A method and device for chip pick-up operation trajectory planning

Abstract

The present invention discloses a method and a device for chip picking operation trajectory planning. The method for chip picking operation trajectory planning includes: replacing the right angles at the vertical-horizontal and horizontal-vertical joints in the gate-shaped trajectory of chip picking and placing operations in the Cartesian coordinate system with Lame curves; obtaining the arc length calculation formula and the one-dimensional displacement distance according to the parametric equation of the Lame curve, and the two-dimensional coordinates of the Lame curve in the Cartesian coordinate system; performing velocity planning on the one-dimensional displacement distance using a seven-segment S-shaped velocity planning curve to determine the positions, velocities, and accelerations of the motion trajectory interpolation points; converting the two-dimensional coordinates into three-dimensional space coordinates through a homogeneous transformation matrix, and establishing a spatial picking and placing operation path trajectory according to the spatial coordinates of the picking and placing points. The method and device for chip picking operation trajectory planning disclosed by the present invention can achieve smooth changes in the accelerations 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.

Description

Technical Field

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

[0002] With the accelerating breakthrough applications 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 increased sharply. In the chip manufacturing process, the chip packaging process is a key link, and the pick-and-place operation is an important step in chip packaging. In the chip pick-and-place operation, in order to achieve the obstacle avoidance function, a gantry pick-and-place operation trajectory composed of three parts: vertical-horizontal-vertical is usually adopted. Since there are right angles at the vertical-horizontal and horizontal-vertical connections of the gantry trajectory, 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 leads to a significant reduction in work efficiency, but also the frequent acceleration and deceleration movements will reduce the service life of the motor, and directly affect the chip mounting accuracy and equipment stability. The usual solution is to use an arc curve to transition the right angle of the gantry trajectory to improve the continuity of the path to avoid frequent speed changes. However, the straight-line-arc path can only achieve G1 continuity, which will cause sudden changes in the accelerations of the X, Y, and Z axes, resulting in serious shocks and vibrations when the equipment runs at high speed.

[0003] Therefore, there is an urgent need to design a chip picking operation trajectory planning method that can achieve smooth changes in the accelerations of the X, Y, and Z axes without sudden changes, and can also shorten the motion cycle and reduce the vibration and shock of the mechanism. Summary of the Invention

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

[0005] To achieve the above object, the technical solution adopted by the present invention is: A method for planning a chip picking operation trajectory, comprising the following steps:

[0006] Step 1: According to the chip picking path information, obtain the gantry pick-and-place operation trajectory for obstacle avoidance in the Cartesian coordinate system, and replace the right angle at the turning connection in the gantry pick-and-place operation trajectory with a Lamé curve;

[0007] Step 2: Obtain the arc length calculation formula of the Lamé curve, the one-dimensional displacement distance of the pick-and-place operation trajectory, and the two-dimensional coordinates of the Lamé curve in the Cartesian coordinate system according to the parametric equation of the Lamé curve;

[0008] 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 positions, speeds, and accelerations of the motion trajectory interpolation points.

[0009] Step 4: Convert the two-dimensional coordinates of the Lamé curve in the plane into three-dimensional space coordinates through a homogeneous transformation matrix, and establish a spatial pick-and-place operation path trajectory based on the spatial coordinates of the pick-and-place points.

[0010] In a preferred embodiment of the present invention, the pick-up path information includes the pick-up point, the placement point, and the obstacle height information in the gate-shaped trajectory of the chip pick-and-place operation.

[0011] The turning connection includes the right angles at the vertical-horizontal and horizontal-vertical connections in the gate-shaped trajectory of the chip pick-and-place operation.

[0012] The spatial coordinates of the pick-and-place points include and ;

[0013] The acquisition of the arc length calculation formula of the Lamé curve includes the following steps:

[0014] Based on the basic equation of the Lamé curve, draw the Lamé curve in the O-UV coordinate system of the Cartesian plane in the Cartesian coordinate system to obtain the parametric equation of the Lamé curve.

[0015] Among them, the basic equation of the Lamé curve is: ; where is the major axis, is the minor axis, m is a 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 point is on the Lamé curve, is the angle between OP and the OU axis; then the parametric equation of the Lamé curve is:

[0016] .

[0017] In a preferred embodiment of the present invention, draw the Lamé curve in the O-UV coordinate system of the Cartesian plane. Among them, take m = 3, and the arc length calculation formula of the Lamé curve obtained according to the parametric equation of the Lamé curve includes:

[0018] ;

[0019] Among them, L is the arc length. When , , so the arc length formula is symmetrically processed to obtain: .

[0020] In a preferred embodiment of the present invention, a seven-segment S-shaped velocity profile curve is used to perform velocity planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and the positions, velocities, and accelerations of the interpolation points of the motion trajectory are determined to obtain the interpolation point coordinates, velocities, and accelerations corresponding to all interpolation moments of the planar pick-and-place operation trajectory.

[0021] Among them, a seven-segment S-shaped velocity profile curve is used to perform velocity planning on 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 velocity of each stage of the seven-segment S-shaped velocity profile curve are represented by t1, t 2、 t3, t4, t5, t6, t7, S1, S 2、 S3, S4, S5, S6, S7, v1, v2, v3, v4, v5, v6, v7 respectively.

[0022] The displacement function of the seven-segment S-shaped velocity profile curve includes:

[0023] ;

[0024] Among them, is the initial velocity, and the jerk J is a constant;

[0025] The velocity function of the seven-segment S-shaped velocity profile curve includes:

[0026] ;

[0027] The acceleration function of the seven-segment S-shaped velocity profile curve includes:

[0028] .

[0029] In a preferred embodiment of the present invention, according to the spatial coordinates of the chip pickup point , the placement point and the plane Lame curve coordinates, a complete planar pick-and-place operation trajectory is established, and the coordinates of all interpolation moments of the planar pick-and-place operation trajectory are converted into spatial pick-and-place operation trajectory coordinates through a homogeneous transformation matrix; the expression of the transformation matrix T for converting the O-UV plane coordinate system to the O-XYZ space coordinate system is:

[0030] ;

[0031] Among them, the element in T 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 related to and Mutually orthogonal vectors;

[0032] According to the transformation matrix T, the homogeneous transformation matrix H can be obtained:

[0033] ;

[0034] wherein, represents the translation part, describing the translation of the new coordinate system relative to the original coordinate system;

[0035] According to the coordinates corresponding to the interpolation moment of the plane pick-and-place operation trajectory, and then through the homogeneous transformation matrix H for transformation, the interpolation point coordinates of the corresponding spatial chip pick-and-place operation trajectory are obtained.

[0036] In a preferred embodiment of the present invention, the moving distance of the pick-and-place operation trajectory is:

[0037] ;

[0038] wherein, is the moving distance in the vertical direction, is the moving distance in the horizontal direction and , the arc length of the Lame curve .

[0039] In a preferred embodiment of the present invention, the mathematical expressions of the acceleration, velocity, and position of the seven-segment S-shaped velocity curve include:

[0040] Acceleration segment, :

[0041] ; wherein is the initial velocity, and J is the jerk;

[0042] Constant acceleration segment, :

[0043] ;

[0044] Deceleration segment, :

[0045] ;

[0046] Zero acceleration segment, :

[0047] ;

[0048] Acceleration and deceleration segment, :

[0049] ;

[0050] Uniform deceleration section, :

[0051] ;

[0052] Double deceleration section, :

[0053] ;

[0054] Substitute the movement distance of the chip's half - stroke pick - and - place operation trajectory into the seven - segment S - shaped velocity curve, and the interpolation point coordinates, velocities, and acceleration information corresponding to all interpolation times can be obtained.

[0055] In a preferred embodiment of the present invention, the coordinates of the chip pick - up point A are , and the coordinates of the placement point A1 are , then the coordinates of point E are ; Define the major axis of the Lame curve as d, the minor axis as e, and the vertical movement 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), and the coordinates of point F are ;

[0056] Obtain the parameter |BF|, ;

[0057] The coordinates of point D are: ;

[0058] Establish the O - UV coordinate system, where the coordinates of O, B, and D are respectively , , ; Set the expression of the transformation matrix T as:

[0059] ;

[0060] Substitute the coordinates of points O, B, and D into the transformation matrix T respectively,

[0061] , , ;

[0062] Obtain the homogeneous transformation matrix H,

[0063] .

[0064] In a preferred embodiment of the present invention, the chip pick - up operation trajectory planning method:

[0065] Calculation of the acceleration, velocity, and position of interpolation points in the operation trajectory of a spatial chip pick-and-place, including the following steps:

[0066] Step a, when the end effector starts to move vertically from the initial point A, and the formulas for A i , V i , S i are:

[0067] ;

[0068] Step b, when the end effector moves along a Lame curve, and the arc differential method is used to approximately calculate the position, velocity, and acceleration at the interpolation moment ;

[0069] and are adjacent sampling points in the O-UV coordinate system, the arc length increment , and the slope at point is: ;

[0070] When the interpolation interval , then where , and we get:

[0071] ;

[0072] where represents the total arc displacement at the moment ; represents the length of the hypotenuse; represents the change in the vertical displacement from the previous moment to the current moment ; represents the total horizontal displacement at the moment ;

[0073] Since and are adjacent sampling points, then; ;

[0074] Obtained according to the Lame curve calculation formula: , ;

[0075] When the point moves close to the OV axis , then , and at this time, the slope of the point is rewritten as: , and similarly obtained , , , ; According to the transformation matrix T, the position coordinates of each interpolation point of the end effector are:

[0076] ;

[0077] If and at this time,

[0078] ;

[0079] The velocities of the X, Y, and Z axes of each interpolation point of the end effector are:

[0080] ;

[0081] Since , is a monotonically increasing function, that is , the accelerations of the U and V axes are obtained as:

[0082] ;

[0083] Among them, ;

[0084] The accelerations of the X, Y, and Z axes of each interpolation point of the end effector are:

[0085] ;

[0086] Step c, when , among them, represents the distance of the vertical motion segment, represents the distance of the horizontal motion segment; 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 space coordinate system can be obtained, and the horizontal displacement is , then the accelerations, velocities, and positions of the X, Y, and Z axes of each interpolation point are:

[0087] ;

[0088] Since the movement trajectory of the chip pick-and-place operation is symmetric about the left and right, when , the calculation method is the same as that in steps a - c, and the positions, velocities, and accelerations of all interpolation points on the chip pick-and-place operation trajectory are obtained.

[0089] In a preferred embodiment of the present invention, a device for planning the trajectory of chip picking operation 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 the method for planning the trajectory of chip picking operation.

[0090] The present invention solves the defects existing in the technical background, and the beneficial technical effects of the present invention are:

[0091] The method and device for planning the trajectory of chip picking operation of the present invention can achieve smooth change of acceleration in the X, Y, and Z axes without mutation, and can also shorten the motion cycle and reduce the vibration and impact of the mechanism; it can be adjusted according to different chip picking and placing positions and specific motion control parameters to adapt to various application scenarios and requirements, and has obvious advantages and practicability.

[0092] The method for planning the trajectory of chip picking operation of the present invention adopts the Lame curve to transition the gantry trajectory planning method. On the premise of realizing the obstacle avoidance function of chip picking and placing operation, it ensures the continuity of acceleration in the X, Y, and Z axes, improves the smoothness of the end trajectory and the working efficiency of chip picking and placing operation, and reduces the impact and vibration generated during the motion process.

[0093] 1. Convert the coordinates at the interpolation moment of the planar picking and placing operation trajectory into the coordinates of the spatial picking and placing operation trajectory through the homogeneous transformation matrix; by selecting the d, e value of the Lame curve parameter, the acceleration change in the X, Y, and Z axes is made smoother, and the speed and acceleration of the end effector do not exceed the limit, further improving the smoothness of the motion and the working efficiency of chip picking and placing operation.

[0094] 2. The present invention proposes a method for planning the trajectory of chip picking and placing operation based on a seven-segment S-shaped speed curve. This trajectory planning method can reduce the motion cycle of chip picking and placing operation and improve the efficiency of chip picking and placing operation.

[0095] 3. The present invention uses the Lame curve to replace the right angle in the gantry picking and placing operation trajectory, ensuring the continuity and smoothness of acceleration at the connection of the Lame curve and the straight line, and reducing the impact and residual vibration generated during high-speed motion.

[0096] 4. The present invention combines the seven-segment S-shaped speed curve with the Lame curve to transition the gantry picking and placing operation trajectory, improving the smoothness and motion accuracy of the motion trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] The present invention will be further described below with reference to the drawings and embodiments.

[0098] Figure 1 is a schematic diagram of the gantry trajectory of picking and placing operation;

[0099] Figure 2Schematic diagram of the Lame curve transition gantry trajectory of a preferred example of the present invention;

[0100] Figure 3 Schematic diagram of the chip pick-and-place operation trajectory of a preferred example of the present invention;

[0101] Figure 4 Schematic diagram of the semi-course chip pick-and-place operation trajectory of a preferred example of the present invention;

[0102] Figure 5 Schematic diagram of the acceleration curve of the seven-segment S-shaped speed profile of a preferred example of the present invention;

[0103] Figure 6 Schematic diagram of the arc differential fitting Lame curve of a preferred example of the present invention;

[0104] Figure 7 Schematic diagram of the chip pick-and-place operation trajectory of a preferred example of the present invention;

[0105] Figure 8 Schematic diagram of the end effector speed curve of a preferred example of the present invention;

[0106] Figure 9 Schematic diagram of the XYZ-axis speed curve of the chip pick-and-place operation trajectory of a preferred example of the present invention;

[0107] Figure 10 Schematic diagram of the XYZ-axis acceleration curve of the chip pick-and-place operation trajectory of a preferred example of the present invention;

[0108] Figure 11 Schematic diagram of the process flow of a preferred example of the present invention. Detailed implementation manners

[0109] Now, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0110] 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 indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly. The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. Unless otherwise clearly specified and limited, the terms "set", "connected", and "connected to" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0111] Embodiment 1

[0112] As Figures 1-6 shown, a method for planning the operation trajectory of chip picking includes the following steps:

[0113] Step 1: Obtain the gate-shaped trajectory of chip picking and placing operations in the Cartesian coordinate system, and replace the right angles at the vertical-horizontal and horizontal-vertical connections in the gate-shaped trajectory of chip picking and placing operations with Lame curves;

[0114] Step 2: Obtain the arc length calculation formula of the Lame curve, the one-dimensional displacement distance of the picking and placing operation trajectory, and the two-dimensional coordinates of the Lame curve in the O-UV coordinate system of the Cartesian plane of the Lame curve in the Cartesian coordinate system according to the parametric equation of the Lame curve.

[0115] First, solve the arc length of the Lame curve:

[0116] The acquisition of the arc length calculation formula of the Lame curve includes the following steps:

[0117] Based on the basic equation of the Lame curve, draw the Lame curve in the O-UV coordinate system of the Cartesian plane to obtain the parametric equation of the Lame curve;

[0118] Among them, the basic equation of the Lame curve is: ; where is the major axis, is the minor axis, m is a 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 define the point on the Lame curve, is the angle between OP and the OU axis; then the parametric equation of the Lame curve is: ​​​​​

[0119] 。

[0120] Furthermore, draw the Lame curve in the O-UV coordinate system of the Cartesian plane. Among them, take m = 3, and obtain the arc length calculation formula of the Lame curve according to the parametric equation of the Lame curve, which is:

[0121] ;

[0122] Among them, L is the arc length. When at this time, therefore, make a symmetric treatment of the arc length formula to obtain: 。

[0123] Step 3: Use a seven-segment S-shaped velocity planning curve to perform velocity planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and determine the positions, velocities, and accelerations of the motion trajectory interpolation points.

[0124] In this embodiment, 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 determine the positions, velocities, and accelerations of the motion trajectory interpolation points, so as to obtain the interpolation point coordinates, velocities, and accelerations corresponding to all interpolation moments of the planar pick-and-place operation trajectory.

[0125] Among them, use a seven-segment S-shaped velocity planning curve to perform velocity planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and determine the motion period of the pick-and-place operation trajectory of the chip. The time, displacement, and velocity of each stage of the seven-segment S-shaped velocity planning curve are represented by t1, t 2、 t3, t4, t5, t6, t7, S1, S 2、 S3, S4, S5, S6, S7, v1, v2, v3, v4, v5, v6, v7;

[0126] The displacement function of the seven-segment S-shaped velocity planning curve includes:

[0127] ;

[0128] Among them is the initial velocity, and the acceleration J is a constant.

[0129] The velocity function of the seven-segment S-shaped velocity planning curve includes:

[0130] ;

[0131] The acceleration function of the seven-segment S-shaped velocity planning curve includes:

[0132] ;

[0133] In this way, the interpolation point coordinates, velocities, and accelerations corresponding to all interpolation moments of the planar pick-and-place operation trajectory can be obtained.

[0134] Step 4: Convert the two-dimensional coordinates of the Lamé curve in the plane to three-dimensional space coordinates through the homogeneous transformation matrix, and establish the spatial pick-and-place operation path trajectory according to the spatial coordinates of the pick-and-place points and Establish the spatial pick-and-place operation path trajectory.

[0135] Specifically, according to the spatial coordinates of the chip pickup point , the placement point and the planar curve coordinates, establish a complete planar pick-and-place operation trajectory, and convert the coordinates of all interpolation moments of the planar pick-and-place operation trajectory to the spatial pick-and-place operation trajectory coordinates through the homogeneous transformation matrix.

[0136] The expression of the transformation matrix T for converting the O-UV plane coordinate system to the O-XYZ space coordinate system is:

[0137] ;

[0138] Among them, the element in T 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 a vector orthogonal to and in pairs;

[0139] According to the transformation matrix T, the homogeneous transformation matrix H can be obtained:

[0140] ;

[0141] According to the obtained coordinates corresponding to all interpolation moments of the planar pick-and-place operation trajectory, and then through the transformation of the homogeneous transformation matrix H, the interpolation point coordinates of the corresponding spatial chip pick-and-place operation trajectory are obtained.

[0142] Therefore, according to the obtained coordinates corresponding to all interpolation moments of the planar pick-and-place operation trajectory, and then through the transformation of the homogeneous transformation matrix H the interpolation point coordinates of the corresponding spatial chip pick-and-place operation trajectory can be obtained. By selecting the values of the Lamé curve parameters d, e , the acceleration changes of the X, Y, and Z axes are made smoother, and the velocities and accelerations of the end effector do not exceed the limits, further improving the smoothness of the movement and the working efficiency of the chip pick-and-place operation.

[0143] Example 2

[0144] A method for planning the trajectory of chip picking operation, comprising the following steps:

[0145] Step 1: Obtain the gate-shaped trajectory of chip picking and placing operations in the Cartesian coordinate system, and replace the right angles at the vertical-horizontal and horizontal-vertical connections in the gate-shaped trajectory of chip picking and placing operations with Lame curves;

[0146] Step 2: Obtain the arc length calculation formula of the Lame curve, the one-dimensional displacement distance of the picking and placing operation trajectory, and the two-dimensional coordinates of the Lame curve in the O-UV coordinate system of the Cartesian plane of the Lame curve in the Cartesian coordinate system according to the parametric equation of the Lame curve.

[0147] First, solve the arc length of the Lame curve:

[0148] The obtaining of the arc length calculation formula of the Lame curve includes the following steps:

[0149] Based on the basic equation of the Lame curve, draw the Lame curve in the O-UV coordinate system of the Cartesian plane to obtain the parametric equation of the Lame curve;

[0150] Among them, the basic equation of the Lame curve is: ; where is the major 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 point is on the Lame curve, is the angle between OP and the OU axis; then the parametric equation of the Lame curve is:

[0151] .

[0152] Furthermore, draw the Lame curve in the O-UV coordinate system of the Cartesian plane. Among them, take m = 3, and obtain the arc length calculation formula of the Lame curve according to the parametric equation of the Lame curve, which is:

[0153] ;

[0154] Among them, L is the arc length. When , , so the arc length formula is symmetrically processed to obtain: .

[0155] Step 3: Use the seven-segment S-shaped speed planning curve to perform speed planning on the one-dimensional displacement distance of the picking and placing operation trajectory, and determine the positions, speeds, and accelerations of the motion trajectory interpolation points.

[0156] In this embodiment, a seven-segment S-shaped velocity profile curve is used to perform velocity planning on the one-dimensional displacement distance of the pick-and-place operation trajectory, and the positions, velocities, and accelerations of the interpolation points on the motion trajectory are determined to obtain the interpolation point coordinates, velocities, and accelerations corresponding to all interpolation moments of the planar pick-and-place operation trajectory.

[0157] Among them, a seven-segment S-shaped velocity profile curve is used to perform velocity planning on 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 velocity of each stage of the seven-segment S-shaped velocity profile curve are represented by t1, t 2、 t3, t4, t5, t6, t7, S1, S 2、 S3, S4, S5, S6, S7, v1, v2, v3, v4, v5, v6, v7;

[0158] The displacement function of the seven-segment S-shaped velocity profile curve includes:

[0159] ;

[0160] Among them is the initial velocity, and the jerk J is a constant.

[0161] The velocity function of the seven-segment S-shaped velocity profile curve includes:

[0162] ;

[0163] The acceleration function of the seven-segment S-shaped velocity profile curve includes:

[0164] ;

[0165] In this way, the interpolation point coordinates, velocities, and accelerations corresponding to all interpolation moments of the planar pick-and-place operation trajectory can be obtained.

[0166] Step 4: Convert the two-dimensional coordinates of the Lamé curve in the plane to three-dimensional space coordinates through a homogeneous transformation matrix, and establish a spatial pick-and-place operation path trajectory according to the spatial coordinates of the pick-and-place points and .

[0167] Specifically, according to the spatial coordinates of the chip pick-up point , the placement point and the plane curve coordinates, a complete planar pick-and-place operation trajectory is established, and the coordinates of all interpolation moments of the planar pick-and-place operation trajectory are converted into spatial pick-and-place operation trajectory coordinates through a homogeneous transformation matrix.

[0168] The expression of the transformation matrix T for converting the O-UV plane coordinate system to the O-XYZ space coordinate system is:

[0169] ;

[0170] Among them, the elements in T represent the mapping relationship from the two-dimensional coordinate system O-UV to the three-dimensional coordinate system O-XYZ, describing the projection component of the u-axis in the three-dimensional space direction; describing the projection component of the v-axis in the three-dimensional space direction; is and a vector that is pairwise orthogonal to;

[0171] According to the transformation matrix T, the homogeneous transformation matrix H can be obtained:

[0172] ;

[0173] According to the coordinates corresponding to all interpolation moments of the obtained planar pick-and-place operation trajectory, and then through the homogeneous transformation matrix H for transformation, the interpolation point coordinates of the corresponding spatial chip pick-and-place operation trajectory are obtained.

[0174] Therefore, according to the coordinates corresponding to all interpolation moments of the obtained planar pick-and-place operation trajectory, and then through the homogeneous transformation matrix H for transformation, the interpolation point coordinates of the corresponding spatial chip pick-and-place operation trajectory can be obtained in this way. By selecting the Lame curve parameter d, e values, the acceleration changes of the X, Y, and Z axes are made smoother, and the speed and acceleration of the end effector do not exceed the limits, further improving the smoothness of the motion and the working efficiency of the chip pick-and-place operation.

[0175] More specifically, in this embodiment, replace the right angles at the vertical-horizontal and horizontal-vertical connections in the pick-and-place operation gantry trajectory shown in Figure 1 with Lame curves to obtain the Lame curve transition gantry trajectory shown in Figure 2 . Simplify the structure in Figure 2 and mark the connection points between segments, and the chip pick-and-place operation trajectory planned by the present invention can be obtained as shown in Figure 3 . The curve ABDED1B1A1 is the pick-and-place operation trajectory, and its moving distance is:

[0176] ;

[0177] where is the moving distance in the vertical direction, is the moving distance in the horizontal direction and , and the arc length of the Lame curve .

[0178] In Figure 3It can be seen that the chip pick-and-place operation trajectory is symmetric about the left and right. Therefore, the half-course chip pick-and-place operation trajectory is taken as an example for research. As Figure 4 shown, the curve ABDE is the half-course chip pick-and-place operation trajectory, and its moving distance is , where , and 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:

[0179] .

[0180] In this embodiment, when the Lamé curve is obtained, the arc length is:

[0181] ;

[0182] 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 expressed as . Define the maximum speed as , the maximum acceleration as , is the maximum jerk, J is the jerk, that is, Jerk. As Figure 5 shown, the mathematical expressions of acceleration, speed, and position in each stage include:

[0183] Acceleration stage ( ):

[0184] ; where is the initial speed, J is the jerk, that is, Jerk;

[0185] Uniform acceleration stage ( ):

[0186] ;

[0187] Deceleration stage ( ):

[0188] ;

[0189] No acceleration stage ( ):

[0190] ;

[0191] Acceleration and deceleration speed segments ( ):

[0192] ;

[0193] Uniform deceleration speed segment ( ):

[0194] ;

[0195] Deceleration and deceleration speed segment ( ):

[0196] ;

[0197] Substitute the moving distance of the chip's half - stroke pick - and - place operation trajectory into the above seven - segment S - shaped speed curve, and the interpolation point coordinates, speed, and acceleration information corresponding to all interpolation times can be obtained.

[0198] Furthermore, convert the Lame curve from two - dimensional coordinates to three - dimensional coordinates. In Figure 3 , the coordinates of the chip pick - up point A are , and the coordinates of the placement point A1 are , then the coordinates of point E are ; in Figure 4 , the major axis of the known Lame curve is d, the minor axis is e, and the vertical movement displacement is h. 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), and the coordinates of point F are ;

[0199] Obtain the |BF| parameter, ;

[0200] The coordinates of point D are: ;

[0201] Establish the O - UV coordinate system as shown in Figure 4 , where the coordinates of O, B, and D are respectively , , ; Set the expression of the transformation matrix T as:

[0202] ;

[0203] Substitute the coordinates of points O, B, and D into the transformation matrix T respectively,

[0204] , , ;

[0205] The homogeneous transformation matrix H is obtained.

[0206] .

[0207] Furthermore, the calculation of the acceleration, velocity, and position of the interpolation points in the spatial chip pick-and-place operation trajectory includes the following steps:

[0208] Step a, when , the end effector starts to move vertically from the initial point A, and the formulas for A i , V i , S i are:

[0209] ;

[0210] Step b, when , the end effector moves along the Lame curve, and the arc differential method is used to approximately calculate the position, velocity, and acceleration at the interpolation moment .

[0211] and are adjacent sampling points in the O-UV coordinate system, the arc length increment , and the slope at point is: ;

[0212] When the interpolation interval , then where , and we get:

[0213] ;

[0214] Since and are adjacent sampling points, then; ;

[0215] According to the Lame curve calculation formula, we obtain: , ;

[0216] When point moves close to the OV axis , then , and at this time, the slope of point is rewritten as: , and similarly, we obtain ; According to the transformation matrix T, the position coordinates of each interpolation point of the end effector are:

[0217] ;

[0218] If and when

[0219] ;

[0220] The velocities of the end effector at each interpolation point in the X, Y, and Z axes are:

[0221] ;

[0222] Since , is a monotonically increasing function, i.e., , the accelerations of the U and V axes are obtained as:

[0223] ;

[0224] Among them, ;

[0225] The accelerations of the end effector at each interpolation point in the X, Y, and Z axes are:

[0226] ;

[0227] Step c, when , the end effector moves horizontally from point D to point E. Given the coordinates of D and E, |DE| and the angle β with the X axis in the space coordinate system can be obtained, and the horizontal displacement is , then the accelerations, velocities, and positions of the end effector at each interpolation point in the X, Y, and Z axes are:

[0228] ;

[0229] Since the movement trajectory of the chip pick-and-place operation is symmetric about the left and right, when , the calculation method is the same as that in steps a - c, and the positions, velocities, and accelerations of all interpolation points on the chip pick-and-place operation trajectory are obtained.

[0230] In this embodiment, the seven-segment S-shaped velocity curve is combined with the Lame curve transition gantry pick-and-place operation trajectory to further improve the smoothness of the end 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 accelerations, velocities, and positions of the interpolation points in the space chip pick-and-place operation trajectory are obtained, further reducing the movement cycle of the chip pick-and-place operation and improving the chip pick-and-place operation efficiency. Using the Lame curve to replace the right angle in the gantry pick-and-place operation trajectory ensures the continuity and smoothness of the acceleration at the curve - straight connection, and reduces the impact and residual vibration generated during high-speed movement. Furthermore, through the parameters of the Lame curve in this embodiment d, eThe value of makes the acceleration changes of the X, Y, and Z axes smoother, and the velocity and acceleration of the end effector do not exceed the limits, further improving the smoothness of the motion and the working efficiency of the chip pick-and-place operation.

[0231] Embodiment 3

[0232] Based on Embodiment 2, this embodiment uses the simulation platform: MATLAB R2023b, pick-up point , placement point , interpolation time 1 ms, f = 10 mm, d = 80 mm, e = 60 mm. Now, simulate the pick-and-place operation gantry trajectory based on the seven-segment S-shaped velocity curve, and obtain the trajectory of the end effector in space as shown in Figure 7 . 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 as shown in Figure 8 ; in the Cartesian space O-XYZ coordinate system, the velocity curves of the X, Y, and Z axes are as shown in Figure 9 , and the acceleration curves are as shown in Figure 10 . It can be seen from Figure 8 that the acceleration of the chip pick-and-place end effector is smooth, continuous, and without mutation, and the velocity changes slowly near the pick-up and placement points and finally becomes zero; it can be seen from Figure 9 , Figure 10 that the velocities and accelerations of the X, Y, and Z axes are all smooth and continuous. Therefore, a chip pick-and-place operation trajectory planning method provided by the present invention has good motion laws, 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 motion.

[0233] Embodiment 4

[0234] A chip pick-up operation trajectory planning device, comprising: 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 pick-up operation trajectory planning method of Embodiment 2.

[0235] Embodiment 5

[0236] A storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the chip pick-up operation trajectory planning method of Embodiment 2.

[0237] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows 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 the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one flow Figure 1 or in one or more flows and / or blocks Figure 1 or in one or more blocks.

[0238] These computer program instructions can also be stored in a computer-readable memory capable of guiding a computer or other programmable data processing devices to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means for implementing the functions specified in one flow Figure 1 or in one or more flows and / or blocks Figure 1 or in one or more blocks.

[0239] These computer program instructions can also be loaded onto a computer or other programmable data processing devices, such that a series of operation steps are executed on the computer or other programmable devices to generate a computer-implemented process, so that the instructions executed on the computer or other programmable devices provide steps for implementing the functions specified in one flow Figure 1 or in one or more flows and / or blocks Figure 1 or in one or more blocks.

[0240] Principle of operation:

[0241] A method, apparatus, and storage medium for chip pick-up operation trajectory planning according to the present invention can achieve smooth and non-abrupt changes in the accelerations of the X, Y, and Z axes, 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 pick-up and placement and specific motion control parameters, adapting to various application scenarios and requirements, and having obvious advantages and practicality.

[0242] The present invention adopts the Lame curve transition gantry trajectory planning method. On the premise of realizing the obstacle avoidance function of chip pick-up and placement operations, it ensures the continuity of the accelerations of the X, Y, and Z axes, improves the smoothness of the end trajectory and the working efficiency of chip pick-up and placement operations, and reduces the impact and vibration generated during the motion process. The present invention performs transformation through the homogeneous transformation matrix H so as to obtain the interpolation point coordinates of the corresponding spatial chip pick-up and placement operation trajectory. By selecting the Lame curve parameters d, eThe value of makes the acceleration changes of the X, Y, and Z axes smoother, and the speed and acceleration of the end effector do not exceed the limits, further improving the smoothness of the movement and the working efficiency of the chip pick-and-place operation.

[0243] Among them, the present invention proposes a chip pick-and-place operation trajectory planning method based on a seven-segment S-shaped velocity curve. This trajectory planning method can reduce the motion cycle of the chip pick-and-place operation and improve the chip pick-and-place operation efficiency. Using a Lame curve to replace the right angle in the door-shaped pick-and-place operation trajectory ensures the continuity and smoothness of the acceleration at the connection of the Lame curve and the straight line, and reduces the impact and residual vibration generated during high-speed movement. Combining the seven-segment S-shaped velocity curve with the Lame curve transition door-shaped pick-and-place operation trajectory improves the smoothness of the motion trajectory and the motion accuracy.

[0244] The above specific implementation manners are specific supports for the proposed solution idea of the present invention, and the protection scope of the present invention cannot be limited thereby. Any equivalent change or equivalent modification made on the basis of this technical solution according to the technical idea proposed by the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A method for planning a chip picking operation trajectory, characterized in that, It includes the following steps: Step 1: According to the chip picking path information, obtain the gantry trajectory of the chip picking and placing operation for obstacle avoidance in the Cartesian coordinate system, and replace the right angles at the turning connections in the gantry trajectory of the chip picking and placing operation with Lame curves; Step 2: Obtain the arc length calculation formula of the Lame curve, the one-dimensional displacement distance of the picking and placing operation trajectory, and the two-dimensional coordinates of the Lame curve in the Cartesian coordinate system based on the parametric equation of the Lame curve; Step 3: Use a seven-segment S-shaped speed planning curve to perform speed planning on the one-dimensional displacement distance of the picking and placing operation trajectory, and determine the positions, speeds, and accelerations of the interpolation points of the motion trajectory; Step 4: Convert the two-dimensional coordinates of the Lame curve in the plane to three-dimensional space coordinates through a homogeneous transformation matrix, and establish a spatial picking and placing operation path trajectory based on the spatial coordinates of the picking and placing points.

2. The chip picking operation trajectory planning method according to claim 1, wherein: The picking path information includes the picking point, placing point, and obstacle height information in the gantry trajectory of the chip picking and placing operation; The turning connections include the right angles at the vertical-horizontal and horizontal-vertical connections in the gantry trajectory of the chip picking and placing operation; The space coordinates of the pick-and-place points include and ; The obtaining of the arc length calculation formula of the Lame curve includes the following steps: Based on the basic equation of the Lame curve, draw the Lame curve in the O-UV coordinate system of the Cartesian plane in the Cartesian coordinate system to obtain the parametric equation of the Lame curve; Among them, the basic equation of the Lame curve is: ; where is the major 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 point is on the Lame curve, is the angle between OP and the OU axis; then the parametric equation of the Lame curve is: 。 3. The chip picking operation trajectory planning method according to claim 2, wherein: Draw the Lame curve in the O-UV coordinate system of the Cartesian plane. Among them, taking m = 3, the obtaining of the arc length calculation formula of the Lame curve according to the parametric equation of the Lame curve includes: ； where L is the arc length. When then , so the arc length formula is symmetrically processed to obtain: .

4. The method for planning the chip picking operation trajectory according to claim 3, wherein: Use a seven-segment S-shaped speed planning curve to perform speed planning on the one-dimensional displacement distance of the picking and placing operation trajectory, and determine the positions, speeds, and accelerations of the interpolation points of the motion trajectory to obtain the interpolation point coordinates, speeds, and accelerations corresponding to all interpolation moments of the plane picking and placing operation trajectory; Among them, a seven-segment S-shaped speed profile curve is used to perform speed planning on 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 profile curve are represented by t1, t 2、 t3, t4, t5, t6, t7, S1, S 2、 S3, S4, S5, S6, S7, v1, v2, v3, v4, v5, v6, v7 respectively; The displacement function of the seven-segment S-shaped speed planning curve includes: ； where, is the initial velocity, and the jerk J is a constant; The speed function of the seven-segment S-shaped speed planning curve includes: ； The acceleration function of the seven-segment S-shaped speed planning curve includes: 。 5. The method for planning a chip pick-up operation trajectory according to claim 4, wherein: According to the spatial coordinates of the chip pick-up point , placement point and the coordinates of the plane Lamé curve, a complete plane pick-and-place operation trajectory is established, and the coordinates of all interpolation moments of the plane pick-and-place operation trajectory are converted into the coordinates of the spatial pick-and-place operation trajectory through the homogeneous transformation matrix; the expression of the transformation matrix T for converting the O-UV plane coordinate system to the O-XYZ spatial coordinate system is: ； Among them, the elements in T represent the mapping relationship from the two-dimensional coordinate system O-UV to the three-dimensional coordinate system O-XYZ, describing the projection component of the u-axis in the three-dimensional space direction; describing the projection component of the v-axis in the three-dimensional space direction; is orthogonal to and pairwise orthogonal vectors; According to the transformation matrix T, the homogeneous transformation matrix H can be obtained: ； Among them, represents the translation part and describes the translation of the new coordinate system relative to the original coordinate system; According to the coordinates corresponding to the interpolation moments of the plane picking and placing operation trajectory, and then perform transformation through the homogeneous transformation matrix H to obtain the interpolation point coordinates of the corresponding spatial chip picking and placing operation trajectory.

6. The method for planning the chip picking operation trajectory according to claim 5, wherein: The mathematical expressions of the acceleration, speed, and position of the seven-segment S-shaped speed curve include: Acceleration stage : ; wherein is the initial velocity and J is the jerk; Uniform acceleration section, : ； Jerk reduction section : ； No acceleration section : ； Acceleration and deceleration speed range : ； Uniform deceleration section, : ； Deceleration speed section : ； Among them, is the maximum acceleration; is the maximum speed; is the maximum jerk; The moving distance of the chip's half-way pick-and-place operation trajectory Substitute it into the seven-segment S-shaped velocity curve to obtain the interpolation point coordinates, velocities, and acceleration information corresponding to all interpolation times.

7. The chip picking operation trajectory planning method according to claim 6, wherein: The coordinates of the chip pick-up point A are , and the coordinates of the placement point A1 are . Then the coordinates of point E are ; Define the major axis of the Lame curve as d, the minor axis as e, and the vertical movement 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), and the coordinates of point F are ; Obtain the |BF| parameter, ; The coordinates of point D are: ; Establish an O-UV coordinate system, where the coordinates of O, B, and D are respectively , , ; The expression of the transformation matrix T is set as: ； Substitute the coordinates of points O, B, and D into the transformation matrix T respectively, ， ， ； to obtain the homogeneous transformation matrix H, 。 8. The method for planning the chip pick-up operation trajectory according to claim 7, wherein: The moving distance of the picking and placing operation trajectory is: ； Among them, is the vertical movement distance, is the horizontal movement distance, and , the arc length of the Lame curve .

9. The chip picking operation trajectory planning method according to claim 8, wherein: The calculation of the acceleration, speed, and position of the interpolation points in the spatial chip picking and placing operation trajectory includes the following steps: Step a, when occurs, the end effector starts to move vertically from the initial point A, and the formulas for A i , V i , S i are as follows: ； Step b, when occurs, the end effector moves along the Lame curve, and the arc differential method is used to approximately calculate the position, velocity, and acceleration at the interpolation moment . and are adjacent sampling points in the O-UV coordinate system, and the arc length increment , and the point the slope at is: ; When the interpolation interval then where we get: ； Among them, represents the total arc displacement at a moment; represents the hypotenuse length; represents the previous moment to the current moment the displacement change of the vertical axis at a moment; represents the total horizontal axis displacement at a moment; Since and are adjacent sampling points, then; ; Obtained according to the Lame curve calculation formula: , ; When the point moves close to the OV axis , then , at this time, rewrite the slope of the point as: , similarly obtain , , , ; According to the transformation matrix T, the position coordinates of each interpolation point of the end effector are: ； If and when ； The speeds of the X, Y, and Z axes of each interpolation point of the end effector are: ； Since , is a monotonically increasing function, i.e., , the accelerations of the U-axis and V-axis are obtained as follows: ； Among them, ; The accelerations of the X, Y, and Z axes of each interpolation point of the end effector are: ； Step c, when wherein, represents the distance of the vertical motion segment, represents the distance of the horizontal motion segment; the end effector moves horizontally from point D to point E, and given the coordinates of D and E, the angle with the X-axis of the space coordinate system , and the displacement in the horizontal direction is , then the acceleration, velocity and position of each interpolation point on the X, Y and Z axes are: ； Since the movement trajectory of the chip pick-and-place operation is symmetric about the left and right, when the calculation method is the same as that in steps a - c, and the positions, velocities, and accelerations 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, It 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 the chip picking operation trajectory planning method according to any one of claims 1 to 9.

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