Chip pickup operation track planning method and device

Abstract

The invention discloses a chip picking operation track planning method and device, and the method comprises the steps: replacing a right angle at a vertical-horizontal connection part and a right angle at a horizontal-vertical connection part in a chip picking operation door-shaped track under a Cartesian coordinate system with a Lame curve; obtaining an arc length calculation formula, a one-dimensional displacement distance and two-dimensional coordinates of the Lame curve under a Cartesian coordinate system according to the parameter equation of the Lame curve; performing speed planning on the one-dimensional displacement distance by adopting seven sections of S-shaped speed planning curves, and determining the position, speed and acceleration of a motion trail interpolation point; the two-dimensional coordinates are converted into three-dimensional space coordinates through a homogeneous transformation matrix, and a space picking and placing operation path track is established according to the space coordinates of the picking and placing points. According to the chip pickup operation track planning method and device, the acceleration of the X axis, the Y axis and the Z axis can be smoothly changed without sudden change, the motion period can be shortened, and vibration and impact of a mechanism can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of operation trajectory planning, and in particular to a chip picking operation trajectory planning method and equipment. Background Art

[0002] With the accelerated breakthrough of new generation information technologies such as artificial intelligence, automotive intelligence, and the Internet of Things, the demand for chips in all walks of life has soared. In the chip manufacturing process, chip packaging technology is a key link, and pick-and-place operation is an important step in chip packaging. In order to achieve the obstacle avoidance function in the chip pick-and-place operation, a gate-type pick-and-place operation trajectory consisting of three parts, vertical-horizontal-vertical, is usually adopted. Since the gate-type trajectory has a right angle at the vertical-horizontal and horizontal-vertical connection, the tangent direction at the connection will change suddenly, and the path trajectory only has G0 continuity. Therefore, when the movement passes through the path connection, the speed needs to be zero, which not only greatly reduces the work efficiency, but also frequently accelerates and decelerates the movement, which will consume the life of the motor and directly affect the chip placement accuracy and equipment stability. The usual solution is to use the right angle of the arc curve transition gate trajectory to improve the continuity of the path to avoid frequent changes in speed, but the straight-arc path can only achieve G1 continuity, which will cause sudden changes in the acceleration of the X, Y and Z axes, and will cause severe shock and vibration when the equipment runs at high speed.

[0003] Therefore, it is urgent to design a chip picking operation trajectory planning method that can achieve smooth acceleration changes in the X, Y and Z axes without sudden changes, shorten the motion cycle and reduce the vibration and impact of the mechanism. Summary of the invention

[0004] The present invention overcomes the shortcomings of the prior art and provides a chip picking operation trajectory planning method and device, which can achieve smooth acceleration changes without sudden changes in the X, Y and Z axes, shorten the motion cycle and reduce the vibration and impact of the mechanism.

[0005] To achieve the above object, the technical solution adopted by the present invention is: a chip picking operation trajectory planning method, comprising the following steps: Step 1: According to the chip picking path information, a chip picking and placing operation gate trajectory for realizing the obstacle avoidance function in a Cartesian coordinate system is obtained, and the right angles at the turning connection in the chip picking and placing operation gate trajectory are replaced by Lamé curves; Step 2: According to the parametric equation of the Lame curve, the arc length calculation formula of the Lame curve and the one-dimensional displacement distance of the pick-and-place operation trajectory, as well as the two-dimensional coordinates of the Lame curve in the Cartesian coordinate system are obtained; Step 3: Use a seven-segment S-shaped speed planning curve to perform speed planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and determine the position, speed, and acceleration of the interpolation point of the motion trajectory; Step 4: The two-dimensional coordinates of the plane Lame curve are converted into three-dimensional space coordinates through the homogeneous transformation matrix, and the spatial pick-and-place operation path trajectory is established according to the spatial coordinates of the pick-and-place points.

[0006] In a preferred embodiment of the present invention, the pick-up path information includes pick-up points, placement points and obstacle height information in a gate-type trajectory of a chip pick-and-place operation; The turning connection includes the right angles of the vertical-horizontal and horizontal-vertical connections in the chip pick-and-place operation gate-type track; The pick-up and placement point spatial coordinates include and ; The calculation formula of the arc length of the Lame curve is obtained by the following steps: Based on the basic equation of the Lame curve, the Lame curve is plotted in the O-UV coordinate system of the Cartesian plane under the Cartesian coordinate system to obtain the parametric equation of the Lame curve; Among them, the basic equation of the Lame curve is: ;in is the long axis, is the minor axis, m is the coefficient and ; In the O-UV coordinate system of the Cartesian plane, OU is the horizontal axis, OV is the vertical axis, O is the origin, and the definition point On the Lamé curve, is the angle between the OP and OU axes; then the parametric equation of the Lame curve is: .

[0007] In a preferred embodiment of the present invention, a Lame curve is drawn in the O-UV coordinate system of the Cartesian plane, wherein m=3, and the arc length calculation formula of the Lame curve is obtained according to the parametric equation of the Lame curve, including: ; Where L is the arc length. hour, , so the arc length formula is symmetrically processed to obtain: .

[0008] In a preferred embodiment of the present invention, a seven-segment S-shaped velocity planning curve is used to perform velocity planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and the position, velocity, and acceleration of the interpolation point of the motion trajectory are determined to obtain the interpolation point coordinates, velocity, and acceleration corresponding to all interpolation moments of the plane pick-and-place operation trajectory; Among them, a seven-segment S-shaped speed planning curve is used to plan the one-dimensional displacement distance of the pick-and-place operation trajectory, and the motion period of the pick-and-place operation trajectory of the chip is determined. The time, displacement and speed of each stage of the seven-segment S-shaped speed planning curve are represented by t1 ,t 2、 t 3 ,t 4 ,t 5 ,t 6 ,t 7 , S 1 , S 2、 S 3 , S 4 , S 5 , S 6 , S 7 , v 1 、v 2 、v 3 、v 4 、v 5 、v 6 、v 7 express; The displacement functions of the seven-segment S-shaped speed planning curve include: ; in, is the initial velocity, and the jerk J is a constant; The speed functions of the seven-segment S-shaped speed planning curve include: ; The acceleration functions of the seven-segment S-shaped speed planning curve include: .

[0009] In a preferred embodiment of the present invention, according to the spatial coordinates of the chip pick-up point , Placement Point and plane Lamé curve coordinates, establish a complete plane pick-and-place operation trajectory, and transform all interpolation moment coordinates of the plane pick-and-place operation trajectory into space pick-and-place operation trajectory coordinates through the homogeneous transformation matrix; the transformation matrix T from the O-UV plane coordinate system to the O-XYZ space coordinate system is expressed as: ; Among them, the elements in T It represents the mapping relationship from the two-dimensional coordinate system O-UV to the three-dimensional coordinate system O-XYZ. Describes the projection component of the u-axis in the three-dimensional space direction; Describes the projection component of the v-axis in the three-dimensional space direction; is with and Pairwise orthogonal vectors; According to the transformation matrix T, the homogeneous transformation matrix H can be obtained: ; in, Represents the translation part, which describes the translation of the new coordinate system relative to the original coordinate system; According to the coordinates corresponding to the interpolation time of the plane pick-and-place operation trajectory, the coordinates of the interpolation points of the corresponding space chip pick-and-place operation trajectory are obtained by transformation through the homogeneous transformation matrix H.

[0010] In a preferred embodiment of the present invention, the movement distance of the pick-and-place operation trajectory is: ; in, is the vertical movement distance, is the horizontal movement distance and , the arc length of the Lamé curve .

[0011] In a preferred embodiment of the present invention, the mathematical expressions of acceleration, velocity and position of the seven-segment S-shaped velocity curve include: Acceleration segment, : ;in is the initial velocity, J is the jerk; Uniform acceleration segment, : ; Deceleration stage, : ; No acceleration segment, : ; Acceleration and deceleration section, : ; Uniform deceleration stage, : ; Deceleration stage, : ; The moving distance of the chip half-way pick and place operation trajectory By bringing in the seven-segment S-shaped velocity curve, we can obtain the interpolation point coordinates, velocity and acceleration information corresponding to all interpolation moments.

[0012] In a preferred embodiment of the present invention, the coordinates of the chip pickup point A are , place point A 1 The coordinates of , then the coordinates of point E are ; Define the major axis of the Lamé curve as d, the minor axis as e, and the vertical displacement as h, then the coordinates of point B are B(x B ,y B ,z A +h), the coordinates of point C are C(x c ,y c ,z A +h+e), the coordinates of point F are ; Get |BF| parameters, ; The coordinates of point D are: ; Establish the O-UV coordinate system, where the O, B, and D coordinates are , , ; Set the transformation matrix T expression to: ; Substitute the coordinates of points O, B, and D into the transformation matrix T respectively. , , ; Get the homogeneous transformation matrix H, .

[0013] In a preferred embodiment of the present invention, the chip picking operation trajectory planning method is: The calculation of the acceleration, velocity and position of the interpolation point in the trajectory of the spatial chip pick and place operation includes the following steps: Step a, when When the end effector starts to move vertically from the initial point A, A i 、V i , S i The formula is: ; Step b, when When the end effector moves along the Lamé curve, the arc differential method is used to approximate the interpolation time position, velocity and acceleration; and For adjacent sampling points in the O-UV coordinate system, the arc length increment ,point The slope at is: ; When the interpolation interval When in ,get: ; in, express Total arc displacement at time; represents the length of the hypotenuse; Indicates the previous moment To the current time The displacement change of the vertical axis at a certain moment; express Total displacement of horizontal axis at time; because and are adjacent sampling points, then; ; According to the Lame curve calculation formula, we can obtain: , ; On point When moving close to the OV axis ,but , then click The slope of is rewritten as: , similarly obtain , , , ; According to the transformation matrix T, the position coordinates of each interpolation point of the end effector are: ; like and hour, ; The speed of the X, Y and Z axes of each interpolation point of the end effector is: ; because , is a monotonically increasing function, that is , the acceleration of the U axis and V axis is obtained as: ; in, ; The acceleration of the X, Y and Z axes of each interpolation point of the end effector is: ; Step c, when When, among them, represents the vertical motion distance, Represents the horizontal motion distance; the end effector moves horizontally from point D to point E. Given the coordinates of D and E, the angle β between |DE| and the X-axis of the spatial coordinate system can be obtained, and the horizontal displacement is , then the acceleration, velocity and position of each interpolation point on the X, Y and Z axes are: ; Since the chip pick-and-place operation motion trajectory is symmetrical, The calculation method is the same as step a to step c, and the position, velocity and acceleration of all interpolation points on the chip pick-and-place operation trajectory are obtained.

[0014] In a preferred embodiment of the present invention, a chip picking operation trajectory planning device includes: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and is configured to be executed by the processor to implement a chip picking operation trajectory planning method.

[0015] The present invention solves the defects existing in the technical background, and the beneficial technical effects of the present invention are: The chip picking operation trajectory planning method and device of the present invention can realize smooth acceleration change of X, Y and Z axes without sudden change, shorten the motion cycle and reduce the vibration and impact of the mechanism; it can be adjusted according to the different positions of chip picking and placing and the specific motion control parameters, adapt to various application scenarios and needs, and has obvious advantages and practicality.

[0016] The chip picking operation trajectory planning method of the present invention adopts a Lame curve transition gate type trajectory planning method. On the premise of realizing the chip picking operation obstacle avoidance function, the acceleration of the X, Y and Z axes is guaranteed to be continuous, the smoothness of the terminal trajectory and the chip picking operation efficiency are improved, and the impact and vibration generated during the movement are reduced.

[0017] 1. The plane pick-and-place operation trajectory interpolation time coordinates are converted into the spatial pick-and-place operation trajectory coordinates through the homogeneous transformation matrix; through the selected Lame curve parameters d.e The values ​​of make the acceleration changes of X, Y and Z axes smoother, and the end effector speed and acceleration do not exceed the limit, further improving the smoothness of movement and the efficiency of chip pick and place operations.

[0018] 2. The present invention proposes a chip pick-and-place operation trajectory planning method based on a seven-segment S-shaped speed curve. The trajectory planning method can reduce the motion cycle of the chip pick-and-place operation and improve the efficiency of the chip pick-and-place operation.

[0019] 3. The present invention utilizes the Lame curve to replace the right angle in the gate-type pick-and-place operation trajectory, thereby ensuring the acceleration continuity and smoothness at the connection between the Lame curve and the straight line, and reducing the impact and residual vibration generated during high-speed movement.

[0020] 4. The present invention combines the seven-segment S-shaped speed curve with the Lame curve transition gate-type pick-and-place operation trajectory, thereby improving the smoothness and motion accuracy of the motion trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a schematic diagram of the door type trajectory of the pick and place operation; Figure 2 It is a schematic diagram of the Lame curve transition door type trajectory of a preferred embodiment of the present invention; Figure 3 It is a schematic diagram of the chip pick-and-place operation trajectory of a preferred embodiment of the present invention; Figure 4 It is a schematic diagram of the half-way chip pick-and-place operation trajectory of a preferred embodiment of the present invention; Figure 5 It is a schematic diagram of the acceleration curve of the seven-segment S-shaped speed planning of the preferred embodiment of the present invention; Figure 6 Schematic diagram of arc differential fitting Lame curve of a preferred embodiment of the present invention; Figure 7 It is a schematic diagram of the chip pick-and-place operation trajectory of a preferred embodiment of the present invention; Figure 8 is a schematic diagram of a speed curve of an end effector of a preferred embodiment of the present invention; Fig. 9 It is a schematic diagram of the XYZ axis speed curve of the chip pick-and-place operation trajectory of the preferred embodiment of the present invention; Fig.10 It is a schematic diagram of the XYZ axis acceleration curve of the chip pick-and-place operation trajectory of the preferred embodiment of the present invention; Fig.11 It is a schematic diagram of a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0023] The present invention will now be further described in detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0024] It should be noted that if there are directional indications (such as up, down, bottom, top, etc.) involved in the embodiments of the present invention, the directional indication is only used to explain the relative position relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. Unless otherwise clearly specified and defined, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Embodiment 1 like Figure 1-Figure 6 As shown, a chip picking operation trajectory planning method includes the following steps: Step 1: Obtain a chip pick-and-place operation gate trajectory in a Cartesian coordinate system, and replace the right angles at the vertical-horizontal and horizontal-vertical connections in the chip pick-and-place operation gate trajectory with Lame curves; Step 2: According to the parametric equation of the Lame curve, the arc length calculation formula of the Lame curve and the one-dimensional displacement distance of the pick-and-place operation trajectory are obtained, as well as the two-dimensional coordinates of the Lame curve in the O-UV coordinate system of the Cartesian plane in the Cartesian coordinate system.

[0026] First, solve the arc length of the Lame curve: The calculation formula of the arc length of the Lame curve is obtained by the following steps: Based on the basic equation of the Lame curve, the Lame curve is plotted in the O-UV coordinate system of the Cartesian plane to obtain the parametric equation of the Lame curve; Among them, the basic equation of the Lame curve is: ;in is the long axis, is the minor axis, m is the coefficient and ; In the O-UV coordinate system of the Cartesian plane, OU is the horizontal axis, OV is the vertical axis, O is the origin, and the definition point On the Lamé curve, is the angle between the OP and OU axes; then the parametric equation of the Lame curve is: .

[0027] Furthermore, the Lame curve is drawn in the O-UV coordinate system of the Cartesian plane, where m=3, and the arc length calculation formula of the Lame curve is obtained according to the parametric equation of the Lame curve: ; Where L is the arc length. hour, , so the arc length formula is symmetrically processed to obtain: .

[0028] Step 3: Use a seven-segment S-shaped speed planning curve to perform speed planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and determine the position, speed, and acceleration of the interpolation point of the motion trajectory.

[0029] This embodiment uses a seven-segment S-shaped speed planning curve to perform speed planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and determines the position, speed, and acceleration of the interpolation points of the motion trajectory, and obtains the interpolation point coordinates, speed, and acceleration corresponding to all interpolation moments of the planar pick-and-place operation trajectory.

[0030] Among them, a seven-segment S-shaped speed planning curve is used to plan the one-dimensional displacement distance of the pick-and-place operation trajectory, and the motion period of the pick-and-place operation trajectory of the chip is determined. The time, displacement and speed of each stage of the seven-segment S-shaped speed planning curve are represented by t 1 ,t 2、 t 3 ,t 4 ,t 5 ,t 6 ,t 7 , S 1 , S 2、 S 3 , S 4 , S 5 , S 6 , S 7 , v 1 、v 2 、v 3 、v 4 、v 5 、v 6 、v 7 express; The displacement functions of the seven-segment S-shaped speed planning curve include: ; in is the initial velocity and the acceleration J is a constant.

[0031] The speed functions of the seven-segment S-shaped speed planning curve include: ; The acceleration functions of the seven-segment S-shaped speed planning curve include: ; In this way, the interpolation point coordinates, velocity and acceleration corresponding to all interpolation moments of the plane pick-and-place operation trajectory can be obtained.

[0032] Step 4: Convert the two-dimensional coordinates of the plane Lame curve into three-dimensional space coordinates through the homogeneous transformation matrix, and calculate the coordinates of the pick-up point space according to the pick-up point space coordinates. and Establish spatial pick and place operation path trajectory.

[0033] Specifically, according to the spatial coordinates of the chip picking point , Placement Point and plane curve coordinates, establish a complete plane pick-and-place operation trajectory, and convert all interpolation moment coordinates of the plane pick-and-place operation trajectory into spatial pick-and-place operation trajectory coordinates through the homogeneous transformation matrix.

[0034] The expression of the transformation matrix T from the O-UV plane coordinate system to the O-XYZ space coordinate system is: ; Among them, the elements in T It represents the mapping relationship from the two-dimensional coordinate system O-UV to the three-dimensional coordinate system O-XYZ. Describes the projection component of the u-axis in the three-dimensional space direction; Describes the projection component of the v-axis in the three-dimensional space direction; is with and Pairwise orthogonal vectors; According to the transformation matrix T, the homogeneous transformation matrix H can be obtained: ; According to the coordinates corresponding to all interpolation moments of the obtained plane pick-and-place operation trajectory, the interpolation point coordinates of the corresponding space chip pick-and-place operation trajectory are obtained by transformation through the homogeneous transformation matrix H.

[0035] Therefore, according to the coordinates corresponding to all interpolation moments of the plane pick-and-place operation trajectory, the homogeneous transformation matrix H By transforming, the interpolation point coordinates of the corresponding spatial chip pick-and-place operation trajectory can be obtained. d.e The values ​​of make the acceleration changes of X, Y and Z axes smoother, and the end effector speed and acceleration do not exceed the limit, further improving the smoothness of movement and the efficiency of chip pick and place operations.

[0036] Embodiment 2 A chip picking operation trajectory planning method comprises the following steps: Step 1: Obtain a chip pick-and-place operation gate trajectory in a Cartesian coordinate system, and replace the right angles at the vertical-horizontal and horizontal-vertical connections in the chip pick-and-place operation gate trajectory with Lame curves; Step 2: According to the parametric equation of the Lame curve, the arc length calculation formula of the Lame curve and the one-dimensional displacement distance of the pick-and-place operation trajectory are obtained, as well as the two-dimensional coordinates of the Lame curve in the O-UV coordinate system of the Cartesian plane in the Cartesian coordinate system.

[0037] First, solve the arc length of the Lame curve: The calculation formula of the arc length of the Lame curve is obtained by the following steps: Based on the basic equation of the Lame curve, the Lame curve is plotted in the O-UV coordinate system of the Cartesian plane to obtain the parametric equation of the Lame curve; Among them, the basic equation of the Lame curve is: ;in is the long axis, is the minor axis, m is the coefficient and ; In the O-UV coordinate system of the Cartesian plane, OU is the horizontal axis, OV is the vertical axis, O is the origin, and the definition point On the Lamé curve, is the angle between the OP and OU axes; then the parametric equation of the Lame curve is: .

[0038] Furthermore, the Lame curve is drawn in the O-UV coordinate system of the Cartesian plane, where m=3, and the arc length calculation formula of the Lame curve is obtained according to the parametric equation of the Lame curve: ; Where L is the arc length. hour, , so the arc length formula is symmetrically processed to obtain: .

[0039] Step 3: Use a seven-segment S-shaped speed planning curve to perform speed planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and determine the position, speed, and acceleration of the interpolation point of the motion trajectory.

[0040] This embodiment uses a seven-segment S-shaped speed planning curve to perform speed planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and determines the position, speed, and acceleration of the interpolation points of the motion trajectory, and obtains the interpolation point coordinates, speed, and acceleration corresponding to all interpolation moments of the planar pick-and-place operation trajectory.

[0041] Among them, a seven-segment S-shaped speed planning curve is used to plan the one-dimensional displacement distance of the pick-and-place operation trajectory, and the motion period of the pick-and-place operation trajectory of the chip is determined. The time, displacement and speed of each stage of the seven-segment S-shaped speed planning curve are represented by t 1 ,t 2、 t 3 ,t 4 ,t 5 ,t 6 ,t 7 , S 1 , S 2、 S 3 , S 4 , S 5 , S 6 , S 7 , v 1 、v 2 、v 3 、v 4 、v 5 、v 6 、v 7 express; The displacement functions of the seven-segment S-shaped speed planning curve include: ; in is the initial velocity and the jerk J is a constant.

[0042] The speed functions of the seven-segment S-shaped speed planning curve include: ; The acceleration functions of the seven-segment S-shaped speed planning curve include: ; In this way, the interpolation point coordinates, velocity and acceleration corresponding to all interpolation moments of the plane pick-and-place operation trajectory can be obtained.

[0043] Step 4: Convert the two-dimensional coordinates of the plane Lame curve into three-dimensional space coordinates through the homogeneous transformation matrix, and calculate the coordinates of the pick-up point space according to the pick-up point space coordinates. and Establish spatial pick and place operation path trajectory.

[0044] Specifically, according to the spatial coordinates of the chip picking point , Placement Point and plane curve coordinates, establish a complete plane pick-and-place operation trajectory, and convert all interpolation moment coordinates of the plane pick-and-place operation trajectory into spatial pick-and-place operation trajectory coordinates through the homogeneous transformation matrix.

[0045] The expression of the transformation matrix T from the O-UV plane coordinate system to the O-XYZ space coordinate system is: ; Among them, the elements in T It represents the mapping relationship from the two-dimensional coordinate system O-UV to the three-dimensional coordinate system O-XYZ. Describes the projection component of the u-axis in the three-dimensional space direction; Describes the projection component of the v-axis in the three-dimensional space direction; is with and Pairwise orthogonal vectors; According to the transformation matrix T, the homogeneous transformation matrix H can be obtained: ; According to the coordinates corresponding to all interpolation moments of the obtained plane pick-and-place operation trajectory, the interpolation point coordinates of the corresponding space chip pick-and-place operation trajectory are obtained by transformation through the homogeneous transformation matrix H.

[0046] Therefore, according to the coordinates corresponding to all interpolation moments of the plane pick-and-place operation trajectory, the homogeneous transformation matrix H By transforming, the interpolation point coordinates of the corresponding spatial chip pick-and-place operation trajectory can be obtained. d.e The values ​​of make the acceleration changes of X, Y and Z axes smoother, and the end effector speed and acceleration do not exceed the limit, further improving the smoothness of movement and the efficiency of chip pick and place operations.

[0047] More specifically, in this embodiment, Figure 1 The right angles at the vertical-horizontal and horizontal-vertical connections in the pick-and-place operation portal trajectory shown in the figure are replaced by Lamé curves, resulting in Figure 2 The Lamé curve transition gate track shown. Figure 2 By simplifying the structure in the figure and marking the connection points between the segments, the chip pick-and-place operation trajectory planned by the present invention can be obtained as follows: Figure 3 As shown, curve ABDED1B1A1 is the pick-and-place operation trajectory, and its movement distance is: ; in is the vertical movement distance, is the horizontal movement distance and , the arc length of the Lamé curve .

[0048] exist Figure 3 It can be seen that the chip pick-and-place operation trajectory is bilaterally symmetrical, so the half-way chip pick-and-place operation trajectory is taken as an example for research. Figure 4 As shown, curve ABDE is the trajectory of the half-way chip pick-and-place operation, and its movement distance is ,in , the arc length is . As Figure 4 shown, an O-UV coordinate system is constructed according to the Lamé curve, and the point is on the curve. Then, the parametric equation of the Lamé curve can be expressed as: .

[0049] In this embodiment, for the Lamé curve at , the arc length is: Specifically, the acceleration curve of the seven-segment S-shaped speed profile is as Figure 5 shown, which consists of seven stages: acceleration, uniform acceleration, deceleration, no acceleration, acceleration and deceleration, uniform deceleration, and deceleration and deceleration. The time required for each stage is represented as . Define the maximum speed as , the maximum acceleration as , is the maximum jerk, and J is the jerk, that is, Jerk. As Figure 5 shown, the mathematical expressions of acceleration, speed, and position in each stage include: Acceleration stage ( ): ; where is the initial speed, and J is the jerk, that is, Jerk; Uniform acceleration stage ( ): ; Deceleration stage ( ): ; No acceleration stage ( ): ; Acceleration and deceleration stage ( ): ; Uniform deceleration stage ( ): ; Deceleration and deceleration stage ( ): ; The movement distance By substituting the above seven segments of S-shaped velocity curves, the interpolation point coordinates, velocity and acceleration information corresponding to all interpolation moments can be obtained.

[0050] Furthermore, the Lamé curve is converted from two-dimensional coordinates to three-dimensional coordinates. Figure 3 The coordinates of the chip picking point A are , place point A 1 The coordinates of , then the coordinates of point E are ;exist Figure 4 The known Lame curve has a major axis of d, a minor axis of e, and a vertical displacement of h. The coordinates of point B are obtained as B(x B ,y B ,z A +h), the coordinates of point C are C(x c ,y c ,z A +h+e), the coordinates of point F are ; Get |BF| parameters, ; The coordinates of point D are: ; Establish as Figure 4 The O-UV coordinate system shown in Figure 1, where the O, B, and D coordinates are , , ; Set the transformation matrix T expression to: ; Substitute the coordinates of points O, B, and D into the transformation matrix T respectively. , , ; Get the homogeneous transformation matrix H, .

[0051] Furthermore, the calculation of the acceleration, velocity and position of the interpolation point in the spatial chip pick-and-place operation trajectory includes the following steps: Step a, when When the end effector starts to move vertically from the initial point A, A i 、V i , S i The formula is: ; Step b, when When the end effector moves along the Lamé curve, the arc differential method is used to approximate the interpolation time position, velocity and acceleration.

[0052] and For adjacent sampling points in the O-UV coordinate system, the arc length increment ,point The slope at is: ; When the interpolation interval When in ,get: ; because and are adjacent sampling points, then; ; According to the Lame curve calculation formula, we can obtain: , ; On point When moving close to the OV axis ,but , then click The slope of is rewritten as: , similarly obtain ; According to the transformation matrix T, the position coordinates of each interpolation point of the end effector are: ; like and hour, ; The speed of the X, Y and Z axes of each interpolation point of the end effector is: ; because , is a monotonically increasing function, that is , the acceleration of the U axis and V axis is obtained as: ; in, ; The acceleration of the X, Y and Z axes of each interpolation point of the end effector is: ; Step c, when When , the end effector moves horizontally from point D to point E. The coordinates of D and E are known, and the angle β between |DE| and the X-axis of the spatial coordinate system can be obtained. The horizontal displacement is , then the acceleration, velocity and position of each interpolation point on the X, Y and Z axes are: ; Since the chip pick-and-place operation motion trajectory is symmetrical, The calculation method is the same as step a to step c, and the position, velocity and acceleration of all interpolation points on the chip pick-and-place operation trajectory are obtained.

[0053] In this embodiment, the seven-segment S-shaped speed curve is combined with the Lame curve transition gate-type pick-and-place operation trajectory to further improve the smoothness of the terminal trajectory and the accuracy of the chip pick-and-place operation, and reduce the impact and vibration generated during the movement. In addition, in this embodiment, the two-dimensional coordinates in the Lame curve are converted into three-dimensional coordinates, and the acceleration, speed and position of the interpolation point in the spatial chip pick-and-place operation trajectory are obtained, which further reduces the motion cycle of the chip pick-and-place operation and improves the efficiency of the chip pick-and-place operation. The use of the Lame curve instead of the right angle in the gate-type pick-and-place operation trajectory ensures the continuity and smoothness of the acceleration at the curve-straight line connection, and reduces the impact and residual vibration generated during high-speed movement. Furthermore, by adjusting the parameters of the Lame curve in this embodiment, d.e The values ​​of make the acceleration changes of X, Y and Z axes smoother, and the end effector speed and acceleration do not exceed the limit, further improving the smoothness of movement and the efficiency of chip pick and place operations.

[0054] Embodiment 3 Based on the second embodiment, this embodiment uses the simulation platform: MATLABR2023b, pick point , place point , interpolation time 1ms, f =10mm, d =80mm, e =60mm. Now simulate the pick-and-place operation door trajectory based on the seven-segment S-shaped speed curve, and get the following Figure 7 The trajectory of the end effector in space is shown in Figure 1. In the pick-and-place operation based on the seven-segment S-shaped velocity curve, the position, velocity and acceleration curves of the end effector are shown in Figure 1. Figure 8 As shown; in Cartesian space O-XYZ The speed curves of the X-axis, Y-axis and Z-axis in the coordinate system are as follows: Fig. 9 As shown, the acceleration curve is Fig.10 As shown. Figure 8 It can be seen from the figure that the acceleration of the chip pick-and-place end effector is smooth and continuous without sudden changes, and the speed near the pick-up and placement points changes slowly and eventually becomes zero; Fig. 9 , Fig.10 It can be seen that the speed and acceleration of the X-axis, Y-axis and Z-axis are smooth and continuous. Therefore, the chip pick-and-place operation trajectory planning method provided by the present invention has a good motion law, which can not only improve the smoothness of the end trajectory and the accuracy of the chip pick-and-place operation, but also reduce the impact and vibration generated during the movement.

[0055] Embodiment 4 A chip picking operation trajectory planning device comprises: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and is configured to be executed by the processor to implement the chip picking operation trajectory planning method of embodiment 2.

[0056] Embodiment 5 A storage medium stores a computer program, which, when executed by a processor, implements the chip picking operation trajectory planning method of embodiment 2.

[0057] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0058] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0059] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0060] Working principle: The present invention provides a chip picking operation trajectory planning method, device, and storage medium, which can realize smooth acceleration changes of the X, Y, and Z axes without sudden changes, and can also shorten the motion cycle and reduce the vibration and impact of the mechanism. The present invention can be adjusted according to the different positions of chip picking and placing and specific motion control parameters, adapt to a variety of application scenarios and needs, and has obvious advantages and practicality.

[0061] The present invention adopts the Lame curve transition gate trajectory planning method to ensure the continuity of acceleration of the X, Y and Z axes while realizing the chip pick-and-place operation obstacle avoidance function, improve the smoothness of the terminal trajectory and the chip pick-and-place operation efficiency, and reduce the impact and vibration generated during the movement. H By transforming, the interpolation point coordinates of the corresponding spatial chip pick-and-place operation trajectory can be obtained. d.e The values ​​of make the acceleration changes of X, Y and Z axes smoother, and the end effector speed and acceleration do not exceed the limit, further improving the smoothness of movement and the efficiency of chip pick and place operations.

[0062] Among them, the present invention proposes a chip pick-and-place operation trajectory planning method based on a seven-segment S-shaped speed curve, which can reduce the motion cycle of the chip pick-and-place operation and improve the efficiency of the chip pick-and-place operation. The Lame curve is used to replace the right angle in the gate-type pick-and-place operation trajectory, which ensures the continuity and smoothness of the acceleration at the connection between the Lame curve and the straight line, and reduces the impact and residual vibration generated during high-speed movement. The seven-segment S-shaped speed curve is combined with the Lame curve transition gate-type pick-and-place operation trajectory to improve the smoothness of the motion trajectory and the motion accuracy.

[0063] The above specific implementation methods are specific support for the scheme ideas proposed in the present invention, and cannot be used to limit the protection scope of the present invention. Any equivalent changes or equivalent modifications made on the basis of this technical scheme in accordance with the technical ideas proposed in the present invention still fall within the scope of protection of the technical scheme of the present invention.

Claims

1. A chip picking operation trajectory planning method, characterized in that: The following steps are involved: Step 1: According to the chip picking path information, obtain the chip picking and placing operation gate trajectory that realizes the obstacle avoidance function in the Cartesian coordinate system, and replace the right angles at the turning connection in the chip picking and placing operation gate trajectory with Lame curves; Step 2: According to the parametric equation of the Lame curve, the arc length calculation formula of the Lame curve and the one-dimensional displacement distance of the pick-and-place operation trajectory, as well as the two-dimensional coordinates of the Lame curve in the Cartesian coordinate system are obtained; Step 3: Use the seven-segment S-shaped speed planning curve to plan the speed of the one-dimensional displacement distance of the pick-and-place operation trajectory, and determine the position, speed, and acceleration of the interpolation point of the motion trajectory; Step 4: The two-dimensional coordinates of the plane Lame curve are converted into three-dimensional space coordinates through the homogeneous transformation matrix, and the spatial pick-and-place operation path trajectory is established according to the spatial coordinates of the pick-and-place points.

2. The chip picking operation trajectory planning method according to claim 1, characterized in that: The picking path information includes the picking point, the placing point and the obstacle height information in the gate-type trajectory of the chip picking and placing operation; The turning connection includes the right angles of the vertical-horizontal and horizontal-vertical connections in the chip pick-and-place operation gate-type track; The pick-up and placement point spatial coordinates include and ; The calculation formula of the arc length of the Lame curve is obtained by the following steps: Based on the basic equation of the Lame curve, the Lame curve is plotted in the O-UV coordinate system of the Cartesian plane under the Cartesian coordinate system to obtain the parametric equation of the Lame curve; Among them, the basic equation of the Lame curve is: ;in is the long axis, is the minor axis, m is the coefficient and ; In the O-UV coordinate system of the Cartesian plane, OU is the horizontal axis, OV is the vertical axis, O is the origin, and the definition point On the Lamé curve, is the angle between the OP and OU axes; then the parametric equation of the Lame curve is: 。 3. The chip picking operation trajectory planning method according to claim 2, characterized in that: The Lame curve is drawn in the O-UV coordinate system of the Cartesian plane, where m=3. The arc length calculation formula of the Lame curve is obtained according to the parametric equation of the Lame curve: ； Where L is the arc length. hour, , so the arc length formula is symmetrically processed to obtain: 。 4. The chip picking operation trajectory planning method according to claim 3, characterized in that: A seven-segment S-shaped speed planning curve is used to perform speed planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and the position, speed, and acceleration of the interpolation point of the motion trajectory are determined to obtain the interpolation point coordinates, speed, and acceleration corresponding to all interpolation moments of the plane pick-and-place operation trajectory; Among them, a seven-segment S-shaped speed planning curve is used to plan the one-dimensional displacement distance of the pick-and-place operation trajectory, and to determine the motion period of the pick-and-place operation trajectory of the chip. The time, displacement and speed of each stage of the seven-segment S-shaped speed planning curve are represented by t1, t2, and t3, respectively. 2、 t3, t4, t5, t6, t7, S1, S 2、 S3, S4, S5, S6, S7, v1, v2, v3, v4, v5, v6, v7 represent; The displacement functions of the seven-segment S-shaped speed planning curve include: ； in, is the initial velocity, and the jerk J is a constant; The speed functions of the seven-segment S-shaped speed planning curve include: ； The acceleration functions of the seven-segment S-shaped speed planning curve include: 。 5. The chip picking operation trajectory planning method according to claim 4, characterized in that: According to the chip picking point spatial coordinates , Placement Point and plane Lamé curve coordinates, establish a complete plane pick-and-place operation trajectory, and transform all interpolation moment coordinates of the plane pick-and-place operation trajectory into space pick-and-place operation trajectory coordinates through the homogeneous transformation matrix; the transformation matrix T from the O-UV plane coordinate system to the O-XYZ space coordinate system is expressed as: ； Among them, the elements in T It represents the mapping relationship from the two-dimensional coordinate system O-UV to the three-dimensional coordinate system O-XYZ. Describes the projection component of the u-axis in the three-dimensional space direction; Describes the projection component of the v-axis in the three-dimensional space direction; is with and Pairwise orthogonal vectors; According to the transformation matrix T, the homogeneous transformation matrix H can be obtained: ； in, Represents the translation part, which describes the translation of the new coordinate system relative to the original coordinate system; According to the coordinates corresponding to the interpolation time of the plane pick-and-place operation trajectory, the coordinates of the interpolation points of the corresponding space chip pick-and-place operation trajectory are obtained by transformation through the homogeneous transformation matrix H.

6. The chip picking operation trajectory planning method according to claim 5, characterized in that: The movement distance of the pick-and-place operation trajectory is: ； in, is the vertical movement distance, is the horizontal movement distance, and , the arc length of the Lamé curve .

7. The chip picking operation trajectory planning method according to claim 6, characterized in that: The mathematical expressions of acceleration, velocity, and position of the seven-segment S-shaped velocity curve include: Acceleration segment, : ;in is the initial velocity, J is the jerk; Uniform acceleration segment, : ； Deceleration stage, : ； No acceleration segment, : ； Acceleration and deceleration section, : ； Uniform deceleration stage, : ； Deceleration stage, : ； in, is the maximum acceleration; is the maximum speed; is the maximum jerk; The moving distance of the chip half-way pick and place operation trajectory The seven-segment S-shaped velocity curve is introduced to obtain the interpolation point coordinates, velocity and acceleration information corresponding to all interpolation moments.

8. The chip picking operation trajectory planning method according to claim 7, characterized in that: The coordinates of chip picking point A are , the coordinates of point A1 are , then the coordinates of point E are ; Define the major axis of the Lamé curve as d, the minor axis as e, and the vertical displacement as h, then the coordinates of point B are B(x B ,y B ,z A +h), the coordinates of point C are C(x c ,y c ,z A +h+e), the coordinates of point F are ; Get |BF| parameters, ; The coordinates of point D are: ; Establish the O-UV coordinate system, where the O, B, and D coordinates are , , ; Set the conversion matrix T expression to: ； Substitute the coordinates of points O, B, and D into the transformation matrix T respectively. ， ， ； Get the homogeneous transformation matrix H, 。 9. The chip picking operation trajectory planning method according to claim 8, characterized in that: The calculation of the acceleration, velocity and position of the interpolation point in the trajectory of the spatial chip pick and place operation includes the following steps: Step a, when When the end effector starts to move vertically from the initial point A, A i 、V i , S i The formula is: ； Step b, when When the end effector moves along the Lamé curve, the arc differential method is used to approximate the interpolation time position, velocity and acceleration; and For adjacent sampling points in the O-UV coordinate system, the arc length increment ,point The slope at is: ; When the interpolation interval When in ,get: ； in, express Total arc displacement at time; represents the length of the hypotenuse; Indicates the previous moment To the current time The displacement change of the vertical axis at a certain moment; express Total displacement of horizontal axis at time; because and are adjacent sampling points, then; ; According to the Lame curve calculation formula, we can obtain: , ; On point When moving close to the OV axis ,but , then click The slope of is rewritten as: , similarly obtain , , , ; According to the transformation matrix T, the position coordinates of each interpolation point of the end effector are: ； like and hour, ； The speed of the X, Y and Z axes of each interpolation point of the end effector is: ； because , is a monotonically increasing function, that is , the acceleration of the U axis and V axis is obtained as: ； in, ; The acceleration of the X, Y and Z axes of each interpolation point of the end effector is: ； Step c, when When, among them, represents the vertical motion distance, Represents the horizontal motion distance; the end effector moves horizontally from point D to point E. If the coordinates of D and E are known, we can get Angle with the X axis of the spatial coordinate system , the horizontal displacement is , then the acceleration, velocity and position of each interpolation point on the X, Y and Z axes are: ； Since the chip pick-and-place operation motion trajectory is symmetrical, The calculation method is the same as step a to step c, and the position, velocity and acceleration of all interpolation points on the chip pick-and-place operation trajectory are obtained.

10. A chip picking operation trajectory planning device, characterized in that: include: Memory; processor; as well as Computer programs; Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the chip picking operation trajectory planning method according to any one of claims 1 to 9.

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