Method, device and equipment for planning S-shaped motion track with asymmetric acceleration in chip mounting and medium

Abstract

The invention discloses an S-shaped motion track planning method and device with asymmetric acceleration in chip mounting, equipment and a medium, an S-shaped track curve is divided into seven sections, the time of the seven sections of tracks is independently calculated according to limiting conditions, and the track curve of each time period is solved through an integration method; the smoothness and accuracy of the motion trail in the acceleration and deceleration process are further optimized by using asymmetric control of the acceleration, and the problems of vibration and position overshoot caused by excessive compression of the acceleration time are relieved, so that the overshoot phenomenon is more effectively inhibited, the impact force of the mounting head is reduced, and the integrity of materials is protected.

Description

Technical Field

[0001] The present invention belongs to the field of semiconductor manufacturing technology, and in particular relates to a method, device, equipment and medium for planning an S-shaped motion trajectory with asymmetric acceleration in chip mounting. Background Art

[0002] During the operation of a high-speed placement machine, the placement head moves quickly along the Z-axis to place components. With the continuous improvement of the performance and working speed of high-speed placement machines, Z-axis position control has become particularly critical. Under high-speed and high-acceleration conditions, the Z-axis position may overshoot or vibrate, which will not only affect the placement accuracy, but may also cause damage to the placement head or components, resulting in increased scrap rate and maintenance costs. Therefore, how to effectively control the motion trajectory of the Z-axis to reduce overshoot and improve placement accuracy is a key technical challenge in the design and control of high-speed placement machines.

[0003] In current trajectory planning, most asymmetric S-type planning algorithms are used. For example, patent CN112327954B in the prior art discloses a high-precision positioning method for a linear motor controlled by an asymmetric S-type speed curve. This method introduces different accelerations and decelerations in the rising and falling stages of the speed curve to improve the impact caused by acceleration and deceleration of a high-speed placement machine. However, the S-type speed asymmetric trajectory requires the motor to have higher dynamic response and peak power output. In addition, excessive compression of the acceleration time can easily cause vibration and reduce the stability of the control system.

[0004] Therefore, it is necessary to provide a new S-type motion trajectory planning method with asymmetric acceleration in chip mounting to solve the above technical problems. Summary of the invention

[0005] One of the main purposes of the present invention is to provide a method for planning an S-shaped motion trajectory with asymmetric acceleration in chip mounting, which can effectively suppress overshoot, reduce the impact force of the mounting head, and protect the integrity of the material.

[0006] The present invention achieves the above-mentioned purpose through the following technical scheme: a method for planning an S-shaped motion trajectory with asymmetric acceleration in chip mounting, which comprises the following steps: Step 1: Referring to the motor performance parameters, set the restriction conditions of the trajectory curve under the motor performance limit, the restriction conditions include the maximum speed limit v max , Maximum acceleration limit a amax , Maximum deceleration limit a dmax , Maximum jerk during acceleration J a,amax and maximum acceleration / deceleration J a,dmax , Maximum jerk during deceleration J d,amax , Maximum acceleration / deceleration J d,dmax ; Step 2: Divide the trajectory curve into seven segments, and set the time periods of the seven segments as follows: (1) Acceleration time period: including the first acceleration rising time period T1, the first acceleration maintaining time period T2 and the first acceleration falling time period T3; (2) Uniform speed time period T4; (3) Deceleration time period: including the second acceleration rising time period T5, the second acceleration maintaining time period T6 and the second acceleration decreasing time period T7; Step 3: Set the time period calculation formulas of the seven trajectories to be: ; ; ; ; ; ,in, is the displacement during the acceleration period, is the displacement during the deceleration period, is the total displacement, the total displacement S=q1-q0, q0 is the set initial position, q1 is the final position; , ; Step 4: updating the time calculation formula for the time periods of the seven trajectories according to the parameter constraints, which includes: (1) If T2 = 0, use the actual maximum acceleration a reala Replace a amax Then update T1 and T3 according to the calculation formula in step 3; (2) If T6 = 0, the actual maximum deceleration a is used. reald Replace a dmax Then update T5 and T7 according to the calculation formula in step 3; (3) If T4=0, use the actual maximum speed v real Alternative v max Then update T2 and T6 according to the calculation formula in step 3; (4) If T2=0, T6=0, use the actual maximum acceleration a reala Replace a amax , Actual maximum deceleration a reald Replace a dmax Then update T1, T3, T5, and T7 according to the calculation formula in step 3; (5) If T2=0, T4=0, use the actual maximum acceleration a reala Replace a amax, actual maximum speed v real Alternative v max Then update T1, T3, and T6 according to the calculation formula in step 3; (6) If T4=0, T6=0, then use the actual maximum speed v real Alternative v max , Actual maximum deceleration a reald Replace a dmax Then update T5, T7, and T2 according to the calculation formula in step 3; (7) If T2=0, T4=0, T6=0, then use the actual maximum acceleration a reala Replace a amax , Actual maximum deceleration a reald Replace a dmax Then update T1, T3, T5, and T7 according to the calculation formula in step 3; Step 5: According to the time of the seven trajectories obtained in step 3 and step 4, the expressions of acceleration a(t), velocity v(t), and displacement s(t) of the S-shaped trajectory curve with asymmetric acceleration are obtained respectively: ; ; ; Wherein formula (11) is: ; Formula (12) is: ; Formula (13) is: ; Formula (14) is: ; Formula (15) is: .

[0007] Furthermore, in the restriction condition, each parameter satisfies J a,amax >J a,dmax , J d,amax >J d,dmax 、a amax >a dmax .

[0008] Furthermore, the actual maximum acceleration a reala The calculation method is: The actual maximum acceleration comes from 0~a amax , set the left limit a aleft =0,a aright=a amax ; Set the new maximum acceleration Restricted to half of the original value, , instead of a amax Calculate T2 according to the calculation formula in step 3; if T2>0, then set , a aright =a aright , if T2<0, then let a aleft =a aleft , Then calculate the next round of new maximum acceleration for loop iteration. When T2=0, the iteration ends and the final maximum acceleration is obtained. ,make .

[0009] Furthermore, the actual maximum deceleration a reald The calculation method is: The actual maximum deceleration comes from 0~a dmax , set the left limit a dleft =0,a dright =a dmax ; Set the new maximum deceleration Restricted to half of the original value, , instead of a dmax Calculate T6 according to the calculation formula in step 3; if T6>0, ​​then set , a dright =a dright , if T6<0, then let a dleft =a dleft , Then calculate the next round of new maximum deceleration and iterate. When T6=0, the iteration ends and the final maximum deceleration is obtained. ,make .

[0010] Furthermore, the actual maximum speed v real The calculation method is: The actual maximum speed comes from 0~v max , let the left limit v left =0,v right =v max ; Set the new maximum speed Restricted to half of the original value, , instead of v max Calculate T4 according to the calculation formula in step 3; if T4>0, then set , v right =v right , if T4<0, then let v left =v left , Then calculate the next round of new maximum speed for loop iteration. When T4=0, the iteration ends and the final maximum speed is obtained. ,make .

[0011] Another object of the present invention is to provide a planning device for an S-shaped trajectory curve with asymmetric acceleration, comprising: The first judgment module judges whether the acceleration during the movement can reach the maximum acceleration; The second judgment module judges whether the deceleration during the movement can reach the maximum deceleration; The third judgment module judges whether the speed can reach the maximum speed during the movement; The first calculation module includes a first relational expression, a second relational expression and a third relational expression, wherein the first relational expression is used to calculate the maximum acceleration a according to the maximum acceleration a. amax The maximum jerk j during the acceleration phase a,amax , calculate the acceleration rise time T1 of the acceleration stage; the second relationship is used to calculate the acceleration rise time T1 according to the maximum acceleration a amax The maximum acceleration and deceleration j in the acceleration phase a,dmax , the acceleration drop time T3 of the acceleration stage is calculated; the third relationship is used to calculate the acceleration holding time T2 of the acceleration stage according to T1 and T3; The second calculation module includes a fourth relational expression, a fifth relational expression and a sixth relational expression, wherein the fourth relational expression is used to calculate the maximum deceleration a dmax The maximum jerk j during the deceleration phase d,amax , calculate the acceleration rise time T5 in the deceleration stage; the fifth relationship is used to calculate the acceleration rise time T5 according to the maximum acceleration a dmax The maximum acceleration and deceleration j in the deceleration phase d,dmax , the acceleration drop time T7 of the deceleration stage is calculated; the sixth relationship is used to calculate the acceleration holding time T6 of the deceleration stage according to T5 and T7; The third calculation module includes a seventh relationship, wherein the seventh relationship is used to calculate the maximum jerk j in the acceleration phase. a,amax , T1, T2, T3 calculate the displacement in the acceleration stage , according to the maximum jerk j during the deceleration phase d,amax , T5, T6, T7 calculate the displacement of the deceleration stage , according to the total displacement , , and maximum speed v max The uniform speed stage time T4 is calculated; The planning module includes an eighth relational expression, a ninth relational expression and a tenth relational expression, wherein the eighth relational expression is used to plan the acceleration of an S-shaped trajectory curve with asymmetric acceleration; the ninth relational expression is used to plan the speed of the S-shaped trajectory curve with asymmetric acceleration; and the tenth relational expression is used to plan the displacement of the S-shaped trajectory curve with asymmetric acceleration.

[0012] Furthermore, it also includes: The first solution module uses the dichotomy method to calculate the acceleration from 0 to the maximum acceleration a. amax Between, the maximum acceleration a in the first calculation module amax Perform loop iterations, and when T2=0, the iteration ends and the actual maximum acceleration a is obtained. reala ; The second solution module uses the binary method to find the deceleration from 0 to the maximum deceleration a dmax Between, the maximum deceleration a in the second calculation module dmax Perform loop iterations, and when T6=0, the iteration ends and the actual maximum deceleration a is obtained. reald ; The third solution module uses the dichotomy method to find the speed from 0 to the maximum speed v max The maximum speed v in the first calculation module, the second calculation module and the third calculation module is max Perform loop iterations, and when T4=0, the iteration ends and the actual maximum speed v is obtained. real .

[0013] Another object of the present invention is to provide a planning device for an S-shaped trajectory curve with asymmetric acceleration, comprising: a memory for storing a computer program; and a processor for executing the steps of the following method of the computer program: S1, the first judgment module determines whether the maximum acceleration can be reached according to the input motion parameters. If so, T1 and T3 are calculated by the first calculation module, and then step S2 is executed; otherwise, the actual maximum acceleration is solved by the first solution module, and the actual maximum acceleration is input into the first calculation module as the maximum acceleration, T1 and T3 are calculated, and then step S2 is executed; S2, the second judgment module determines whether the maximum deceleration can be reached according to the input motion parameters. If so, T5 and T7 are calculated by the second calculation module, and then step S3 is executed; otherwise, the actual maximum deceleration is solved by the second solution module, and the actual maximum deceleration is input as the maximum deceleration into the second calculation module, T5 and T7 are calculated, and then step S3 is executed; S3, the third judgment module determines whether the maximum speed can be reached according to the input motion parameters. If so, T2 and T6 are calculated by the first calculation module and the second calculation module respectively, and then step S4 is executed; otherwise, the actual maximum speed is solved by the third solution module, and the actual maximum speed is input as the maximum speed into the first calculation module and the second calculation module to calculate T2 and T6 respectively, and then step S4 is executed; S4, the third calculation module calculates and obtains T4; S5, the planning module obtains an S-shaped trajectory curve with asymmetric acceleration according to T1, T2, T3, T4, T5, T6, and T7.

[0014] Another object of the present invention is to provide a computer-readable storage medium, on which is stored a computer program, wherein the computer program is executed by a processor to perform the above-mentioned method steps.

[0015] Compared with the prior art, the method, device, equipment and medium for planning S-shaped motion trajectory with asymmetric acceleration in chip mounting of the present invention have the following beneficial effects: (1) The S-shaped trajectory curve is divided into seven segments. The time of the seven segments is calculated independently according to the constraints, and the trajectory curve of each time period is solved by the integration method. The asymmetric control of acceleration is used to further optimize the smoothness and accuracy of the motion trajectory during acceleration and deceleration, and alleviate the vibration and position overshoot problems caused by excessive compression of acceleration time, thereby more effectively suppressing the overshoot phenomenon, reducing the impact force of the placement head, and protecting the integrity of the material. (2) The algorithm causes the placement head to gradually slow down when approaching the target position, effectively preventing material damage and ensuring placement accuracy and quality; (3) It not only improves the operating reliability of the placement machine, but also significantly improves production efficiency, providing more stable technical support for high-speed placement technology.

[0016] (4) This method can more flexibly adjust the trend of acceleration increase or decrease in the acceleration and deceleration stages, realize the on-demand adjustment of the acceleration rise and fall speed, make the speed trajectory smoother in the acceleration and deceleration process, so as to optimize the motion trajectory of the high-speed placement machine in the Z-axis direction and prevent the placement head from damaging the material due to overshoot; (5) In addition, since the trajectory design is more in line with the dynamic response characteristics of the Z-axis, the algorithm ensures a smooth transition of the acceleration and deceleration process, reduces the peak current and load impact of the motor, and can significantly reduce mechanical vibration and power consumption, thereby extending the service life of the motor and equipment and reducing maintenance costs; these optimization effects can comprehensively improve the reliability and accuracy of the placement machine, bringing significant production efficiency improvements and cost savings to the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall process of an embodiment of the present invention; Figure 2 It is a schematic diagram of the motion trajectory of the asymmetric S-speed curve; Figure 3a Schematic diagram of an asymmetric S-shaped trajectory curve of acceleration when T2=0 in an embodiment of the present invention; Figure 3b Schematic diagram of an asymmetric S-shaped trajectory curve of acceleration when T6=0 in an embodiment of the present invention; Figure 3c Schematic diagram of an asymmetric S-shaped trajectory curve of acceleration when T4=0 in an embodiment of the present invention; Figure 4a Schematic diagram of an asymmetric S-shaped trajectory curve of acceleration when T2=0 and T6=0 in an embodiment of the present invention; Figure 4b Schematic diagram of an asymmetric S-shaped trajectory curve of acceleration when T2=0 and T4=0 in an embodiment of the present invention; Figure 4c Schematic diagram of an asymmetric S-shaped trajectory curve of acceleration when T4=0 and T6=0 in an embodiment of the present invention; Figure 5 Schematic diagram of an asymmetric S-shaped trajectory curve of acceleration when T2=0, T4=0, and T6=0 in an embodiment of the present invention; Figure 6 Schematic diagram of an S-shaped trajectory curve with asymmetric acceleration planned under set parameters in an embodiment of the present invention; Figure 7 Schematic diagram of an asymmetric S-shaped velocity trajectory planned under set parameters in an embodiment of the present invention; Figure 8 This is a schematic diagram of the framework principle structure of the planning device in an embodiment of the present invention; Fig. 9 A schematic diagram of a process flow of a planning device in an embodiment of the present invention; The numbers in the figure represent: 100- Planning device for S-shaped trajectory curve with asymmetric acceleration; 1-first judgment module; 2-second judgment module; 3-third judgment module; 4-first calculation module; 5-second calculation module; 6-third calculation module; 7-first solution module; 8-second solution module; 9-third solution module; 10-planning module. DETAILED DESCRIPTION

[0018] Embodiment 1: Please refer to Figure 1 , this embodiment is a method for planning an S-shaped motion trajectory with asymmetric acceleration in chip mounting, which includes the following steps: Step 1: Determine the constraints for planning the S-shaped trajectory curve with asymmetric acceleration (hereinafter referred to as “trajectory curve”).

[0019] According to the performance parameters of the motor, determine the maximum speed and maximum acceleration that the motor can withstand. The maximum speed of the motor is generally given in the motor parameter table, and the maximum acceleration is calculated as , F max is the maximum thrust of the motor, and m is the motor load.

[0020] Determine the constraints required for trajectory planning under the constraints of the maximum speed and maximum acceleration that the motor can withstand, including: (1) Constraint 1: Four jerk constraints: Maximum jerk j during acceleration a,amax and maximum acceleration / deceleration j a,dmax ; Maximum jerk during deceleration j d,amax and maximum acceleration / deceleration j d,dmax ; (2) Constraint 2: Two acceleration constraints: Maximum acceleration a amax , Maximum deceleration a dmax ; (3) Constraint 3: Maximum speed v max limit.

[0021] The above three constraints ensure that the trajectory complies with the physical performance of the motor, avoiding motor performance degradation or equipment damage due to overload.

[0022] In the application of the S-shaped motion trajectory with asymmetric acceleration, according to the motion characteristics of the mounting Z axis, the deceleration time is set to be greater than the acceleration time, and the acceleration drop time is set to be greater than the acceleration rise time. Specifically, when selecting the limiting parameters, let J a,amax >J a,dmax , J d,amax >J d,dmax , a amax >a dmax .

[0023] Step 2: According to the above constraints, set the calculation formula for the running time of each segment of the trajectory.

[0024] The Z axis of the placement head moves from point to point, and the initial position is set to q0 and the final position is set to q1. Figure 2 The trajectory curve shown in the figure plans the S-shaped trajectory curve with asymmetric acceleration into three stages: acceleration, uniform speed, and deceleration. The acceleration stage and deceleration stage are further planned into the acceleration rising stage, the acceleration maintaining stage, and the acceleration falling stage, forming a total of seven trajectories. The seven trajectory times are then divided as follows: (1) Acceleration time period: including the first acceleration rising time period T1, the first acceleration maintaining time period T2 and the first acceleration falling time period T3; (2) Uniform speed time period T4; (3) Deceleration time period: includes the second acceleration rising time period T5, the second acceleration maintaining time period T6 and the second acceleration decreasing time period T7.

[0025] The trajectory accelerates from 0 to the maximum acceleration a during the T1 period. amax , T1 is subjected to the maximum running acceleration a amax Restrictions, therefore: Formula (1) The trajectory reaches the maximum speed v at the end of time period T3 max , decreases from the maximum acceleration to 0 during this period, so: Formula (2) Since T1 and T3 are both amax Related, so . And because , so: Formula (3) Similarly, the trajectory reaches the maximum deceleration a from 0 in the T5 time period dmax , T5 is subject to the maximum deceleration a dmax Restrictions, therefore: Formula (4) Similarly, the trajectory changes from the maximum deceleration a to dmax The velocity rises to 0, so: Formula (5) Since T5 and T7 are both dmax Related, so , and because , so: Formula (6) The calculation of the uniform speed period T4 in this embodiment is combined with the total displacement S for consideration. The total displacement S=q1-q0. The uniform speed period is: Formula (7) in, is the displacement during the acceleration period, is the displacement during the deceleration period; and: , ; In the acceleration stage, this embodiment uses different calculation formulas for T1 and T3 to make the accelerations in the acceleration rising time period and the acceleration falling time period of the acceleration stage different, thereby forming an asymmetric acceleration control; similarly, in the deceleration stage, by using different calculation formulas for T5 and T7, the accelerations in the acceleration rising time period and the acceleration falling time period of the deceleration stage are different, thereby forming an asymmetric acceleration control, making the motion trajectory smoother and more precise during the acceleration and deceleration motion process, and effectively alleviating the vibration and position overshoot problems caused by excessive compression of the acceleration time.

[0026] Step 3: Time allocation and updating of the S-shaped trajectory curve with asymmetric acceleration subject to parameter constraints.

[0027] It is worth noting that the trajectory described in step 2 is a complete seven-segment trajectory. Due to the setting of constraints, the maximum speed v in the constraints may appear max , maximum acceleration a amax , Maximum deceleration a dmax If the parameters are not met, that is, one or two or three of the first acceleration holding time period T2, the second acceleration holding time period T6, and the uniform speed time period T4 do not exist, then some of the seven time periods need to be recalculated. Specifically, it includes: (1) Case (1): Maximum acceleration a amax It is unreachable. This means that there is no uniform acceleration part in the acceleration phase, that is, T2=0. At this time, the limit of T1 and T3 is the actual maximum acceleration a of the trajectory operation. reala This embodiment designs an effective calculation method for T1 and T3, that is, using a binary search loop iteration to determine the actual maximum acceleration a reala , improve a reala Search speed, the search end condition is T2 = 0, and then use the actual maximum acceleration a reala To replace a in formulas (1), (2), and (3) amax Perform calculations and then update T1 and T3. Specifically: The actual maximum acceleration comes from 0~a amax , left limit a aleft =0,a aright =a amax ; Set the new maximum acceleration Restricted to half of the original value, , instead of a amax Substitute into formulas (1), (2), and (3) to calculate T2; if T2>0, then let , a aright =a aright , if T2<0, then let a aleft =aaleft , Then calculate the next round of new maximum acceleration for loop iteration. When T2=0, the iteration ends and the final maximum acceleration is obtained. ,make , the calculations for time periods T1 and T3 are updated as follows: ; (2) Case (2): Maximum deceleration a dmax It is unreachable. This means that there is no uniform deceleration part in the deceleration stage, that is, T6=0. At this time, the limit of T5 and T7 is the actual maximum deceleration a of the trajectory operation. reald This embodiment designs an effective calculation method for T5 and T7, that is, using a binary search loop iteration to determine the actual maximum deceleration a reald , improve a reald Search speed, the search end condition is T6 = 0, and then use the actual maximum deceleration a reald To replace a in formulas (4), (5), and (6) dmax Calculate and update T5 and T7. Specifically include: The actual maximum deceleration comes from 0~a dmax , left limit a dleft =0,a dright =a dmax . Let the new maximum deceleration be Restricted to half of the original value, , instead of a dmax Substitute into formulas (4), (5), and (6) to calculate T6; if T6>0, ​​then let , a dright =a dright , if T6<0, then let a dleft =a dleft , Then calculate the next round of new maximum deceleration and iterate. When T6=0, the iteration ends and the final maximum deceleration is obtained. ,make , the calculations for time periods T5 and T7 are updated as follows: ; (3) Case (3): Maximum speed v max It is unreachable. This means that there is no uniform speed stage, and T4=0. At this time, the calculation of T2 and T6 is limited by the actual maximum speed v of the trajectory operation. real This embodiment designs an effective calculation method for T2 and T6, that is, using a binary search loop iteration to determine the actual maximum speed v real , increase v real Search speed, the search end condition is T4=0, and then use the actual maximum speed vreal To replace v in formula (3) and formula (6) max Perform calculations and then update T2 and T6. Specifically include: The actual maximum speed comes from 0~v max , left limit v left =0,v right =v max . Let the new maximum speed Restricted to half of the original value, , instead of v max Substitute into formulas (1) to (7) to calculate T4; if T4>0, then let , v right =v right , if T4<0, then let v left =v left , Then calculate the next round of new maximum speed for loop iteration. When T4=0, the iteration ends and the final maximum speed is obtained. ,make , the calculations for time periods T2 and T6 are updated as follows: ; After T2 and T6 are updated, they will affect T1, T3, T5, and T7. If the maximum acceleration is not reached, the situation (I) will be executed; if the maximum deceleration is not reached, the situation (II) will be executed.

[0028] Due to the setting of restrictions, the maximum speed v in the restrictions may appear max , maximum acceleration a amax , Maximum deceleration a dmax There is a situation where the parameters cannot be reached, that is, one or two or three of the first acceleration holding time period T2, the second acceleration holding time period T6, and the uniform speed time period T4 do not exist. Therefore, the time allocation and update of the acceleration asymmetric S-shaped trajectory curve include: (1) If T2 = 0, execute the above situation (I) and update T1 and T3; Figure 3a As shown; (2) If T6 = 0, execute the above situation (2) and update T5 and T7; Figure 3b As shown; (3) If T4=0, execute the above situation (3) and update T2 and T6; Figure 3c As shown; (4) If T2=0, T6=0, then execute the above situation (1) and the above situation (2), and update T1, T3, T5, and T7; if Figure 4a As shown; (5) If T2=0, T4=0, then execute the above situation (1) and the above situation (3), and update T1, T3, and T6; if Figure 4b As shown; (6) If T4=0, T6=0, then execute the above situation (2) and the above situation (3), and update T5, T7, and T2; if Figure 4c As shown; (7) If T2=0, T4=0, T6=0, then execute the above situation (1) and the above situation (2), and update T1, T3, T5, T7; if Figure 5 shown.

[0029] Step 4: Calculate the expression of the S-shaped trajectory curve with asymmetric acceleration.

[0030] From steps 2 and 3, we can get the time distribution relationship of the trajectory curve under different constraints. Next, we need to calculate the expression of the trajectory changing with time. The S-shaped trajectory curve with asymmetric acceleration has a first-order segmented acceleration as follows: Formula (8) The trajectory expression of velocity obtained by integrating the acceleration is as follows: Formula (9) The trajectory expression of displacement obtained by integrating the velocity is as follows: Formula (10) Wherein formula (11) is: ; Formula (12) is: ; Formula (13) is: ; Formula (14) is: ; Formula (15) is: .

[0031] After planning and obtaining a continuous acceleration asymmetric S-shaped motion trajectory, it is discretized according to the sampling time interval of the motion controller to generate a series of trajectory points with fixed time steps; the motion instructions of the above trajectory points are sent to the controller to control the Z-axis movement for chip placement.

[0032] In order to verify that the S-shaped motion trajectory with asymmetric acceleration planned by the method described in this embodiment is smoother than the S-shaped motion trajectory with symmetric acceleration, this embodiment plans an S-shaped motion trajectory with asymmetric acceleration according to the above method, such as Figure 6 , and planned an S-shaped motion trajectory with symmetric acceleration according to the same parameters, such as Figure 7 As shown. Among them, Figure 6 The acceleration symmetrical S-shaped motion trajectory shown has a parameter v max =500mm / s, a amax =10000mm / s 2 , a dmax =7000mm / s 2 , J a,amax =500000mm / s 3 , J a,dmax =300000mm / s 3 , J d,amax =250000mm / s 3 , J d,dmax =100000mm / s 3 . Figure 7 The acceleration asymmetric S-shaped motion trajectory shown in the figure has a parameter v max =500mm / s, a amax =10000mm / s 2 , a dmax =7000mm / s 2 , J amax =500000mm / s 3 , J dmax =123000mm / s 3 .

[0033] The maximum acceleration, deceleration limit and maximum jerk of the two curves are the same. When the motion stroke is 70mm, the execution time of the two curves is 0.1970ms. It can be clearly seen that Figure 6 The acceleration asymmetric S-shaped motion trajectory shown is smoother.

[0034] The maximum acceleration, deceleration limit and maximum jerk of the two curves are the same. When the motion stroke is 70mm, the execution time of the two curves is 0.1970ms. It can be clearly seen that Figure 6 The acceleration asymmetric S-shaped motion trajectory shown is smoother.

[0035] Please refer to Figure 8 This embodiment further provides a planning device 100 for an S-shaped trajectory curve with asymmetric acceleration, which includes: The first judgment module 1 judges whether the acceleration during the movement can reach the maximum acceleration; The second judgment module 2 judges whether the deceleration during the movement can reach the maximum deceleration; The third judgment module 3 judges whether the speed can reach the maximum speed during the movement; The first calculation module 4 includes a first relational expression, a second relational expression and a third relational expression, wherein the first relational expression is used to calculate the maximum acceleration a according to the maximum acceleration a. amax The maximum jerk j during the acceleration phase a,amax , calculate the acceleration rise time T1 of the acceleration stage; the second relationship is used to calculate the acceleration rise time T1 according to the maximum acceleration a amax The maximum acceleration and deceleration j in the acceleration phase a,dmax , the acceleration drop time T3 of the acceleration stage is calculated; the third relationship is used to calculate the acceleration holding time T2 of the acceleration stage according to T1 and T3; The second calculation module 5 includes a fourth relational expression, a fifth relational expression and a sixth relational expression, wherein the fourth relational expression is used to calculate the maximum deceleration a according to the maximum deceleration a. dmax The maximum jerk j during the deceleration phase d,amax , calculate the acceleration rise time T5 in the deceleration stage; the fifth relationship is used to calculate the acceleration rise time T5 according to the maximum acceleration a dmax The maximum acceleration and deceleration j in the deceleration phase d,dmax , the acceleration drop time T7 of the deceleration stage is calculated; the sixth relationship is used to calculate the acceleration holding time T6 of the deceleration stage according to T5 and T7; The third calculation module 6 includes a seventh relationship, wherein the seventh relationship is used to calculate the maximum jerk j in the acceleration phase. a,amax , T1, T2, T3 calculate the displacement in the acceleration stage , according to the maximum jerk j during the deceleration phase d,amax , T5, T6, T7 calculate the displacement of the deceleration stage , according to the total displacement S, , and maximum speed v max The uniform speed stage time T4 is calculated; The first solution module 7 uses the dichotomy method to calculate the acceleration from 0 to the maximum acceleration a. amax Between, the maximum acceleration a in the first calculation module 4 amax Perform loop iterations, and when T2=0, the iteration ends and the actual maximum acceleration a is obtained. reala ; The second solution module 8 uses the dichotomy method to calculate the deceleration from 0 to the maximum deceleration a. dmax Between, the maximum deceleration a in the second calculation module 5 dmaxPerform loop iterations, and when T6=0, the iteration ends and the actual maximum deceleration a is obtained. reald ; The third solution module 9 uses the dichotomy method to find the speed from 0 to the maximum speed v max The maximum speed v in the first calculation module 4, the second calculation module 5 and the third calculation module 6 is calculated. max Perform loop iterations, and when T4=0, the iteration ends and the actual maximum speed v is obtained. real ; The planning module 10 includes an eighth relational expression, a ninth relational expression and a tenth relational expression, wherein the eighth relational expression is used to plan the acceleration of the S-shaped trajectory curve with asymmetric acceleration; the ninth relational expression is used to plan the speed of the S-shaped trajectory curve with asymmetric acceleration; and the tenth relational expression is used to plan the displacement of the S-shaped trajectory curve with asymmetric acceleration.

[0036] Please refer to Fig. 9 This embodiment also provides a planning device for an S-shaped trajectory curve with asymmetric acceleration, which includes: Memory for storing computer programs; A processor is used to execute a computer program to implement the following steps: S1, the first judgment module determines whether the maximum acceleration can be reached according to the input motion parameters. If so, T1 and T3 are calculated by the first calculation module, and then step S2 is executed; otherwise, the actual maximum acceleration is solved by the first solution module, and the actual maximum acceleration is input into the first calculation module as the maximum acceleration, T1 and T3 are calculated, and then step S2 is executed; S2, the second judgment module determines whether the maximum deceleration can be reached according to the input motion parameters. If so, T5 and T7 are calculated by the second calculation module, and then step S3 is executed; otherwise, the actual maximum deceleration is solved by the second solution module, and the actual maximum deceleration is input as the maximum deceleration into the second calculation module, T5 and T7 are calculated, and then step S3 is executed; S3, the third judgment module determines whether the maximum speed can be reached according to the input motion parameters. If so, T2 and T6 are calculated by the first calculation module and the second calculation module respectively, and then step S4 is executed; otherwise, the actual maximum speed is solved by the third solution module, and the actual maximum speed is input as the maximum speed into the first calculation module and the second calculation module to calculate T2 and T6 respectively, and then step S4 is executed; S4, the third calculation module calculates and obtains T4; S5, the planning module obtains an S-shaped trajectory curve with asymmetric acceleration according to T1, T2, T3, T4, T5, T6, and T7.

[0037] This embodiment further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the following steps are implemented: S1, the first judgment module determines whether the maximum acceleration can be reached according to the input motion parameters. If so, T1 and T3 are calculated by the first calculation module, and then step S2 is executed; otherwise, the actual maximum acceleration is solved by the first solution module, and the actual maximum acceleration is input into the first calculation module as the maximum acceleration, T1 and T3 are calculated, and then step S2 is executed; S2, the second judgment module determines whether the maximum deceleration can be reached according to the input motion parameters. If so, T5 and T7 are calculated by the second calculation module, and then step S3 is executed; otherwise, the actual maximum deceleration is solved by the second solution module, and the actual maximum deceleration is input as the maximum deceleration into the second calculation module, T5 and T7 are calculated, and then step S3 is executed; S3, the third judgment module determines whether the maximum speed can be reached according to the input motion parameters. If so, T2 and T6 are calculated by the first calculation module and the second calculation module respectively, and then step S4 is executed; otherwise, the actual maximum speed is solved by the third solution module, and the actual maximum speed is input as the maximum speed into the first calculation module and the second calculation module to calculate T2 and T6 respectively, and then step S4 is executed; S4, the third calculation module calculates and obtains T4; S5, the planning module obtains an S-shaped trajectory curve with asymmetric acceleration according to T1, T2, T3, T4, T5, T6, and T7.

[0038] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0039] For those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of the present invention, all of which fall within the protection scope of the present invention.

Claims

1. A method for planning S-shaped motion trajectory with asymmetric acceleration in chip mounting, characterized by: It includes the following steps: Step 1: Referring to the motor performance parameters, set the restriction conditions of the trajectory curve under the motor performance limit, the restriction conditions include the maximum speed limit v max , Maximum acceleration limit a amax , Maximum deceleration limit a dmax , Maximum jerk during acceleration J a,amax and maximum acceleration / deceleration J a,dmax , Maximum jerk during deceleration J d,amax , Maximum acceleration / deceleration J d,dmax ; Step 2: Divide the trajectory curve into seven segments, and set the time periods of the seven segments as follows: (1) Acceleration time period: including the first acceleration rising time period T1, the first acceleration maintaining time period T2 and the first acceleration falling time period T3; (2) Uniform speed time period T4; (3) Deceleration time period: including the second acceleration rising time period T5, the second acceleration maintaining time period T6 and the second acceleration decreasing time period T7; Step 3: Set the time period calculation formulas of the seven trajectories to be: ； ； ； ； ； ； ,in, is the displacement during the acceleration period, is the displacement during the deceleration period, S is the total displacement, the total displacement S=q1-q0, q0 is the set initial position, q1 is the final position; ， ； Step 4: updating the time calculation formula for the time periods of the seven trajectories according to the parameter constraints, which includes: (1) If T2 = 0, use the actual maximum acceleration a reala Replace a amax Then update T1 and T3 according to the calculation formula in step 3; (2) If T6 = 0, the actual maximum deceleration a is used. reald Replace a dmax Then update T5 and T7 according to the calculation formula in step 3; (3) If T4=0, use the actual maximum speed v real Alternative v max Then update T2 and T6 according to the calculation formula in step 3; (4) If T2=0, T6=0, use the actual maximum acceleration a reala Replace a amax , Actual maximum deceleration a reald Replace a dmax Then update T1, T3, T5, and T7 according to the calculation formula in step 3; (5) If T2=0, T4=0, use the actual maximum acceleration a reala Replace a amax , actual maximum speed v real Alternative v max Then update T1, T3, and T6 according to the calculation formula in step 3; (6) If T4=0, T6=0, then use the actual maximum speed v real Alternative v max , Actual maximum deceleration a reald Replace a dmax Then update T5, T7, and T2 according to the calculation formula in step 3; (7) If T2=0, T4=0, T6=0, then use the actual maximum acceleration a reala Replace a amax , Actual maximum deceleration a reald Replace a dmax Then update T1, T3, T5, and T7 according to the calculation formula in step 3; Step 5: According to the time of the seven trajectories obtained in step 3 and step 4, the acceleration a(t), velocity v(t), and displacement s(t) of the S-shaped trajectory curve with asymmetric acceleration are obtained as follows: ； ； ； The formula (11) is: ； Formula (12) is: ； Formula (13) is: ； Formula (14) is: ； Formula (15) is: 。 2. The method for planning S-shaped motion trajectory with asymmetric acceleration in chip mounting according to claim 1, characterized in that: In the above mentioned constraints, each parameter satisfies J a,amax >J a,dmax , J d,amax >J d,dmax 、a amax >a dmax .

3. The method for planning S-shaped motion trajectory with asymmetric acceleration in chip mounting according to claim 1, characterized in that: The actual maximum acceleration a reala The calculation method is: The actual maximum acceleration comes from 0~a amax , set the left limit a aleft =0,a aright =a amax ; Set the new maximum acceleration Restricted to half of the original value, , instead of a amax Calculate T2 according to the calculation formula in step 3; if T2>0, then set , if T2<0, then let a aleft =a aleft , Then calculate the next round of new maximum acceleration for loop iteration. When T2=0, the iteration ends and the final maximum acceleration is obtained. ,make .

4. The method for planning S-shaped motion trajectory with asymmetric acceleration in chip mounting according to claim 1, characterized in that: The actual maximum deceleration a reald The calculation method is: The actual maximum deceleration comes from 0~a dmax , set the left limit a dleft =0,a dright =a dmax ; Set the new maximum deceleration Restricted to half of the original value, , instead of a dmax Calculate T6 according to the calculation formula in step 3; if T6>0, ​​then set , if T6<0, then let a dleft =a dleft， Then calculate the next round of new maximum deceleration and iterate. When T6=0, the iteration ends and the final maximum deceleration is obtained. ,make .

5. The method for planning S-shaped motion trajectory with asymmetric acceleration in chip mounting according to claim 1, characterized in that: The actual maximum speed v real The calculation method is: The actual maximum speed comes from 0~v max , set the left limit v left =0,v right =v max ; Set the new maximum speed Restricted to half of the original value, , instead of v max Calculate T4 according to the calculation formula in step 3; if T4>0, then set , if T4<0, then let v left =v left , Then calculate the next round of new maximum speed for loop iteration. When T4=0, the iteration ends and the final maximum speed is obtained. ,make .

6. A planning device for an S-shaped trajectory curve with asymmetric acceleration, characterized in that: include: The first judgment module judges whether the acceleration during the movement can reach the maximum acceleration; The second judgment module judges whether the deceleration during the movement can reach the maximum deceleration; The third judgment module judges whether the speed can reach the maximum speed during the movement; The first calculation module includes a first relational expression, a second relational expression and a third relational expression, wherein the first relational expression is used to calculate the maximum acceleration a according to the maximum acceleration a. amax The maximum jerk j during the acceleration phase a,amax , calculate the acceleration rise time T1 of the acceleration stage; the second relationship is used to calculate the acceleration rise time T1 according to the maximum acceleration a amax The maximum acceleration and deceleration j in the acceleration phase a,dmax , the acceleration drop time T3 of the acceleration stage is calculated; the third relationship is used to calculate the acceleration holding time T2 of the acceleration stage according to T1 and T3; The second calculation module includes a fourth relational expression, a fifth relational expression and a sixth relational expression, wherein the fourth relational expression is used to calculate the maximum deceleration a dmax The maximum jerk j during the deceleration phase d,amax , calculate the acceleration rise time T5 in the deceleration stage; the fifth relationship is used to calculate the acceleration rise time T5 according to the maximum acceleration a dmax The maximum acceleration and deceleration j in the deceleration phase d,dmax , the acceleration drop time T7 of the deceleration stage is calculated; the sixth relationship is used to calculate the acceleration holding time T6 of the deceleration stage according to T5 and T7; The third calculation module includes a seventh relationship, wherein the seventh relationship is used to calculate the maximum jerk j in the acceleration phase. a,amax , T1, T2, T3 calculate the displacement in the acceleration stage , according to the maximum jerk j during the deceleration phase d,amax , T5, T6, T7 calculate the displacement of the deceleration stage , according to the total displacement S, , and maximum speed v max The uniform speed stage time T4 is calculated; The planning module includes an eighth relational expression, a ninth relational expression and a tenth relational expression, wherein the eighth relational expression is used to plan the acceleration of an S-shaped trajectory curve with asymmetric acceleration; the ninth relational expression is used to plan the speed of the S-shaped trajectory curve with asymmetric acceleration; and the tenth relational expression is used to plan the displacement of the S-shaped trajectory curve with asymmetric acceleration.

7. The planning device for an S-shaped trajectory curve with asymmetric acceleration as claimed in claim 6, characterized in that: Also includes: The first solution module uses the dichotomy method to calculate the acceleration from 0 to the maximum acceleration a. amax Between, the maximum acceleration a in the first calculation module amax Perform loop iterations, and when T2=0, the iteration ends and the actual maximum acceleration a is obtained. reala ; The second solution module uses the binary method to find the maximum deceleration a from 0 dmax Between, the maximum deceleration a in the second calculation module dmax Perform loop iterations, and when T6=0, the iteration ends and the actual maximum deceleration a is obtained. reald ; The third solution module uses the dichotomy method to find the speed from 0 to the maximum speed v max The maximum speed v in the first calculation module, the second calculation module and the third calculation module is max Perform loop iterations, and when T4=0, the iteration ends and the actual maximum speed v is obtained. real .

8. A planning device for an S-shaped trajectory curve with asymmetric acceleration, characterized in that: include: Memory for storing computer programs; A processor is used to execute a computer program to implement the following steps: S1, the first judgment module determines whether the maximum acceleration can be reached according to the input motion parameters. If so, T1 and T3 are calculated by the first calculation module, and then step S2 is executed; otherwise, the actual maximum acceleration is solved by the first solution module, and the actual maximum acceleration is input into the first calculation module as the maximum acceleration, T1 and T3 are calculated, and then step S2 is executed; S2, the second judgment module determines whether the maximum deceleration can be reached according to the input motion parameters. If so, T5 and T7 are calculated by the second calculation module, and then step S3 is executed; otherwise, the actual maximum deceleration is solved by the second solution module, and the actual maximum deceleration is input as the maximum deceleration into the second calculation module, T5 and T7 are calculated, and then step S3 is executed; S3, the third judgment module determines whether the maximum speed can be reached according to the input motion parameters. If so, T2 and T6 are calculated by the first calculation module and the second calculation module respectively, and then step S4 is executed; otherwise, the actual maximum speed is solved by the third solution module, and the actual maximum speed is input as the maximum speed into the first calculation module and the second calculation module to calculate T2 and T6 respectively, and then step S4 is executed; S4, the third calculation module calculates and obtains T4; S5, the planning module obtains an S-shaped trajectory curve with asymmetric acceleration according to T1, T2, T3, T4, T5, T6, and T7.

9. A computer-readable storage medium, characterized in that: The computer program includes a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, the following steps are implemented: S1, the first judgment module determines whether the maximum acceleration can be reached according to the input motion parameters. If so, T1 and T3 are calculated by the first calculation module, and then step S2 is executed; otherwise, the actual maximum acceleration is solved by the first solution module, and the actual maximum acceleration is input into the first calculation module as the maximum acceleration, T1 and T3 are calculated, and then step S2 is executed; S2, the second judgment module determines whether the maximum deceleration can be reached according to the input motion parameters. If so, T5 and T7 are calculated by the second calculation module, and then step S3 is executed; otherwise, the actual maximum deceleration is solved by the second solution module, and the actual maximum deceleration is input as the maximum deceleration into the second calculation module, T5 and T7 are calculated, and then step S3 is executed; S3, the third judgment module determines whether the maximum speed can be reached according to the input motion parameters. If so, T2 and T6 are calculated by the first calculation module and the second calculation module respectively, and then step S4 is executed; otherwise, the actual maximum speed is solved by the third solution module, and the actual maximum speed is input as the maximum speed into the first calculation module and the second calculation module to calculate T2 and T6 respectively, and then step S4 is executed; S4, the third calculation module calculates and obtains T4; S5, the planning module obtains an S-shaped trajectory curve with asymmetric acceleration according to T1, T2, T3, T4, T5, T6, and T7.

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