Asymmetric chip pick-and-place operation track segmentation speed planning method and device, and storage medium

Abstract

The invention discloses an asymmetric chip pick-and-place operation track segmentation speed planning method, which comprises the following steps of: constructing an asymmetric chip pick-and-place operation door-shaped track by adopting a Lame curve according to a spatial position coordinate; dividing the door-shaped track of the asymmetric chip picking and placing operation into motion sections; carrying out speed planning by utilizing a quintic polynomial curve, and carrying out uniform speed planning on a horizontal motion section to meet the requirement that the speed and the acceleration of each section are continuous; according to the maximum acceleration parameter of the pick-and-place mechanism and the motion distance of the motion section, motion time corresponding to acceleration limitation is obtained through a quintic polynomial curve; and obtaining the horizontal motion time of the uniform motion in the horizontal motion section, and further obtaining the total operation time of the asymmetric chip picking and placing operation. According to the asymmetric chip pick-and-place operation track segmentation speed planning method and device and the storage medium, the asymmetric characteristic of the pick-and-place operation track can be comprehensively considered, and the speed curve has a constant speed segment and motor performance limitation.

Description

Technical Field

[0001] The present invention relates to the technical field of operation trajectory planning, and in particular to a method, device, and storage medium for segmented speed planning of an asymmetric chip pick-and-place operation trajectory. Background Art

[0002] With the rapid development of microelectronics manufacturing technology, chip pick-and-place operations have become a critical component in achieving automated production and efficient operations. The efficiency and precision of pick-and-place operations directly impact production cycle time and product yield. The key lies in ensuring that actuators can efficiently and accurately pick and place chips through appropriate trajectory and velocity planning. In actual production, due to limitations in chip size, equipment layout, and process requirements, the pick-and-place points are often asymmetric. Furthermore, actuators (such as servo motors and linear motors) are also limited by motor performance (such as maximum acceleration). This multi-dimensional asymmetry and constraints present numerous challenges for efficient trajectory planning.

[0003] The current overall trajectory planning method does not fully utilize the performance of the X-, Y-, and Z-axis motors. If the overall maximum acceleration is set too low, the motor performance cannot be fully utilized; if it is set too high, it may exceed the motor performance constraints, causing the motor to overload or even burn out. In contrast, the segmented trajectory planning method can more effectively utilize the motor performance on the basis of meeting the performance constraints of the X-, Y-, and Z-axis motors. However, different speed planning methods still have the following problems. Polynomial speed planning: Since there is no uniform speed segment, the acceleration and deceleration load is large, resulting in insufficient utilization of the maximum speed and increased equipment wear and energy consumption. S-type speed planning: Although the transition is smoother, the extended transition time reduces efficiency, and the initial and final accelerations are 0.

[0004] Therefore, a segmented speed planning method for asymmetric pick-and-place operations is urgently needed. This method must fully utilize the performance of the X, Y, and Z-axis motors while meeting motor performance constraints and introduce uniform speed segments to improve the efficiency, accuracy, and stability of the pick-and-place operation, while also reducing equipment wear and extending its service life. Summary of the Invention

[0005] The present invention overcomes the shortcomings of the existing technology and provides a segmented speed planning method, device, and storage medium for an asymmetric chip pick-and-place operation trajectory, which can comprehensively consider the asymmetric characteristics of the pick-and-place operation trajectory, the uniform speed segment of the speed curve, and the motor performance limitations.

[0006] To achieve the above object, the present invention adopts a technical solution: a segmented speed planning method for an asymmetric chip pick-and-place operation trajectory, comprising the following steps: Step 1: Based on the spatial coordinates of the chip picking point, chip placement point, and obstacles, the Lame curve is used to construct the gate trajectory of the asymmetric chip pick-and-place operation; Step 2: Divide the generated asymmetric chip pick-and-place operation gate trajectory into a vertical upward movement segment L1, a Lame curve segment L2, a horizontal movement segment L3, a Lame curve segment L4 and a vertical downward movement segment L5; Step 3: The vertical upward motion segment L1, the Lame curve segment L2, the Lame curve segment L4, and the vertical downward motion segment L5 are all velocity planned using a fifth-order polynomial curve, while the horizontal motion segment L3 is planned using a uniform velocity. Step 4: Based on the maximum acceleration parameters of the X-axis drive mechanism, Y-axis drive mechanism, and Z-axis drive mechanism of the pick-and-place mechanism and the movement distances of the vertical upward movement segment L1, the Lame curve segment L2, the Lame curve segment L4, and the vertical downward movement segment L5, a quintic polynomial curve is used to obtain the vertical upward movement time t1, the Lame curve movement time t2, the Lame curve movement time t4, and the vertical downward movement time t5 that meet the acceleration limit; Step 5: Based on the obtained vertical upward movement time t1, Lame curve movement time t2, Lame curve movement time t4, and vertical downward movement time t5, obtain the horizontal movement time t3 of the horizontal movement segment L3 at a uniform speed, and obtain the total running time t of the asymmetric chip pick and place operation all .

[0007] In a preferred embodiment of the present invention, in step 1, the Lame curve is used to construct a gate-type trajectory for an asymmetric chip pick-and-place operation, comprising the following steps: The Lame curve is used to replace the right angle in the gate trajectory established by the spatial position coordinates of the chip picking point, the chip placement point, and the obstacle to obtain the Lame curve transition asymmetric gate trajectory, and the Lame curve transition asymmetric gate trajectory is used as the asymmetric chip pick and place operation gate trajectory.

[0008] In a preferred embodiment of the present invention, in step 2, the obtained asymmetric chip pick-and-place operation gate trajectory is segmented to obtain a vertical upward movement segment L1, a Lame curve segment L2 from upward to horizontal movement, a horizontal movement segment L3, a Lame curve segment L4 from horizontal to downward movement, and a vertical downward movement segment L5; The chip picking point is A, the connection point between the vertical upward movement segment L1 and the Lame curve segment L2 is B, the connection point between the Lame curve segment L2 and the horizontal movement segment L3 is C, the connection point between the horizontal movement segment L3 and the horizontal downward movement Lame curve segment L4 is D, the connection point between the horizontal downward movement Lame curve segment L4 and the vertical downward movement segment L5 is E, and the chip placement point is F; The vertical upward motion segment L1 = |AB| and the vertical downward motion segment L5 = |EF|, the horizontal motion segment L3 = |CD|, the lengths of the Lame curve segments L2 and L4 are the arc lengths of the Lame curve, and the Lame curve expression is as follows: ; where u and v represent the horizontal and vertical axes of the UOV plane coordinate system respectively, d>0 is the length of the major axis, e>0 is the length of the minor axis, and m∈{1, 2, 3...} is the Lame curve coefficient.

[0009] In a preferred embodiment of the present invention, the coordinates of point A are , the coordinates of point B are , the coordinates of point C are , the coordinates of point D are , the coordinates of point E are , the coordinates of point F are ; Vertical upward movement segment and vertical downward movement segment , horizontal motion segment ; The minor axis of the Lamé curve segment L2 , long axis ; The minor axis of the Lamé curve segment L4 , long axis ; Substitute the major and minor axis parameters of the Lame curve segments L2 and L4 into the Lame curve arc length formula l, and the length of the Lame curve segment is 、 .

[0010] In a preferred embodiment of the present invention, when m=3, the lengths of the Lame curve segments L2 and L4 are obtained according to the Lame curve arc length formula; The arc length formula of the Lame curve is: ; where θ represents the angle, and ; d is the length of the major axis, e is the length of the minor axis; The total movement distance of the asymmetric chip pick-and-place operation trajectory is: L=L1+L2+L3+L4+L5.

[0011] In a preferred embodiment of the present invention, the quintic polynomial curve is: ; Set the initial and final conditions of position, velocity, and acceleration of the quintic polynomial curve; the expressions of velocity V(t) and acceleration A(t) are: ; ; The boundary conditions are: ; Among them, q0 is the starting position, q1 is the end position; v0 is the starting velocity, v1 is the end velocity; a0 is the starting acceleration, a1 is the end acceleration; According to the boundary conditions, calculate the coefficients c0, c1, c2, c3, c4, c5; ; ; ; ; Where h=q1-q0 represents the movement length, a0 represents the starting acceleration, a1 represents the ending acceleration, v0 represents the starting velocity, and v1 represents the ending velocity; According to the acceleration formula: ; After substituting the expressions for c2, c3, c4, and c5, the acceleration is a function of the time variable t and the total motion time T. We need to find the minimum time T that satisfies the maximum acceleration limit. ; Derivative of the acceleration formula: ; Obtain the expression of t, and substitute the expression of t into the acceleration formula A(t) to find the maximum acceleration A. max The corresponding shortest time T min .

[0012] In a preferred embodiment of the present invention, when the chip pick-and-place operation moves in the vertical upward movement section L1: ; in, is the displacement of the starting point of segment L1, is the displacement of the end point of segment L1; is the starting speed of L1 segment, is the terminal velocity of L1 segment; is the acceleration at the starting point of segment L1, is the acceleration at the end of the L1 segment; it is continuously adjusted according to the acceleration limit Settings; According to the boundary conditions of the vertical upward motion segment L1, find the coefficients of the fifth-order polynomial of the vertical upward motion segment L1 ; ; ; ; ; in, is the running time of the vertical upward motion segment L1; The fifth-order polynomial coefficient of the vertical upward motion segment L1 Substituting into the acceleration formula, the acceleration is t and function, find the minimum and running time that meet the maximum acceleration limit of the vertical upward motion segment L1 ; ; Derivative of the acceleration formula: ; Solve the expression for t: ; Substitute the expression for t into the acceleration formula , find the maximum acceleration of the vertical upward motion segment L1 The minimum running time corresponding to the limit ; And / or, when the chip pick and place operation moves upward to the horizontal Lame curve segment L2: ; ; in, is the displacement of the starting point of segment L2, is the displacement of the end point of segment L2; is the starting speed of L2 segment, is the terminal velocity of L2 segment; is the acceleration at the starting point of segment L2, is the acceleration at the end of segment L2; According to the boundary conditions of the Lame curve segment L2, the coefficients of the fifth-order polynomial of the Lame curve segment L2 can be obtained: ; ; ; ; ; in, is the running time of the L2 segment; When the chip pick and place operation moves in the horizontal section L3, the X and Y axes move at the maximum combined speed. In the L3 segment, the uniform motion is achieved, and the displacement from the horizontal segment , we can get the running time of L3 segment ; And / or, when the chip pick and place operation is in the horizontal to downward pull curve segment L4: ; ; in, is the displacement of the starting point of the Lamé curve segment L4, is the displacement of the end point of Lamé curve segment L4; is the starting speed of Lamé curve segment L4, is the terminal speed of the Lamé curve segment L4; is the acceleration at the starting point of the Lamé curve segment L4, is the acceleration at the end of the Lamé curve segment L4, It is set to continuously adjust according to the acceleration limit; According to the boundary conditions of the Lame curve segment L4, the coefficients of the fifth-order polynomial of the Lame curve segment L4 can be obtained: ; ; ; ; ; in is the running time of the Lamé curve segment L4; And / or, when the chip pick and place operation moves in the vertical downward movement section L5: ; ; in, is the displacement of the starting point of the vertical downward motion segment L5, is the L5 end displacement; is the L5 starting speed, is the L5 terminal velocity; is the acceleration at the starting point of the vertical downward motion segment L5, is the acceleration at the end of the vertical downward motion segment L5; According to the boundary conditions of the vertical downward motion segment L5, the coefficients of the fifth-order polynomial of the vertical downward motion segment L5 can be obtained: ; ; ; ; ; in, is the running time of the vertical downward movement segment L5.

[0013] In a preferred embodiment of the present invention, in step 4, the horizontal motion segment L3 is moved at a maximum speed. When moving at a constant speed, the Z-axis height remains unchanged, so the Z-axis speed is 0, and the X-axis and Y-axis move at a combined speed. uniform motion, obtain ; Total running time t all for ,obtained the asymmetric chip pick and place operation trajectory based on ,segmented velocity planning.

[0014] In a preferred embodiment of the present invention, a segmented speed planning device for an asymmetric chip pick-and-place operation trajectory includes: Memory; processor; as well as computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement a segmented speed planning method for an asymmetric chip pick-and-place operation trajectory.

[0015] In a preferred embodiment of the present invention, a storage medium stores a computer program thereon, which, when executed by a processor, implements a segmented speed planning method for an asymmetric chip pick-and-place operation trajectory.

[0016] The present invention solves the defects existing in the technical background, and the beneficial technical effects of the present invention are: The present invention addresses the challenges of trajectory asymmetry, the lack of uniform speed segments, and motor performance limitations through segmented speed planning. This method, along with its equipment and storage medium, significantly improves pick-and-place efficiency, reduces vibration and impact, fully utilizes maximum speed, and minimizes equipment wear. This method provides strong technical support for efficient automated production in the microelectronics manufacturing field. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and examples.

[0018] Figure 1 Schematic diagram of a gate-type trajectory for an asymmetric chip pick-and-place operation according to a preferred embodiment of the present invention; Figure 2 Schematic diagram of the segmented path of the asymmetric chip pick-and-place operation gate type track of the preferred embodiment of the present invention; Figure 3 Schematic diagram of an asymmetric chip pick-and-place operation trajectory based on segmented speed planning in a preferred embodiment of the present invention; Figure 4 2 is a schematic diagram of a motion parameter curve of an end effector for an asymmetric chip pick-and-place operation according to a preferred embodiment of the present invention; Figure 5 Schematic diagram of XYZ axis velocity curves for asymmetric chip pick and place operation according to a preferred embodiment of the present invention; Figure 6 Schematic diagram of XYZ-axis acceleration curves of an asymmetric chip pick-and-place operation according to a preferred embodiment of the present invention; Figure 7 It is a schematic flow chart of a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0019] The present invention will now be described in further 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.

[0020] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, bottom, top, etc.), the directional indications are only used to explain the relative positional relationship, movement status, 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 a communication between the internal parts 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.

[0021] Example 1, as Figure 1 、 Figure 2 As shown, a segmented speed planning method for an asymmetric chip pick-and-place operation trajectory includes the following steps: Step 1: Based on the spatial coordinates of the chip picking point, chip placement point, and obstacles, the Lame curve is used to construct the gate trajectory of the asymmetric chip pick-and-place operation.

[0022] Specifically, the Lame curve is used to construct an asymmetric chip pick-and-place operation gate trajectory, including the following steps: replacing the right angle in the gate trajectory established by the spatial position coordinates of the chip pick-up point, the chip placement point, and the obstacle with the Lame curve to obtain a Lame curve transition asymmetric gate trajectory, and using the Lame curve transition asymmetric gate trajectory as the asymmetric chip pick-and-place operation gate trajectory. Further, as Figure 1 As shown in the figure, a gate-shaped pick-and-place trajectory is constructed based on information such as the chip pick-up point, chip placement point location, and obstacle height in actual chip manufacturing. The right angles of the gate-shaped trajectory in existing technologies can lead to sudden changes in speed and direction, increasing mechanical vibration, reducing accuracy, equipment wear, and speed limitations, affecting the smoothness and efficiency of the pick-and-place operation. Using a Lame curve instead of a right angle can improve pick-and-place efficiency and trajectory smoothness, reducing the impact and residual vibration generated during high-speed movement.

[0023] Step 2: Divide the generated asymmetric chip pick-and-place operation gate trajectory into a vertical upward motion segment L1, a Lame curve segment L2, a horizontal motion segment L3, a Lame curve segment L4 and a vertical downward motion segment L5. Figure 2 As shown, the obtained Lamé curve transition asymmetric gate trajectory is segmented.

[0024] In step 2, the obtained asymmetric chip pick-and-place operation gate trajectory is segmented to obtain a vertical upward movement segment L1, a Lame curve segment L2 from upward to horizontal movement, a horizontal movement segment L3, a Lame curve segment L4 from horizontal to downward movement, and a vertical downward movement segment L5; The chip picking point is A, the connection point between the vertical upward movement segment L1 and the Lame curve segment L2 is B, the connection point between the Lame curve segment L2 and the horizontal movement segment L3 is C, the connection point between the horizontal movement segment L3 and the horizontal downward movement Lame curve segment L4 is D, the connection point between the horizontal downward movement Lame curve segment L4 and the vertical downward movement segment L5 is E, and the chip placement point is F; the vertical upward movement segment L1 = |AB| and the vertical downward movement segment L5 = |EF|, the horizontal movement segment L3 = |CD|, the lengths of the Lame curve segments L2 and L4 are the arc lengths of the Lame curve, and the Lame curve expression is as follows: ; Wherein, d>0 is the length of the major axis, e>0 is the length of the minor axis, and m∈{1, 2, 3...} is the coefficient of the Lame curve.

[0025] When m=3, the lengths of the Lame curve segments L2 and L4 are obtained according to the Lame curve arc length formula; the Lame curve arc length formula is: ; where θ represents the angle, and , d is the length of the major axis, e is the length of the minor axis; The total movement distance of the asymmetric chip pick-and-place operation trajectory is: L=L1+L2+L3+L4+L5.

[0026] Step 3: The vertical upward motion segment L1, the Lame curve segment L2, the Lame curve segment L4, and the vertical downward motion segment L5 are all velocity-planned using a fifth-order polynomial curve. The horizontal motion segment L3 is planned using a uniform velocity to ensure that the velocity and acceleration between segments are continuous.

[0027] Specifically, in step 3, the fifth-order polynomial curve is: ; Set the first and last conditions of position, velocity and acceleration of the quintic polynomial curve; The expressions of the velocity V(t) and acceleration A(t) are: ; ; The boundary conditions are: ; Among them, q0 is the starting position, q1 is the end position; v0 is the starting velocity, v1 is the end velocity; a0 is the starting acceleration, a1 is the end acceleration; According to the boundary conditions, calculate the coefficients c0, c1, c2, c3, c4, c5; ; ; ; ; Where h=q1-q0; According to the acceleration formula: ; After substituting the expressions for c2, c3, c4, and c5, the acceleration is a function of t and T. We need to find the minimum time T that satisfies the maximum acceleration limit. ; Derivative of the acceleration formula: ; Obtain the expression of t, and substitute the expression of t into the acceleration formula A(t) to find the maximum acceleration A. max The corresponding shortest time T min .

[0028] Step 4: Based on the maximum acceleration parameters of the X-axis drive mechanism, Y-axis drive mechanism and Z-axis drive mechanism of the pick-and-place mechanism and the movement distances of the vertical upward movement segment L1, Lame curve segment L2, Lame curve segment L4 and vertical downward movement segment L5, the vertical upward movement time t1, Lame curve movement time t2, Lame curve movement time t4 and vertical downward movement time t5 corresponding to the acceleration limit are obtained through a fifth-order polynomial curve.

[0029] Step 5: Obtain the horizontal motion time of the horizontal motion segment L3 at a uniform speed based on the obtained vertical upward motion time t1, Lame curve motion time t2, Lame curve motion time t4, and vertical downward motion time t5. , obtain the total running time of the asymmetric chip pick and place operation .

[0030] Example 2, as Figures 1-6 As shown, a segmented speed planning method for an asymmetric chip pick-and-place operation trajectory includes the following steps: Step 1: Based on the spatial coordinates of the chip picking point, chip placement point, and obstacles, the Lame curve is used to construct the gate trajectory of the asymmetric chip pick-and-place operation.

[0031] Specifically, in step 1, the Lame curve is used to construct an asymmetric chip pick-and-place operation gate trajectory, including the following steps: replacing the right angle in the gate trajectory established by the spatial position coordinates of the chip pick-up point, the chip placement point, and the obstacle with the Lame curve to obtain the Lame curve transition asymmetric gate trajectory, and using the Lame curve transition asymmetric gate trajectory as the asymmetric chip pick-and-place operation gate trajectory.

[0032] Step 2: Divide the generated asymmetric chip pick-and-place operation gate-type trajectory into a vertical upward movement segment L1, a Lame curve segment L2, a horizontal movement segment L3, a Lame curve segment L4 and a vertical downward movement segment L5.

[0033] Specifically, in step 2, the obtained asymmetric chip pick-and-place operation gate-type trajectory is segmented to obtain the vertical upward movement segment L1, the upward to horizontal movement Lame curve segment L2, the horizontal movement segment L3, the horizontal to downward movement Lame curve segment L4 and the vertical downward movement segment L5; the chip picking point is recorded as A, the connection point between the vertical upward movement segment L1 and the Lame curve segment L2 is B, the connection point between the Lame curve segment L2 and the horizontal movement segment L3 is C, the connection point between the horizontal movement segment L3 and the horizontal to downward movement Lame curve segment L4 is D, the connection point between the horizontal to downward movement Lame curve segment L4 and the vertical downward movement segment L5 is E, and the chip placement point is F. The coordinates of point A are , the coordinates of point B are , the coordinates of point C are , the coordinates of point D are , the coordinates of point E are , the coordinates of point F are ; Vertical upward movement segment and vertical downward movement segment , horizontal motion segment The lengths of the Lame curve segments L2 and L4 are the arc lengths of the Lame curve. The Lame curve expression is as follows: ; Where d>0 is the length of the major axis, e>0 is the length of the minor axis, and m∈{1, 2, 3...} is the Lame curve coefficient.

[0034] When m=3, the lengths of the Lame curve segments L2 and L4 are obtained according to the Lame curve arc length formula; the Lame curve arc length formula is: ; where θ represents the angle, and , d is the length of the major axis, e is the length of the minor axis; The minor axis of the Lamé curve segment L2 , long axis ; The minor axis of the Lamé curve segment L4 , long axis ; Substitute the major and minor axis parameters of the Lame curve segments L2 and L4 into the Lame curve arc length formula l, then the length of the Lame curve segment is 、 The total movement distance of the asymmetric chip pick-and-place operation trajectory is: L = L1 + L2 + L3 + L4 + L5.

[0035] Step 3: The vertical upward motion segment L1, the Lame curve segment L2, the Lame curve segment L4, and the vertical downward motion segment L5 are all velocity-planned using a fifth-order polynomial curve. The horizontal motion segment L3 is planned using a uniform velocity to ensure that the velocity and acceleration between segments are continuous.

[0036] Specifically, in step 3, the vertical upward motion segment L1, the vertical downward motion segment L5, and the Lame curve segment L2 and the Lame curve segment L4 are speed-planned using a fifth-order polynomial curve. The fifth-order polynomial curve is: ; Set the first and last conditions of position, velocity and acceleration of the quintic polynomial curve; The expressions of the velocity V(t) and acceleration A(t) are: ; ; The boundary conditions are: ; ; Among them, q0 is the starting position, q1 is the end position; v0 is the starting velocity, v1 is the end velocity; a0 is the starting acceleration, a1 is the end acceleration; According to the boundary conditions, calculate the coefficients c0, c1, c2, c3, c4, c5; ; ; ; ; Where h=q1-q0; According to the acceleration formula: ; After substituting the expressions for c2, c3, c4, and c5, the acceleration is a function of t and T. We need to find the minimum time T that satisfies the maximum acceleration limit. ; Derivative of the acceleration formula: ; Obtain the expression of t, and substitute the expression of t into the acceleration formula A(t) to find the maximum acceleration A. max The corresponding shortest time T min .

[0037] Step 4: Based on the maximum acceleration parameters of the X-axis drive mechanism, Y-axis drive mechanism and Z-axis drive mechanism of the pick-and-place mechanism and the movement distances of the vertical upward movement segment L1, Lame curve segment L2, Lame curve segment L4 and vertical downward movement segment L5, the vertical upward movement time t1, Lame curve movement time t2, Lame curve movement time t4 and vertical downward movement time t5 corresponding to the acceleration limit are obtained through a fifth-order polynomial curve.

[0038] Specifically, in step 4, the horizontal motion segment L3 moves at the maximum speed When moving at a constant speed, the Z-axis height remains unchanged, so the Z-axis speed is 0, and the X-axis and Y-axis move at a combined speed. uniform motion, obtain ;Total running time t all for ,obtained the asymmetric chip pick and place operation trajectory based on ,segmented velocity planning.

[0039] Furthermore, when the chip pick-and-place operation moves in the vertical upward movement section L1: ; ; in, is the displacement of the starting point of segment L1, is the displacement of the end point of segment L1; is the starting speed of L1 segment, is the terminal velocity of L1 segment; is the acceleration at the starting point of segment L1, is the acceleration at the end of the L1 segment; it is continuously adjusted according to the acceleration limit Settings; According to the boundary conditions of the vertical upward motion segment L1, find the coefficients of the fifth-order polynomial of the vertical upward motion segment L1 ; ; ; ; ; in, is the running time of the vertical upward motion segment L1; The fifth-order polynomial coefficient of the vertical upward motion segment L1 Substituting into the acceleration formula, the acceleration is t and function, find the minimum and running time that meet the maximum acceleration limit of the vertical upward motion segment L1 ; ; Derivative of the acceleration formula: ; Solve the expression for t: ; Substitute the expression for t into the acceleration formula , find the maximum acceleration of the vertical upward motion segment L1 The minimum running time corresponding to the limit ; Furthermore, when the chip pick-and-place operation moves upward to the horizontal Lame curve segment L2: ; ; in, is the displacement of the starting point of segment L2, is the displacement of the end point of segment L2; is the starting speed of L2 segment, is the terminal velocity of L2 segment; is the acceleration at the starting point of segment L2, is the acceleration at the end of segment L2; According to the boundary conditions of the Lame curve segment L2, the coefficients of the fifth-order polynomial of the Lame curve segment L2 can be obtained: ; ; ; ; ; in, is the running time of the L2 segment; Furthermore, when the chip pick and place operation moves in the horizontal section L3, the X and Y axes move at the maximum combined speed. In the L3 segment, the uniform motion is achieved, and the displacement from the horizontal segment , we can get the running time of L3 segment ; Furthermore, when the chip pick-and-place operation moves horizontally to the downward-drawing curve segment L4: ; ; in, is the displacement of the starting point of the Lamé curve segment L4, is the displacement of the end point of Lamé curve segment L4; is the starting speed of Lamé curve segment L4, is the terminal speed of the Lamé curve segment L4; is the acceleration at the starting point of the Lamé curve segment L4, is the acceleration at the end of the Lamé curve segment L4, It is continuously adjusted according to the acceleration limit; according to the boundary conditions of the Lame curve segment L4, the coefficients of the fifth-order polynomial of the Lame curve segment L4 can be obtained ; ; ; ; ; in is the running time of Lamé curve segment L4.

[0040] Furthermore, when the chip pick-and-place operation moves in the vertical downward movement section L5: ; ; in, is the displacement of the starting point of the vertical downward motion segment L5, is the L5 end displacement; is the L5 starting speed, is the L5 terminal velocity; is the acceleration at the starting point of the vertical downward motion segment L5, is the acceleration at the end of the vertical downward motion segment L5; according to the boundary conditions of the vertical downward motion segment L5, the coefficients of the fifth-order polynomial of the vertical downward motion segment L5 can be obtained ; ; ; ; ; in, is the running time of the vertical downward movement segment L5.

[0041] Step 5: Obtain the horizontal motion time of the horizontal motion segment L3 at a uniform speed based on the obtained vertical upward motion time t1, Lame curve motion time t2, Lame curve motion time t4, and vertical downward motion time t5. , obtain the total running time of the asymmetric chip pick and place operation Furthermore, according to the above five-stage speed planning, the total running time is The total running distance is , an asymmetric chip pick-and-place operation trajectory that satisfies trajectory asymmetry, maximum acceleration constraints, and has a uniform speed segment is obtained under segmented velocity planning.

[0042] Example 3, based on Example 1 or Example 2, this example uses the simulation platform: MATLABR2023b, pick point , place point , interpolation time 1ms, Lamé curve segment 、 and vertical motion segment of , vertical motion segment of Now simulate the segmented velocity planning method for the asymmetric chip pick-and-place operation trajectory and obtain the following Figure 3The trajectory of the end effector in space is shown in Figure 2. In the segmented velocity planning method for the asymmetric chip pick-and-place operation trajectory, the position, velocity, and acceleration curves of the end effector are shown in Figure 2. Figure 4 As shown; the speed curves of the X-axis, Y-axis and Z-axis in the Cartesian space O-XYZ coordinate system are as follows Figure 5 As shown, the acceleration curve is Figure 6 As shown. Figure 4 It can be seen from the figure that the acceleration of the end effector in the chip pick-and-place operation is smooth and continuous without sudden changes, and the speed near the pick-up and placement points changes slowly and eventually becomes zero; Figure 5 and Figure 6 The X-, Y-, and Z-axis velocity curves are smooth and continuous, with uniform speed segments. The acceleration curves are smooth and free of sudden changes, and the maximum accelerations are all within the motor constraints. Therefore, the segmented velocity planning method for an asymmetric chip pick-and-place operation trajectory provided by this invention comprehensively considers the asymmetric characteristics of the pick-and-place operation trajectory, the uniform speed segments of the velocity curve, and the motor performance constraints, thereby improving the efficiency, accuracy, and stability of the chip pick-and-place operation while extending the service life of the equipment.

[0043] Embodiment 4, a segmented speed planning device for an asymmetric chip pick-and-place operation trajectory, 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 a segmented speed planning method for an asymmetric chip pick-and-place operation trajectory.

[0044] Embodiment 5. A storage medium stores a computer program thereon. When the computer program is executed by a processor, a segmented speed planning method for an asymmetric chip pick-and-place operation trajectory is implemented.

[0045] 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 flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, 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 flowcharts and / or block diagrams. 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.

[0046] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The function specified in one or more boxes.

[0047] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0048] Working principle: The present invention addresses the challenges of trajectory asymmetry, the lack of uniform speed segments, and motor performance limitations through segmented speed planning. This method, along with its equipment and storage medium, significantly improves pick-and-place efficiency, reduces vibration and impact, fully utilizes maximum speed, and minimizes equipment wear. This method provides strong technical support for efficient automated production in the microelectronics manufacturing field.

[0049] The present invention proposes a segmented speed planning method for the trajectory of asymmetric chip pick-and-place operations. On the basis of satisfying the performance constraints of the X-, Y-, and Z-axis motors, the trajectory and speed segments are rationally designed to achieve optimal utilization of the motor performance and improve the overall efficiency of the pick-and-place operation.

[0050] The present invention is different from the traditional polynomial speed planning method. The introduction of a uniform speed segment in trajectory planning can reduce the acceleration and deceleration load, reduce equipment wear and energy consumption, and extend the service life of the actuator.

[0051] The segmented speed planning method designed in the present invention can dynamically adjust the time allocation of acceleration, constant speed and deceleration stages according to different motor performance parameters, optimize the acceleration curve, and reduce mechanism vibration and impact.

[0052] The present invention can adapt to various process requirements and equipment layouts, has both flexibility and high efficiency, and has significant application value and practicality.

[0053] The above specific implementation methods are specific support for the scheme ideas proposed in the present invention, and cannot be used to limit the scope of protection 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 segmented velocity planning method for an asymmetric chip pick-and-place operation trajectory, characterized in that: The following steps are involved: Step 1: Based on the spatial coordinates of the chip picking point, chip placement point, and obstacles, the Lame curve is used to construct the gate trajectory of the asymmetric chip pick-and-place operation; Step 2: Divide the generated asymmetric chip pick-and-place operation gate trajectory into a vertical upward movement segment L1, a Lame curve segment L2, a horizontal movement segment L3, a Lame curve segment L4 and a vertical downward movement segment L5; Step 3: The vertical upward motion segment L1, the Lame curve segment L2, the Lame curve segment L4, and the vertical downward motion segment L5 are all velocity planned using a fifth-order polynomial curve, while the horizontal motion segment L3 is planned using a uniform velocity. Step 4: Based on the maximum acceleration parameters of the X-axis drive mechanism, Y-axis drive mechanism, and Z-axis drive mechanism of the pick-and-place mechanism and the movement distances of the vertical upward movement segment L1, the Lame curve segment L2, the Lame curve segment L4, and the vertical downward movement segment L5, a quintic polynomial curve is used to obtain the vertical upward movement time t1, the Lame curve movement time t2, the Lame curve movement time t4, and the vertical downward movement time t5 that meet the acceleration limit; Step 5: Based on the obtained vertical upward movement time t1, Lame curve movement time t2, Lame curve movement time t4, and vertical downward movement time t5, obtain the horizontal movement time t3 of the horizontal movement segment L3 at a uniform speed, and obtain the total running time t of the asymmetric chip pick and place operation all .

2. The segmented velocity planning method for asymmetric chip pick-and-place operation trajectory according to claim 1, characterized in that: In step 1, the Lame curve is used to construct a gate-type trajectory for an asymmetric chip pick-and-place operation, which includes the following steps: The Lame curve is used to replace the right angle in the gate trajectory established by the spatial position coordinates of the chip picking point, the chip placement point, and the obstacle to obtain the Lame curve transition asymmetric gate trajectory, and the Lame curve transition asymmetric gate trajectory is used as the asymmetric chip pick and place operation gate trajectory.

3. The segmented velocity planning method for asymmetric chip pick-and-place operation trajectory according to claim 2, characterized in that: In step 2, the obtained asymmetric chip pick-and-place operation gate trajectory is segmented to obtain a vertical upward movement segment L1, a Lame curve segment L2 from upward to horizontal movement, a horizontal movement segment L3, a Lame curve segment L4 from horizontal to downward movement, and a vertical downward movement segment L5; The chip picking point is A, the connection point between the vertical upward movement segment L1 and the Lame curve segment L2 is B, the connection point between the Lame curve segment L2 and the horizontal movement segment L3 is C, the connection point between the horizontal movement segment L3 and the horizontal downward movement Lame curve segment L4 is D, the connection point between the horizontal downward movement Lame curve segment L4 and the vertical downward movement segment L5 is E, and the chip placement point is F; The vertical upward motion segment L1 = |AB| and the vertical downward motion segment L5 = |EF|, the horizontal motion segment L3 = |CD|, the lengths of the Lame curve segments L2 and L4 are the arc lengths of the Lame curve, and the Lame curve expression is as follows: ; where u and v represent the horizontal and vertical axes of the UOV plane coordinate system respectively, d>0 is the length of the major axis, e>0 is the length of the minor axis, and m∈{1, 2, 3...} is the Lame curve coefficient.

4. The segmented velocity planning method for asymmetric chip pick-and-place operation trajectory according to claim 3, characterized in that: The coordinates of point A are , the coordinates of point B are , the coordinates of point C are , the coordinates of point D are , the coordinates of point E are , the coordinates of point F are ; Vertical upward movement segment and vertical downward movement segment , horizontal motion segment ; The minor axis of the Lamé curve segment L2 , long axis ; The minor axis of the Lamé curve segment L4 , long axis ; Substitute the major and minor axis parameters of the Lame curve segments L2 and L4 into the Lame curve arc length formula l, and the length of the Lame curve segment is 、 .

5. The segmented velocity planning method for asymmetric chip pick-and-place operation trajectory according to claim 4, characterized in that: When m=3, the lengths of the Lame curve segments L2 and L4 are obtained according to the Lame curve arc length formula; The arc length formula of the Lame curve is: ; where θ represents the angle, and ; d is the length of the major axis, and e is the length of the minor axis; The total movement distance of the asymmetric chip pick-and-place operation trajectory is: L=L1+L2+L3+L4+L5.

6. The segmented velocity planning method for asymmetric chip pick-and-place operation trajectory according to claim 4, characterized in that: The fifth-order polynomial curve is: ; Set the initial and final conditions of position, velocity, and acceleration of the quintic polynomial curve; the expressions of velocity V(t) and acceleration A(t) are: ； ； The boundary conditions are: ; Among them, q0 is the starting position, q1 is the end position; v0 is the starting velocity, v1 is the end velocity; a0 is the starting acceleration, a1 is the end acceleration; According to the boundary conditions, calculate the coefficients c0, c1, c2, c3, c4, c5; ； ； ； ； Where h=q1-q0 represents the movement length, a0 represents the starting acceleration, a1 represents the ending acceleration, v0 represents the starting velocity, and v1 represents the ending velocity; According to the acceleration formula: ; After substituting the expressions for c2, c3, c4, and c5, the acceleration becomes a function of the time variable t and the total motion time T. We need to find the minimum time T that satisfies the maximum acceleration limit. ; Derivative of the acceleration formula: ; Obtain the expression of t, and substitute the expression of t into the acceleration formula A(t) to find the maximum acceleration A. max The corresponding shortest time T min .

7. The segmented velocity planning method for asymmetric chip pick-and-place operation trajectory according to claim 4, characterized in that: When the chip pick and place operation moves in the vertical upward movement section L1: ; in, is the displacement of the starting point of segment L1, is the displacement of the end point of segment L1; is the starting speed of L1 segment, is the terminal velocity of L1 segment; is the acceleration at the starting point of segment L1, is the acceleration at the end of the L1 segment; it is continuously adjusted according to the acceleration limit Settings; According to the boundary conditions of the vertical upward motion segment L1, find the coefficients of the fifth-order polynomial of the vertical upward motion segment L1 ; ； ； ； ； in, is the running time of the vertical upward motion segment L1; The fifth-order polynomial coefficient of the vertical upward motion segment L1 Substituting into the acceleration formula, the acceleration is t and function, find the minimum and running time that meet the maximum acceleration limit of the vertical upward motion segment L1 ; ; Derivative of the acceleration formula: ; Solve the expression for t: ; Substitute the expression for t into the acceleration formula , find the maximum acceleration of the vertical upward motion segment L1 The minimum running time corresponding to the limit ; And / or, when the chip pick and place operation moves upward to the horizontal Lame curve segment L2: ； ； in, is the displacement of the starting point of segment L2, is the displacement of the end point of segment L2; is the starting speed of L2 segment, is the terminal velocity of L2 segment; is the acceleration at the starting point of segment L2, is the acceleration at the end of segment L2; According to the boundary conditions of the Lame curve segment L2, the coefficients of the fifth-order polynomial of the Lame curve segment L2 can be obtained: ; ； ； ； ； in, is the running time of the L2 segment; When the chip pick and place operation moves in the horizontal section L3, the X and Y axes move at the maximum combined speed. In the L3 segment, the uniform motion is achieved, and the displacement from the horizontal segment , we can get the running time of L3 segment ; And / or, when the chip pick and place operation is in the horizontal to downward pull curve segment L4: ; ; in, is the displacement of the starting point of the Lamé curve segment L4, is the displacement of the end point of Lamé curve segment L4; is the starting speed of Lamé curve segment L4, is the terminal speed of the Lamé curve segment L4; is the acceleration at the starting point of the Lamé curve segment L4, is the acceleration at the end of the Lamé curve segment L4, It is set to continuously adjust according to the acceleration limit; According to the boundary conditions of the Lame curve segment L4, the coefficients of the fifth-order polynomial of the Lame curve segment L4 can be obtained: ; ； ； ； ； in is the running time of the Lamé curve segment L4; And / or, when the chip pick and place operation moves in the vertical downward movement section L5: ； ； in, is the displacement of the starting point of the vertical downward motion segment L5, is the L5 end displacement; is the L5 starting speed, is the L5 terminal velocity; is the acceleration at the starting point of the vertical downward motion segment L5, is the acceleration at the end of the vertical downward motion segment L5; According to the boundary conditions of the vertical downward motion segment L5, the fifth-order polynomial coefficients of the vertical downward motion segment L5 can be obtained: ; ； ； ； ； in, is the running time of the vertical downward movement segment L5.

8. The segmented velocity planning method for asymmetric chip pick-and-place operation trajectory according to claim 4, characterized in that: In step 4, the horizontal motion segment L3 moves at the maximum speed. When moving at a constant speed, the Z-axis height remains unchanged, so the Z-axis speed is 0, and the X-axis and Y-axis move at a combined speed. uniform motion, obtain ; Total running time t all for ,obtained the asymmetric chip pick and place operation trajectory based on ,segmented velocity planning.

9. A device for segmented speed planning of asymmetric chip pick-and-place operation trajectory, characterized in that: include: Memory; processor; as well as computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the segmented speed planning method for an asymmetric chip pick-and-place operation trajectory according to any one of claims 1 to 8.

10. A storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the segmented speed planning method for the asymmetric chip pick-and-place operation trajectory according to any one of claims 1 to 8 is implemented.

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