish the five-axis moving directions according to the five-axis robot, and generate the moving direction and moving length of each axis;

[0030] A spatial coordinate system is established based on the moving direction and moving length of each axis, and the zero point coordinates of each axis of the robot are established based on the spatial coordinate system;

[0031] The zero point coordinate is used as the reset point of the tool axis and tool tip to generate the reset coordinates of the tool tip and tool axis.

[0032] In a second aspect, an embodiment of the present application provides a five-axis mechanism trajectory planning system based on a glue coating process, the system comprising: a memory and a processor, the memory comprising a program of a five-axis mechanism trajectory planning method based on a glue coating process, and the program of the five-axis mechanism trajectory planning method based on a glue coating process is executed by the processor to implement the following steps:

[0033] Set the tool tip point and tool axis vector bow height error limit value, use Bezier curve to fit the corner between the original path based on the initial tool path, and obtain the tool tip control point and tool axis control point;

[0034] The length of the fitting curve of the speed planning unit is calculated based on the curve integration rule, and the length of the entire speed planning unit is obtained according to the length of the fitting curve;

[0035] Perform multi-mode restrictions based on the length of the speed planning unit and calculate tool tip filter parameters and tool axis filter parameters;

[0036] The posture synchronization information between the tool tip and the tool axis is calculated based on the tool tip filter parameters and the tool axis filter parameters, and the real-time trajectory planning is adjusted according to the posture synchronization information to obtain the trajectory planning results of the tool tip and the tool axis;

[0037] The trajectory planning results are transmitted to the terminal in real time.

[0038] Optionally, in the five-axis mechanism trajectory planning system based on the glue coating process described in the embodiment of the present application, a fifth-order Bezier curve is used to fit the corners between the original paths based on the initial tool path, and the tool tip control point and the tool axis control point are calculated, wherein the calculation formulas of the tool tip control point and the tool axis control point are as follows:

[0039] ,

[0040] In the formula, , , , are the three position points of the tool tip in three-dimensional space, and is a unit vector; c and d are intermediate parameters for calculating control points, and c and d have a proportional relationship.

[0041] Optionally, in the five-axis mechanism trajectory planning system based on the glue coating process described in the embodiment of the present application, the tool tip filtering parameters and the tool axis filtering parameters are calculated respectively based on the Cartesian space restriction, the joint space restriction and the geometric restriction based on the speed planning unit data;

[0042] The joint space restrictions include the maximum speed, minimum speed, maximum acceleration, minimum acceleration, maximum jerk and minimum jerk of each axis. The first-order filter delay time of the finite impulse response filter is calculated based on the joint space restrictions. and the second-order filter delay time ;

[0043] The geometric constraints include curvature and bow height errors;

[0044] The Cartesian spatial constraints include maximum velocity, maximum acceleration, and maximum jerk.

[0045] In the third aspect, an embodiment of the present application also provides a computer-readable storage medium, which includes a five-axis mechanism trajectory planning method program based on the gluing process. When the five-axis mechanism trajectory planning method program based on the gluing process is executed by a processor, the steps of the five-axis mechanism trajectory planning method based on the gluing process as described in any one of the above items are implemented.

[0046] As can be seen from the above, the embodiment of the present application provides a five-axis mechanism trajectory planning method, system and medium based on the gluing process, by setting the error limit value of the tool tip point and the tool axis vector bow height, using Bezier curve to fit the corner between the original path based on the initial tool path, to obtain the tool tip control point and the tool axis control point; based on the curve integration law, the fitting curve length of the speed planning unit is calculated, and the length of the entire speed planning unit is obtained according to the length of the fitting curve; based on the length of the speed planning unit, multi-mode restrictions are performed, and the tool tip filter parameters and the tool axis filter parameters are calculated; based on the tool tip filter parameters and the tool axis filter parameters, the posture synchronization information between the tool tip and the tool axis is calculated, and real-time trajectory planning adjustment is performed according to the posture synchronization information to obtain the trajectory planning results of the tool tip and the tool axis; the trajectory planning results are transmitted to the terminal in real time; the present invention can not only meet the common processes of CNC machine tools such as cutting and grinding of irregular materials, but also meet the high speed and high precision requirements of gluing processes for irregular objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 A flow chart of a five-axis mechanism trajectory planning method based on a glue coating process provided in an embodiment of the present application;

[0049] Figure 2 A flow chart of a method for generating trajectory planning results of a five-axis mechanism trajectory planning method based on a glue coating process provided in an embodiment of the present application;

[0050] Figure 3 A flow chart of a reset coordinate generation method for a five-axis mechanism trajectory planning method based on a glue coating process provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0052] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0053] Please refer to Figure 1 , Figure 1 The present invention is a flowchart of a five-axis mechanism trajectory planning method based on a glue coating process in some embodiments of the present invention. The five-axis mechanism trajectory planning method based on a glue coating process is used in a terminal device, and the five-axis mechanism trajectory planning method based on a glue coating process includes the following steps:

[0054] S101, setting the tool tip point and tool axis vector bow height error limit value, using Bezier curve to fit the corner between the original path based on the initial tool path, to obtain the tool tip control point and the tool axis control point;

[0055] S102, calculating the length of the fitting curve of the speed planning unit based on the curve integration rule, and obtaining the length of the entire speed planning unit according to the length of the fitting curve;

[0056] S103, performing multi-mode restriction based on the length of the speed planning unit, and calculating tool tip filter parameters and tool axis filter parameters;

[0057] S104, calculating the posture synchronization information between the tool tip and the tool axis based on the tool tip filter parameters and the tool axis filter parameters, performing real-time trajectory planning adjustment according to the posture synchronization information, and obtaining the trajectory planning results of the tool tip and the tool axis;

[0058] S105, transmitting the trajectory planning result to the terminal in real time.

[0059] It should be noted that the use of a linear gantry three-axis robot and a rotary two-axis robot can be simply assembled to meet a variety of ultra-lightweight five-axis configurations. The three-axis robot and the two-axis robot cooperate with the calibration method to quickly determine the rotation center coordinate system, and the five-axis linkage effect is achieved based on the linkage algorithm module of the present invention. The simple combination of a linear gantry three-axis robot + a rotary two-axis robot greatly reduces production costs, and the linear gantry three-axis robot and the rotary two-axis robot are fast to produce and easy to install, and can adapt to different industrial production line scenarios.

[0060] According to an embodiment of the present invention, based on the initial tool path, a fifth-order Bezier curve is used to fit the corners between the original paths, and the tool tip control point and the tool axis control point are calculated, wherein the calculation formulas of the tool tip control point and the tool axis control point are as follows:

[0061] ,

[0062] In the formula, , , , are the three position points of the tool tip in three-dimensional space, and is a unit vector; Indicated by point arrive Vector Than the vector modulus || ||, Indicated by point To point Vector Longer than upper die|| ||, c and d are intermediate parameters for calculating control points, c and d are elements in the real number domain, and c and d have a proportional relationship.

[0063] The tool path refers to the data record including the tool tip point and the tool axis vector. The fitting of the three adjacent tool tip points and the tool axis at the corner is a fifth-order Bezier curve, which corresponds to 6 control points Pi (i = 0, …, 5).

[0064] It should be noted that the proportional relationship formula is c / d = n, and the proportional relationship is determined as follows:

[0065] ,

[0066] Where εmax is the given bow height error limit, || || and || ||Corresponding representation vector and The modulus length (Euclidean distance), || + || represents the modulus of the sum of unit vectors, and the formula for calculating the n value is as follows:

[0067] ,

[0068] Where θ is the corner angle.

[0069] According to an embodiment of the present invention, based on the velocity planning unit data, Cartesian space constraints, joint space constraints and geometric constraints are performed to calculate tool tip filtering parameters and tool axis filtering parameters respectively;

[0070] The joint space restrictions include the maximum speed, minimum speed, maximum acceleration, minimum acceleration, maximum jerk and minimum jerk of each axis. The first-order filter delay time of the finite impulse response filter is calculated based on the joint space restrictions. and the second-order filter delay time ;

[0071] Geometric constraints include curvature and bow height errors;

[0072] Cartesian space constraints include maximum velocity, maximum acceleration, and maximum jerk.

[0073] It should be noted that the maximum allowable speed of the tool tip and the maximum allowable speed of the tool axis of the current planning unit can be determined by combining the length information of the planning unit. The tool tip initial signal duration and the tool axis initial signal duration are determined based on the maximum allowable speed of each segment. + The maximum value obtained by comparison is the duration of the initial signal of posture synchronization, and the total synchronization time of the planning segment is + + , the formula is as follows:

[0074] ,

[0075] After determining the filtering speed and time parameters of the planning section, the time interval between two adjacent initial signals can be calculated by determining the corner allowable speed. The same method can be used to determine the time interval between two adjacent initial signals of the tool tip and the tool axis. + Take the maximum value as the synchronization interval Based on the above parameters, the trajectory planning result is directly obtained. At the corner connection, there will be a point where the speed is reduced to 15% of the original speed.

[0076] According to an embodiment of the present invention, the maximum feed speed is calculated based on Cartesian space constraints, and the path length is calculated;

[0077] like + equal , then the current planned corner speed is determined to be 0;

[0078] like Less than + ,when If it is close to 0, it is determined that the speed at the current planned corner is close to the maximum feed speed;

[0079] If the current speed planning unit reaches the feed speed Vmax and the overlap time of the next speed planning unit + , the required path length Lmin is estimated based on the maximum feed speed.

[0080] It should be noted that the calculation formula of the path length Lmin is as follows:

[0081] ,

[0082] Therefore, a segment merging planning strategy is adopted. The gluing mainly considers the improvement of the absolute position speed in space, and the tool axis speed can have a value of 0. Therefore, the posture planning segment is merged with the position planning segment. This strategy uses two binary numbers to specify four state bits 00, 01, 10, and 11. The state function formula of the re-planning strategy is as follows:

[0083] ,

[0084] Among them, Tstate is recorded as a piecewise function, and the subscript state indicates the state. The piecewise function has different segments, and the judgment results correspond to different value range points. C represents merging, AC represents merging to the previous segment, and 00 represents that the current posture does not change, and the posture of the next state does not change. At this time, if the length of the planned segment of the position is smaller than Lmin, the two planned segments need to be merged, so that the speed at the corner can be increased to Vm. The 01 state means that the posture of the current state remains unchanged, and the next state changes. At this time, the position reaches the value of Lmin. If it does not reach it, consider merging with the same posture segment as the previous segment. Similarly, 10 means that the posture of the current segment changes, and the posture of the next segment does not change. The processing method is similar to 01; 11 means that the posture of the current segment changes, and the posture of the next segment changes. The processing method is similar to 00.

[0085] Please refer to Figure 2 , Figure 2 This is a flow chart of a trajectory planning result generation method of a five-axis mechanism trajectory planning method based on a glue coating process in some embodiments of the present application. According to an embodiment of the present invention, the posture synchronization information between the tool tip and the tool axis is calculated based on the tool tip filter parameters and the tool axis filter parameters, and the real-time trajectory planning adjustment is performed according to the posture synchronization information to obtain the trajectory planning results of the tool tip and the tool axis, which specifically includes:

[0086] S201, taking the speed planning unit length as an input parameter for trajectory planning, subjecting the speed planning unit length to Cartesian space constraints, joint space constraints and geometric constraints, and obtaining tool tip filtering parameters and tool axis filtering parameters;

[0087] S202, performing signal filtering through a finite filter response filter based on tool tip filtering parameters and tool axis filtering parameters, and obtaining tool tip and tool axis position information;

[0088] S203, analyzing whether the positions of the tool tip and the tool axis are synchronized;

[0089] S204, if synchronized, generating a trajectory planning result;

[0090] S205: If not synchronized, readjust the planning strategy, replan the speed, position, acceleration and jerk based on the new planning strategy, and generate a trajectory planning result.

[0091] It should be noted that by analyzing whether the positions of the tool tip and the tool axis are synchronized, the movement difference between the tool tip and the tool axis can be judged, so as to accurately establish the trajectory planning strategy and dynamically adjust the trajectory planning.

[0092] Please refer to Figure 3 , Figure 3 It is a flow chart of a reset coordinate generation method of a five-axis mechanism trajectory planning method based on a glue coating process in some embodiments of the present application. According to an embodiment of the present invention, based on the initial tool path, a Bezier curve is used to fit the corners between the original paths to obtain the tool tip control point and the tool axis control point, and the above also includes:

[0093] S301, integrating the three-axis robot with the two-axis robot to form a five-axis robot;

[0094] S302, establishing five-axis moving directions according to the five-axis robot, and generating the moving direction and moving length of each axis;

[0095] S303, establishing a spatial coordinate system based on the moving direction and moving length of each axis, and establishing the zero point coordinates of each axis of the robot based on the spatial coordinate system;

[0096] S304, using the zero point coordinate as the reset point of the tool axis and the tool tip, and generating the reset coordinates of the tool tip and the tool axis.

[0097] It should be noted that by analyzing the moving direction and moving length of each axis through analyzing the five-axis moving direction, the reset coordinates are established. After the five-axis mechanism completes the movement according to the set moving trajectory, the tool tip and tool axis are reset according to the reset coordinates to improve the initial position accuracy of the tool tip and tool axis.

[0098] In a second aspect, an embodiment of the present application provides a five-axis mechanism trajectory planning system based on a glue coating process, the system comprising: a memory and a processor, the memory comprising a program of a five-axis mechanism trajectory planning method based on a glue coating process, and when the program of the five-axis mechanism trajectory planning method based on a glue coating process is executed by the processor, the following steps are implemented:

[0099] Set the tool tip point and tool axis vector bow height error limit value, use Bezier curve to fit the corner between the original path based on the initial tool path, and obtain the tool tip control point and tool axis control point;

[0100] The length of the fitting curve of the speed planning unit is calculated based on the curve integration rule, and the length of the entire speed planning unit is obtained according to the length of the fitting curve;

[0101] Perform multi-mode restrictions based on the length of the speed planning unit and calculate tool tip filter parameters and tool axis filter parameters;

[0102] The posture synchronization information between the tool tip and the tool axis is calculated based on the tool tip filter parameters and the tool axis filter parameters, and the real-time trajectory planning is adjusted according to the posture synchronization information to obtain the trajectory planning results of the tool tip and the tool axis;

[0103] The trajectory planning results are transmitted to the terminal in real time.

[0104] According to an embodiment of the present invention, based on the initial tool path, a fifth-order Bezier curve is used to fit the corners between the original paths, and the tool tip control point and the tool axis control point are calculated, wherein the calculation formulas of the tool tip control point and the tool axis control point are as follows:

[0105] ,

[0106] In the formula, , , are the three position points of the tool tip in three-dimensional space, and is a unit vector; Indicated by arrive Vector Than the vector modulus || ||, Indicated by point To point Vector Longer than upper die|| ||, c and d are intermediate parameters for calculating control points, c and d are elements in the real number domain, and c and d have a proportional relationship.

[0107] The tool path refers to the data record including the tool tip point and the tool axis vector. The fitting of the three adjacent tool tip points and the tool axis at the corner is a fifth-order Bezier curve, which corresponds to 6 control points Pi (i = 0, …, 5).

[0108] According to an embodiment of the present invention, based on the velocity planning unit data, Cartesian space constraints, joint space constraints and geometric constraints are performed to calculate tool tip filtering parameters and tool axis filtering parameters respectively;

[0109] The joint space restrictions include the maximum speed, minimum speed, maximum acceleration, minimum acceleration, maximum jerk and minimum jerk of each axis. The first-order filter delay time of the finite impulse response filter is calculated based on the joint space restrictions. and the second-order filter delay time ;

[0110] Geometric constraints include curvature and bow height errors;

[0111] Cartesian space constraints include maximum velocity, maximum acceleration, and maximum jerk.

[0112] It should be noted that the maximum allowable speed of the tool tip and the maximum allowable speed of the tool axis of the current planning unit can be determined by combining the length information of the planning unit. The tool tip initial signal duration and the tool axis initial signal duration are determined based on the maximum allowable speed of each segment. + The maximum value obtained by comparison is the duration of the initial signal of posture synchronization, and the total synchronization time of the planning segment is T 0 +T 1 +T 2 , the formula is as follows:

[0113] ,

[0114] T 0 is the initial time of the limited impulse response filter. After determining the filter speed and time parameters of the planning section, the interval time between two adjacent initial signals can be calculated by determining the corner allowable speed. The same method is used to determine the interval time between two adjacent initial signals of the tool tip and the tool axis, and T 1 +T 2 Compared with the maximum value, take it as the synchronization interval Based on the above parameters, the trajectory planning result is directly obtained. At the corner connection, there will be a point where the speed is reduced to 15% of the original speed.

[0115] According to an embodiment of the present invention, the maximum feed speed is calculated based on Cartesian space constraints, and the path length is calculated;

[0116] If T 1 +T 2equal , then the current planned corner speed is determined to be 0;

[0117] like Less than T 1 +T 2 ,when If it is close to 0, it is determined that the speed at the current planned corner is close to the maximum feed speed;

[0118] If the current speed planning unit reaches the feed speed Vmax and the overlap time of the next speed planning unit + , the required path length Lmin is estimated based on the maximum feed speed.

[0119] It should be noted that the calculation formula of the path length Lmin is as follows:

[0120] ,

[0121] Therefore, a segment merging planning strategy is adopted. The gluing mainly considers the improvement of the absolute position speed in space, and the tool axis speed can have a value of 0. Therefore, the posture planning segment is merged with the position planning segment. This strategy uses two binary numbers to specify four state bits 00, 01, 10, and 11. The state function formula of the re-planning strategy is as follows:

[0122] ,

[0123] Among them, Tstate is recorded as a piecewise function, and the subscript state indicates the state. The piecewise function has different segments, and the judgment results correspond to different value range points. C represents merging, AC represents merging to the previous segment, and 00 represents that the current posture does not change, and the posture of the next state does not change. At this time, if the length of the planned segment of the position is smaller than Lmin, the two planned segments need to be merged, so that the speed at the corner can be increased to Vm. The 01 state means that the posture of the current state remains unchanged, and the next state changes. At this time, the position reaches the value of Lmin. If it does not reach it, consider merging with the same posture segment as the previous segment. Similarly, 10 means that the posture of the current segment changes, and the posture of the next segment does not change. The processing method is similar to 01; 11 means that the posture of the current segment changes, and the posture of the next segment changes. The processing method is similar to 00.

[0124] According to an embodiment of the present invention, the posture synchronization information between the tool tip and the tool axis is calculated based on the tool tip filter parameters and the tool axis filter parameters, and the real-time trajectory planning adjustment is performed according to the posture synchronization information to obtain the trajectory planning result of the tool tip and the tool axis, which specifically includes:

[0125] S201, taking the speed planning unit length as an input parameter for trajectory planning, subjecting the speed planning unit length to Cartesian space constraints, joint space constraints and geometric constraints, and obtaining tool tip filtering parameters and tool axis filtering parameters;

[0126] S202, performing signal filtering through a finite filter response filter based on tool tip filtering parameters and tool axis filtering parameters, and obtaining tool tip and tool axis position information;

[0127] S203, analyzing whether the positions of the tool tip and the tool axis are synchronized;

[0128] S204, if synchronized, generating a trajectory planning result;

[0129] S205: If not synchronized, readjust the planning strategy, replan the speed, position, acceleration and jerk based on the new planning strategy, and generate a trajectory planning result.

[0130] It should be noted that by analyzing whether the positions of the tool tip and the tool axis are synchronized, the movement difference between the tool tip and the tool axis can be judged, so as to accurately establish the trajectory planning strategy and dynamically adjust the trajectory planning.

[0131] According to an embodiment of the present invention, based on the initial tool path, a Bezier curve is used to fit the corners between the original paths to obtain a tool tip control point and a tool axis control point, and the method also includes:

[0132] Integrate a three-axis robot with a two-axis robot to form a five-axis robot;

[0133] Establish the five-axis moving directions according to the five-axis robot, and generate the moving direction and moving length of each axis;

[0134] A spatial coordinate system is established based on the moving direction and moving length of each axis, and the zero point coordinates of each axis of the robot are established based on the spatial coordinate system;

[0135] The zero point coordinate is used as the reset point of the tool axis and tool tip to generate the reset coordinates of the tool tip and tool axis.

[0136] It should be noted that by analyzing the moving direction and moving length of each axis through analyzing the five-axis moving direction, the reset coordinates are established. After the five-axis mechanism completes the movement according to the set moving trajectory, the tool tip and tool axis are reset according to the reset coordinates to improve the initial position accuracy of the tool tip and tool axis.

[0137] The third aspect of the present invention provides a computer-readable storage medium, which includes a five-axis mechanism trajectory planning method program based on the gluing process. When the five-axis mechanism trajectory planning method program based on the gluing process is executed by a processor, the steps of the five-axis mechanism trajectory planning method based on the gluing process as described above are implemented.

[0138] The present invention discloses a five-axis mechanism trajectory planning method, system and medium based on the gluing process. By setting the error limit value of the tool tip point and the tool axis vector bow height, the tool tip control point and the tool axis control point are obtained by fitting the corner between the original path using a Bezier curve based on the initial tool path; the fitting curve length of the speed planning unit is calculated based on the curve integration law, and the length of the entire speed planning unit is obtained according to the length of the fitting curve; multi-mode restrictions are performed based on the length of the speed planning unit, and tool tip filter parameters and tool axis filter parameters are calculated; the posture synchronization information between the tool tip and the tool axis is calculated based on the tool tip filter parameters and the tool axis filter parameters, and real-time trajectory planning adjustment is performed according to the posture synchronization information to obtain the trajectory planning results of the tool tip and the tool axis; the trajectory planning results are transmitted to the terminal in real time. The present invention can meet the common processes of CNC machine tools such as cutting and grinding of irregular materials, and can also meet the high speed and high precision requirements of the gluing process of irregular objects.

[0139] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0140] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0141] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0142] Those skilled in the art can understand that: all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, the aforementioned program can be stored in a readable storage medium, and when the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), disks or optical disks, and other media that can store program codes.

[0143] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

Claims

1. A five-axis mechanism trajectory planning method based on glue coating process, characterized in that: include: Set the tool tip point and tool axis vector bow height error limit value, use Bezier curve to fit the corner between the original path based on the initial tool path, and obtain the tool tip control point and tool axis control point; The length of the fitting curve of the speed planning unit is calculated based on the curve integration rule, and the length of the entire speed planning unit is obtained according to the length of the fitting curve; Perform multi-mode restrictions based on the length of the speed planning unit and calculate tool tip filter parameters and tool axis filter parameters; The posture synchronization information between the tool tip and the tool axis is calculated based on the tool tip filter parameters and the tool axis filter parameters, and the real-time trajectory planning is adjusted according to the posture synchronization information to obtain the trajectory planning results of the tool tip and the tool axis; Transmit trajectory planning results to the terminal in real time; Based on the initial tool path, the corners between the original paths are fitted using a 5th-order Bezier curve to calculate the tool tip control point and the tool axis control point. The calculation formulas for the tool tip control point and the tool axis control point are as follows: ， Where P s , , P e are the three position points of the tool tip in three-dimensional space, and is a unit vector; c and d are intermediate parameters for calculating control points, and c and d have a proportional relationship; Based on the speed planning unit data, Cartesian space constraints, joint space constraints and geometric constraints are performed to calculate tool tip filtering parameters and tool axis filtering parameters respectively; The joint space restrictions include the maximum speed, minimum speed, maximum acceleration, minimum acceleration, maximum jerk and minimum jerk of each axis. The first-order filter delay time of the finite impulse response filter is calculated based on the joint space restrictions. and the second-order filter delay time ; The geometric constraints include curvature and bow height errors; The Cartesian spatial constraints include maximum velocity, maximum acceleration, and maximum jerk.

2. The five-axis mechanism trajectory planning method based on the glue coating process according to claim 1 is characterized in that: Calculate the maximum feed rate and path length based on Cartesian space constraints; like + equal , then the current planned corner speed is determined to be 0; like Less than + ,when If it is close to 0, it is determined that the speed at the current planned corner is close to the maximum feed speed; If the current speed planning unit reaches the feed speed Vmax and the overlap time of the next speed planning unit + , the required path length Lmin is estimated based on the maximum feed speed.

3. The five-axis mechanism trajectory planning method based on the glue coating process according to claim 2 is characterized in that: The pose synchronization information between the tool tip and the tool axis is calculated based on the tool tip filter parameters and the tool axis filter parameters. The real-time trajectory planning is adjusted according to the pose synchronization information to obtain the trajectory planning results of the tool tip and the tool axis, including: The speed planning unit length is used as the input parameter of trajectory planning, and the speed planning unit length is subject to Cartesian space restriction, joint space restriction and geometric restriction to obtain tool tip filter parameters and tool axis filter parameters. Based on the tool tip filtering parameters and the tool axis filtering parameters, the signal is filtered through a finite filter response filter, and the tool tip and tool axis posture information is obtained; Analyze whether the tool tip and tool axis positions are synchronized; If synchronized, the trajectory planning result is generated; If they are not synchronized, the planning strategy is readjusted, and the speed, position, acceleration and jerk are replanned based on the new planning strategy to generate the trajectory planning result.

4. The five-axis mechanism trajectory planning method based on the glue coating process according to claim 3 is characterized in that: Based on the initial tool path, the Bezier curve is used to fit the corners between the original paths to obtain the tool tip control point and the tool axis control point. Previously, it also included: Integrate a three-axis robot with a two-axis robot to form a five-axis robot; Establish the five-axis moving directions according to the five-axis robot, and generate the moving direction and moving length of each axis; A spatial coordinate system is established based on the moving direction and moving length of each axis, and the zero point coordinates of each axis of the robot are established based on the spatial coordinate system; The zero point coordinate is used as the reset point of the tool axis and tool tip to generate the reset coordinates of the tool tip and tool axis.

5. A five-axis mechanism trajectory planning system based on glue coating process, characterized in that: The system includes: a memory and a processor, wherein the memory includes a program of a five-axis mechanism trajectory planning method based on a glue coating process, and when the program of the five-axis mechanism trajectory planning method based on a glue coating process is executed by the processor, the following steps are implemented: Set the tool tip point and tool axis vector bow height error limit value, use Bezier curve to fit the corner between the original path based on the initial tool path, and obtain the tool tip control point and tool axis control point; The length of the fitting curve of the speed planning unit is calculated based on the curve integration rule, and the length of the entire speed planning unit is obtained according to the length of the fitting curve; Perform multi-mode restrictions based on the length of the speed planning unit and calculate tool tip filter parameters and tool axis filter parameters; The posture synchronization information between the tool tip and the tool axis is calculated based on the tool tip filter parameters and the tool axis filter parameters, and the real-time trajectory planning is adjusted according to the posture synchronization information to obtain the trajectory planning results of the tool tip and the tool axis; Transmit trajectory planning results to the terminal in real time; Based on the initial tool path, the corners between the original paths are fitted using a 5th-order Bezier curve to calculate the tool tip control point and the tool axis control point. The calculation formulas for the tool tip control point and the tool axis control point are as follows: ， Where P s , , P e are the three position points of the tool tip in three-dimensional space, and is a unit vector; c and d are intermediate parameters for calculating control points, and c and d have a proportional relationship; Based on the speed planning unit data, Cartesian space constraints, joint space constraints and geometric constraints are performed to calculate tool tip filtering parameters and tool axis filtering parameters respectively; The joint space restrictions include the maximum speed, minimum speed, maximum acceleration, minimum acceleration, maximum jerk and minimum jerk of each axis. The first-order filter delay time of the finite impulse response filter is calculated based on the joint space restrictions. and the second-order filter delay time ; The geometric constraints include curvature and bow height errors; The Cartesian spatial constraints include maximum velocity, maximum acceleration, and maximum jerk.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a five-axis mechanism trajectory planning method program based on the gluing process. When the five-axis mechanism trajectory planning method program based on the gluing process is executed by a processor, the steps of the five-axis mechanism trajectory planning method based on the gluing process as described in any one of claims 1 to 4 are implemented.

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