CN102866666B - High energy beam processing method with ejection point as control target - Google Patents
High energy beam processing method with ejection point as control target Download PDFInfo
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- CN102866666B CN102866666B CN201210378227.0A CN201210378227A CN102866666B CN 102866666 B CN102866666 B CN 102866666B CN 201210378227 A CN201210378227 A CN 201210378227A CN 102866666 B CN102866666 B CN 102866666B
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Abstract
The invention provides a high energy beam processing method with an ejection point as a control target. The high energy beam processing method with the ejection point as the control target comprises the following steps of (1) vectorizing cut graphs and dividing the cut graphs into line segment units; (2) designing a pitching-in line and a pitching-out line; (3) designing a planned route of the ejection point moving on the lower surface of a processed workpiece; (4) designing a cutting scheme; (5) calculating multi-dimensional space tracks of the ejection point moving on the lower surface of the processed workpiece; and (6) processing the workpiece according to a multi-dimensional space of the ejection point. The high energy beam processing method with the ejection point as the control target selects an optimized strategy (the cutting scheme) according to the cutting route tracks of the ejection point moving on the lower surface of the processed workpiece and can effectively eliminate shape errors caused by different flow beam expression forms of the ejection point and an incidence point. Compared with the prior art, the high energy beam processing method with the ejection point as the control target adopts a cutting head backward inclining and quick cutting method to replace an original cutting-speed slowdown method, improves the cutting efficiency and avoids the shape errors caused by slowdown in the existing method.
Description
Technical field
The invention belongs to high energy beam processing technique field, be specifically related to a kind of to penetrate point as controlling the high energy beam job operation of target.
Background technology
In high energy beam cutting (such as water cutter, laser, plasma arc) process, a fluid stream meeting nature under the effect of cut material is bending backward, as shown in Figure 1, a fluid stream sprays through abrasive jet 11, cut direction is for from left to right, on workpiece 12, inject a little 13 and penetrate point 14 not on same vertical line, penetrate point 14 and generally lag behind and inject a little 13.
Inject a little because ejaculation point lags behind, the material surface of high energy beam cutting generally has following defect:
Defect 1: in the time switching to corner and need to change cut direction, because a fluid stream penetrates the hysteresis of point, a fluid stream can not synchronously turn to up and down, causes corner to occur shape error (as Fig. 2).
Defect 2: in the time of cutting arc shape work piece, cut direction needs to change at any time, and due to the hysteresis of a fluid stream ejaculation point, a fluid stream can not synchronously turn to up and down, causes the shape error (as Fig. 3) at small arc-shaped place.
Defect 3: when a fluid stream and material are had an effect, near injecting a little top of cut material, because the energy of a fluid stream is larger, can excise rapidly material, but along with the increase of depth of cut, the energy of a fluid stream is decayed gradually, cutting power decline.For above-mentioned reasons, a fluid stream is different in the flow pattern of injecting flow pattern a little and put in ejaculation, thereby causes the joint-cutting that this fluid stream cuts out to produce shape error (as shown in Figure 4).
Defect 4: when high energy beam cutting material, the incision of cut material cutting surfaces cuts out a little generally can leave a uncut little trigonum (as shown in Figure 5) near penetrating some place.Cause occurring that the main cause of this little trigonum not cutting is also to penetrate to put to lag behind to inject a little.
Above-mentioned analysis shows: cause high energy beam in cutting material process, to occur that the main cause of shape error is that high energy beam is penetrating point with due to the different manifestations form of injecting a little.
For eliminating above-mentioned shape error, current general adopted method is to slow down cutting speed.Although adopt method slowly can partly solve the problem of shape error, efficiency is very low, causes the significant wastage of cost, and excessively slow speed may cause again up-narrow and down-wide trapezoid joint-cutting.Another method being applied is with compensation joint-cutting taper error by low-angle of sideshake.Although above-mentioned two kinds of methods have partly solved the problem of cut part shape error in some aspects, but above-mentioned two kinds of methods are not all recognized the main cause that causes shape error and are ejaculation points instead of inject a little, therefore, said method cannot form a total solution to error concealment, is difficult to fundamentally effectively solve the shape error problem of high energy beam cutting.For this situation, the invention provides to penetrate is a little the high energy beam job operation of controlling target, and the method not only can solve above-mentioned four kinds of shape error problems completely, and cutting efficiency is greatly improved.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, provide one can improve cutting efficiency, and can eliminate the high energy beam job operation taking ejaculation point as control target of shape error.
The present invention is achieved through the following technical solutions:
To penetrate point as controlling a high energy beam job operation for target, comprise the following steps:
(1) by cutting pattern vector quantization, and the cutting pattern after vector quantization is split into several line segment unit;
(2), according to processing work and cutting pattern, design is cut line and is cut out line;
(3) according to each line segment unit of cutting pattern, cut line and cut out line, the path planning of point in processing work lower surface motion penetrated in design;
(4) according to the path planning that penetrates point, design cutting scheme;
(5) path planning, the cutting scheme of putting according to processing work, ejaculation and the working process parameter designing in advance, calculate and inject the some hyperspace track in the motion of processing work upper surface;
(6) according to the working process parameter of injecting hyperspace track a little and design in advance, workpiece is processed.
Further, if the cutting pattern described in step (2) comprises closed region, design the direction of incision line of closed region for perpendicular to line of cut, and point of penetration and cut out a coincidence; Described line of cut is the straight line at point of penetration place in cutting pattern or is the tangent line of cutting pattern in point of penetration.
Further, the cutting scheme described in step (4) comprises following at least one:
(a) while cutting exterior angle, adopted blanking method and/or cutting head hypsokinesis method;
(b) while cutting interior angle, adopt cutting head hypsokinesis method;
(c) adopt cutting head hypsokinesis method when cutting arc shape work piece;
(d) while eliminating tangent plane natural taper or cut out design tapering, adopt cutting head side direction deflection angle method.
Further, in step (5), calculating the concrete grammar of injecting a little at the hyperspace track of processing work upper surface motion is:
(5.1) set up XYZ rectangular coordinate system taking path planning starting point as initial point;
(5.2) path planning that penetrates point is moved to a setting value to incision line place one lateral deviation, obtain the path planning after skew;
(5.3), according to geometric parameter and the working process parameter of each line segment unit on the path planning after skew, design the ideal cut speed of each line segment unit;
(5.4) if cutting scheme be: cutting adopted blanking method when exterior angle, after the line segment unit that is positioned at position, exterior angle the side in incision, all added forward extended line and reverse extending line; The length of forward extended line and reverse extending line is 1-2 times that this line segment unit penetrates some drag;
(5.5) each line segment unit of the path planning after skew is split as to one or more of short line segments, calculates the XYZ coordinate of every short line segment termination end points;
(5.6) design the cutting speed of this short line segment according to the requirement of the ideal cut speed of line segment unit, each short line segment place and speed continuity and flatness;
(5.7), according to the cutting speed of each short line segment and working process parameter, calculate ejaculation point drag and jet taper angle that each short line segment is corresponding;
(5.8), according to the ejaculation point drag of each short line segment and jet taper angle, calculate corresponding cutting head hypsokinesis angle and cutting head lateral deviation angle and beat direction;
(5.9), according to the position angle of each short line segment and corresponding cutting head hypsokinesis angle, lateral deviation angle and beat direction, calculate the corner component around X-axis and Y-axis rotation corresponding with each short line segment;
(5.10) XYZ coordinate of the termination end points of each short line segment and corresponding X-axis, Y-axis corner component form the spatial point of five degree of freedom, all spatial point corresponding with all short line segments are linked up to form and inject the some hyperspace track in the motion of processing work upper surface.
Further, the concrete grammar of according to the working process parameter of injecting hyperspace track a little and design in advance, workpiece being processed described in step (6) is:
(A) on the hyperspace track of injecting a little, select several spatial point as technology controlling and process point, on these technology controlling and process points, add the required manipulation order of cutting process;
(B) calculate the corresponding various dimensions motion of each spatial point pre-planning information on hyperspace track, described various dimensions pre-planning information includes but not limited to number of motor steps, direction of motion, manipulation order and the speed of multiaxial motion;
(C) various dimensions pre-planning information being sent to slave computer processes.
Further, various dimensions pre-planning information being sent to the method that slave computer processes in step (C) is: the disposable various dimensions pre-planning information slave computer that sends to, after to be sent completing, slave computer sends to respectively the driver of each axle to process various dimensions pre-planning information again; Or be: various dimensions pre-planning information is sent to slave computer in the mode of data stream, and slave computer edge joint is received limit and sent to respectively the driver of each axle to process various dimensions pre-planning information.
The present invention proposes to penetrate is a little the high energy beam job operation of controlling target, according to penetrating the cutting path track of point in the motion of processing work lower surface, select the strategy (being cutting scheme) of optimizing, determine and inject the some hyperspace track in the motion of processing work upper surface, and by the control of multiaxial motion system being realized to high energy beam processing.The cutting scheme adopting in the present invention, can effectively eliminate by penetrating point and injecting the different shape errors that cause of an a fluid stream display form; Compared with the method for available technology adopting, the present invention adopts cutting head hypsokinesis or the quick blanking method of crossing to replace original cutting speed method that slows down not only to improve cutting efficiency, and avoid the shape error that slowly may cause in existing method, in addition the incision line that, the present invention adopts can effectively be eliminated and not cut trigonum perpendicular to the method for line of cut.
Brief description of the drawings
The natural torsion phenomenon schematic diagram that Fig. 1 manifests while being water cutter cutting material;
Fig. 2 penetrates to put to lag behind to inject the corner configurations error schematic diagram a little on the corner causing;
Fig. 3 penetrates to put to lag behind to inject the circular shape error schematic diagram a little causing;
Fig. 4 is that jet cutting efficiency increases and reduces the taper error schematic diagram causing with depth of cut;
Fig. 5 locates to stay not cut trigonum schematic diagram near penetrating point for cutting out a little;
Fig. 6 is for incision line and cut out line perpendicular to line of cut schematic diagram;
Fig. 7 eliminates and does not cut trigonum schematic diagram perpendicular to line of cut for cutting line;
Fig. 8 is that schematic diagram is described at interior exterior angle;
Fig. 9 was blanking method schematic diagram;
Figure 10 is cutting head hypsokinesis method schematic diagram;
Figure 11 is cutting head side direction deflection angle method schematic diagram;
Figure 12 is the cutting pattern in embodiment;
Figure 13 is the velocity distribution schematic diagram in embodiment;
Figure 14 is the hyperspace track schematic diagram in embodiment.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
The invention provides an a kind of high energy beam job operation taking ejaculation point as control target, comprise the following steps:
(1) by cutting pattern vector quantization, and the cutting pattern after vector quantization is split into several line segment unit; Line segment unit described in this step is defined as the one section of continuous figure line being made up of same linear element.If include the continuous figure line being formed by different linear elements in polar plot, need this continuous figure line to split into the figure line being formed by same linear element.
(2), according to processing work and cutting pattern, design is cut line and is cut out line;
Incision line divides two kinds of situations with the design that cuts out line:
Situation 1, cutting pattern only comprise a closed region, under this kind of situation, only need incision line of design and one to cut out line, and incision, cut out line and should design the outside in this closed region, when design, operator can select arbitrarily incision according to the wish of oneself, cut out position a little.Such as selecting a bit arbitrarily near cutting pattern, to find out in cutting pattern from the intersection point point of the nearest line segment of this some unit according to selected point, this intersection point point just can be point of penetration or cuts out a little.
Situation 2, cutting pattern comprise several closed regions, under this kind of situation, and each closed region or be outer closure region, or be inner sealing region.Described outer closure region refers to other closed region of this district inclusion, and described inner sealing region refers to that this district inclusion is in other closed region.For each outer closure region, need to design incision line and one and cut out line, and incision, cut out the outside of line in this closed region; For each inner sealing region, equally also need to design incision line and one and cut out line, but incision, cut out the inside of line in this region.Equally, operator can select arbitrarily incision according to own wish, cut out position a little.
Make incision, cut out after line affiliated area, length and direction that next step need to be determined incision line and cut out line, the length of incision line should be not less than the diameter of abrasive jet, but incision line is also unsuitable long, and long incision line only can increase machining path and processing cost; The length that cuts out line is more short better, and the shortest can be zero.Incision, the preferred design proposal of cutting outlet direction are: the direction of incision line is perpendicular to line of cut, and point of penetration and cut out a coincidence; Described line of cut is the straight line at point of penetration place in cutting pattern or is the tangent line of cutting pattern in point of penetration.As shown in Figure 6, in figure, 1,2,3,4 be respectively four groups of incisions, cut out line.
Incision line perpendicular to the advantage of line of cut is: when cutting and cutting out, the hysteresis of a fluid stream bottom matches, to eliminate the trigonum error staying when both do not mate.As shown in Figure 7, cutting, cutting out is some O point, incision line AO, perpendicular to line of cut, in the time that jet enters to O point and turns to B point from A point, injects a little because ejaculation point lags behind, cut surface upper reaches bunch is as shown in OD, in the time that jet is back to O point from C point, because lagging behind, ejaculation point injects a little equally, and cut surface upper reaches bunch is also OD, like this, can effectively remove and not cut trigonum.
(3) according to each line segment unit of cutting pattern, cut line and cut out line, the path planning of point in processing work lower surface motion penetrated in design;
If have many incisions lines and many to cut out line, to add a upper non-processing line that cuts out line and next incision line; Can adopt critical path method (CPM) to add non-processing line, can certainly adopt additive method, such as free setting etc.
By each line segment unit of all incision lines, cutting pattern, cut out line and the sequence of non-processing line forms an one-way movement path locus that front and back are connected, this path is penetrates the cutting path track of point in the motion of processing work lower surface.
If only have incision line and one to cut out line, cut line, cutting pattern and cut out line and be connected just to have formed and penetrate the cutting path track that point moves at processing work lower surface.
(4) according to the cutting path Trajectory Design cutting scheme that penetrates point; Cutting scheme comprises one or more in following method:
(a) while cutting exterior angle, adopted blanking method and/or cutting head hypsokinesis method;
(b) while cutting interior angle, adopt cutting head hypsokinesis method;
(c) adopt cutting head hypsokinesis method when cutting arc shape work piece;
(d) while eliminating tangent plane tapering or cut out design tapering, adopt cutting head side direction deflection angle method.
Wherein, the inside and outside angle described in the present invention is defined as follows:
As shown in Figure 8, line segment AO and OB meet at O point, and composition angle ∠ AOB, when cutting, is compensation tool radius, need to find the offset path of line segment.The skew line segment of Fig. 8 middle conductor AO can be CP or EQ, and the skew line segment of line segment OB can be PD or QF, and therefore, the angle of skew line segment composition can be angle ∠ CPD or ∠ EQF, and intersection point is respectively P point and Q point.If skew line segment the extended line of intersection point end can with former line segment intersection, the angle of this skew line segment composition is called interior angle; If can not intersect, it is exterior angle.
Concrete which kind of cutting scheme of employing is to determine according to the feature of cutting path track, as cutting interior angle can only adopt cutting head hypsokinesis method.But, operator can select blanking method or cutting head hypsokinesis method or adopt blanking method and cutting head hypsokinesis method simultaneously according to own wish when at cutting the exterior angle.
The specific implementation step of crossing blanking method is:
(a) detect on cutting path track whether have exterior angle (can carry out) in mapping software, if exist, on the AB of the Article 1 sideline at exterior angle, automatic or manual adds its forward extended line BE and reverse extending line EB(as shown in Figure 9), the length of extended line BE is relevant to the drag that high energy beam blade is ordered at B, is 1-2 times of drag.
Drag and cutting speed are linear, and increase with the thickness of cut material.Therefore, according to the thickness of cutting speed and processing work, just can calculate the size of drag, circular is the state of the art, in the present invention, repeat no more, can be referring to: " cutting of steam turbine components using an abrasive water jet ", in A. Lichtarowicz (Ed), Jet Cutting Technology-Proceedings of the 11th International Conference on Jet Cutting Technology, StAndrews, Scotland, September8-10, pp543-554).
(b) control high energy beam blade does not slow down in the time that the Article 1 sideline AB at exterior angle is cut to corner B;
(c) continue to be cut to after end points E along extended line BE, then be a significant slowdown;
(d) snap back returns to corner B along extended line EB;
(e) sharply accelerate to start to cut Article 2 sideline BC.
The present invention eliminates shape error by crossing blanking method, compare with the method for injecting hysteresis a little by slowly eliminating ejaculation point with existing, cross blanking method and can cut at faster speed turning, and can be because of the shape error slowly causing, therefore, cutting efficiency is higher, cutting accuracy is higher.
The specific implementation step of cutting head hypsokinesis method is:
Adjust the cutting head angle that recedes, as shown in figure 10, adjust cutting head in XOZ plane to the opposite direction of cut direction (X forward) angle that tilts, make a fluid stream bottom with top on same vertical curve; Definite method of angle of inclination size is: first calculate the size of drag, go out to inject a little afterwards and penetrate the angle between some line and vertical curve according to the THICKNESS CALCULATION of processing work, this angle is the sweptback angle of cutting head.Cutting head hypsokinesis method can be eliminated the shape error causing due to the hysteresis of a fluid stream bottom.Not only efficiency is high for cutting head hypsokinesis method, and can not introduce the change of joint-cutting shape.
The specific implementation step of cutting head side direction deflection angle method is: adjust cutting head, angle of high energy a fluid stream sideshake, as shown in figure 11, adjust cutting head in an angle of the upper swing of YOZ plane (perpendicular to the plane of cut direction), described angle equates with the cone angle of joint-cutting.For water cutting, cut surperficial tapering and cutting speed, abrasive jet diameter, abrasive grain size, abrasive material flow and cutting pressure become certain funtcional relationship, this is the state of the art, in the present invention, repeat no more, specifically can be referring to Annoni, M. & Monno, M (2000) " A lower limit for the feed rate in AWJ precision machining ", in Proceedings of the 15th International Conference on Jetting Technology, Ronneby, Sweden, Sepember 6-8, pp 285-296), therefore, just can calculate the cone angle of joint-cutting according to above-mentioned working process parameter and funtcional relationship.Eliminate cone angle, as long as the angle that high energy a fluid stream sideshake is equated with cone angle.
(5) path planning, the cutting scheme of putting according to processing work, ejaculation and the working process parameter designing in advance, calculate and inject the some hyperspace track in the motion of processing work upper surface;
Concretely, comprise following sub-step:
(5.1) set up XYZ rectangular coordinate system taking initial point of penetration as initial point; XYZ tri-axles can be selected arbitrarily, are preferably tri-kinematic axiss of XYZ that adopt orthogonal three axle processing platforms as X, Y and the Z axis of XYZ rectangular coordinate system.
(5.2) path planning that penetrates point is moved to a setting value to initial incision line one lateral deviation, obtain the path planning after skew; The preferred value of setting value is generally to inject locates a fluid stream radius, any numerical value that setting value can also be selected for user certainly.
(5.3), according to geometric parameter, cut quality and the working process parameter of each line segment unit on the path planning after skew, design the ideal cut speed of each line segment unit;
Described geometric parameter refers to the mathematic parameter (such as parameters such as length, radian, radiuses) that forms this line segment cell geometry.The residing geometric configuration (straight line or circular arc) and residing position (such as cutting line, cutting out line or corner) that the present invention is directed to every short line segment arrange corresponding cutting speed, to ensure seamlessly transitting of different geometries and corner.
For water cutting, cutting speed and hydraulic pressure, jet size, abrasive species, abrasive material flow, abrasive grain, cut material category, cut material thickness, multiple relating to parameters such as cut surface quality requirement, the design of ideal cut speed can draw according to above-mentioned each calculation of parameter, such as adopting " Jiyue Zeng, Mechanism of brittle material erosion associated with high pressure abrasive waterjet processing – A modeling and application study, dissertation, 1992, University of Rhode Island. " in the computing method mentioned design the ideal cut speed of every short line segment.This is prior art, in the present invention, repeats no more.
(5.4) if cutting scheme be: cutting adopted blanking method when exterior angle, after the line segment unit that is positioned at position, exterior angle the side in entering, all added forward extended line and reverse extending line; The length of forward extended line and reverse extending line be this line segment unit ejaculation point drag 1-2 doubly; The computing method of drag can be referring to the description in step (4).
In this step, be not all to add forward extended line and reverse extending line after all line segment unit that is positioned at position, exterior angle the side in entering, in the middle of practical application, also need to do to interfere and detect, if added other line segment interferences of the path planning after crossing tangent line (being forward extended line and reverse extending line) meeting and being offset, just do not adopted blanking method to cut exterior angle.
(5.5) each line segment unit of the path planning after skew is split as to one or more of short line segments, and calculates the XYZ coordinate of every short line segment termination end points;
Here comprise two kinds of situations, a kind of situation is to carry out smart interpolation, and the length of short line segment is more short better, but can not be less than motor step length.The length of short line segment is shorter, and cutting accuracy is higher.Be preferably and adopt the length of motor step-length as short line segment.
Another kind of situation is rough interpolation, and the length of short line segment needn't be very short, even must not split line segment unit, and do smart interpolation by slave computer.
(5.6) design the cutting speed of this short line segment according to the requirement of the ideal cut speed of line segment unit, each short line segment place and speed continuity and flatness, mainly consider that acceleration can not be too high, thus increase gradually or the minimizing of the speed of guarantee.In the different situation of ideal cut speed of adjacent two line segment unit, start to gather way taking lower speed numerical value as benchmark, until reach higher speed numerical value, can adopt linear accelerating or curve to accelerate.
(5.7), according to the cutting speed of each short line segment and working process parameter, calculate ejaculation point drag and jet taper angle that each short line segment is corresponding; Wherein, the equal and opposite in direction of jet taper angle and joint-cutting cone angle, the computing method of drag and joint-cutting cone angle are with reference to described in step (4).
(5.8), according to the ejaculation point drag of each short line segment and jet taper angle, calculate corresponding cutting head back rake angle and cutting head side drift angle and beat direction;
The tangent value of back rake angle is the ratio that penetrates some drag and cut material thickness, therefore can, according to penetrating some drag, calculate back rake angle.
The equal and opposite in direction of the size of cutting head side drift angle and jet taper angle, beat direction is perpendicular to line of cut.
(5.9) position angle in XYZ rectangular coordinate system and corresponding cutting head back rake angle, side drift angle and beat direction according to each short line segment, calculate the corner component of the cutting head corresponding with each short line segment around X-axis and Y-axis rotation, can realize cutting head and recede and the corresponding angle of lateral deviation.
(5.10) XYZ coordinate of the termination end points of each short line segment and corresponding X-axis, Y-axis corner component form the spatial point of five degree of freedom, all spatial point corresponding with all short line segments are linked up to form and inject the some hyperspace track in the motion of processing work upper surface.
(6) according to the working process parameter of injecting hyperspace track a little and design in advance, workpiece is processed.Wherein working process parameter refers to the technological parameter that affects cutting processing process and effect, such as hydraulic pressure, the abrasive material flow etc. of the cutting of water cutter.
The present invention has designed a kind of preferred scheme, adopts various dimensions information control cutting process.
Concretely, comprise following sub-step:
(6.1) on the hyperspace track of injecting a little, select several spatial point as technology controlling and process point, on these technology controlling and process points, add the required manipulation order of cutting process.
Technology controlling and process point mainly comprise following some: 1, cutting process starts execution point; 2, incision line starting point; 3, cut out line end point; 4, cutting process finishes execution point.
Manipulation order refers to the order that cutting process is controlled, and comprises 1, the start/stop of power source; 2, valve opening and closing etc.When interpolation, add control signal in relevant execution point.
(6.2) calculate the corresponding various dimensions motion of each spatial point pre-planning information on hyperspace track, described various dimensions pre-planning information includes but not limited to number of motor steps, direction of motion, manipulation order and the speed of multiaxial motion.
Number of motor steps and direction of motion depend on driving and the gear train of concrete enforcement multiaxial motion, five-shaft movement mechanism for high energy beam cutting is made up of three orthogonal axes (XYZ) and two axis of swing conventionally, conventionally adopt servo or stepper motor driving, the transmission of X, Y, Z axis adopts the combination of screw mandrel or belt or rack-and-pinion transmission or several kinds of drive conventionally, number of motor steps is obtained divided by motor step-length divided by ratio of gear by the displacement of each axle again, and direction of motion is just determined after definite transmission scheme.
The motion that realizes two axis of swing adopts one of following two schemes conventionally.The axes intersect of one: two axis of swing of scheme, intersection point and a fluid stream are injected and are overlapped; The intersection point of two: two axles of scheme is injected a little and is not overlapped with a fluid stream.Employing scheme two must be made compensating motion in XYZ direction when axis of swing swings, otherwise a fluid stream is injected and a little will be departed from cutting path in the process of cutting.This method ratio is easier to realize, but compensating motion is crossed conference and affected response time and kinematic accuracy.Employing scheme one diaxon intersection point is injected a little and must be overlapped with a fluid stream, this method more complicated, but needn't make in theory compensating motion (in fact may because foozle is carried out error compensation).While adopting one of them embodiment in this way, two axis of swing are to be made up of a Z-axis and a sloping shaft, diaxon intersects at cutting head end, the rotation of sloping shaft can realize the angle of cutting head and perpendicular line, and the rotation of Z-axis can realize circumferential corner, both combine and can realize any amplitude within the specific limits, cutting head can convert the corner component of Z-axis and sloping shaft to around the corner component of X-axis and Y-axis, corner displacement (being corner component) obtains number of motor steps divided by motor angular displacement step-length again divided by ratio of gear.
The above is the situation that interpolation has completed, and the axial displacement that short line segment is corresponding is equivalent to a motor step-length.If the axial displacement that short line segment is corresponding is greater than motor step-length, so just must first do smart interpolation to generate short line segment and the corresponding speed of corresponding motor step-length.
Except the above, also must add the manipulation order that cutting process is required, all these form the corresponding various dimensions motion of each spatial point pre-planning information on hyperspace track.
(5.3) various dimensions pre-planning information being sent to slave computer processes.
Various dimensions pre-planning information is sent to the method that slave computer processes is: the disposable various dimensions pre-planning information slave computer that sends to, after to be sent completing, slave computer sends to respectively the driver of each axle to process various dimensions pre-planning information again; Or be: various dimensions pre-planning information is sent to slave computer in the mode of data stream, and slave computer edge joint is received limit and sent to respectively the driver of each axle to process various dimensions pre-planning information.
embodiment:
The material of processing work is: stainless steel 304, and thickness is 10mm;
Cutting pattern is that a length of side is the square IJGH of 100mm, and to have a diameter be the circle of 50mm in square IJGH inside, as shown in figure 12;
Working process parameter is:
Pressure 385MPa; Nozzle diameter 0.33mm((operating) water nozzle) and 0.89mm abrasive jet; Abrasive material flow 0.45kg/min; Abrasive grain 80 orders.
Of the present invention to penetrate point as controlling the high energy beam job operation of target, comprise the following steps:
(1) by cutting pattern vector quantization, and the cutting pattern after vector quantization is split into several line segment unit;
(2), according to processing work and cutting pattern, design two groups of incision lines and cut out line, i.e. BC, CD and EF, FK;
(3) according to cutting pattern, cut line and cut out line, add non-processing line AB and DE, after sequence, obtain penetrating point and at a cutting path track for processing work lower surface motion be: A-B-C-circle-C-D-E-F-G-H-I-J-F-K;
(4) according to the cutting path Trajectory Design cutting scheme that penetrates point; Owing to there being an exterior angle in cutting pattern, therefore determine that cutting scheme was blanking method; And there is a circle cutting pattern inside, adopts cutting head hypsokinesis method when therefore cutting scheme also comprises cutting arc shape work piece.
(5) path planning, the cutting scheme of putting according to processing work, ejaculation and the working process parameter designing in advance, calculate and inject the some hyperspace track in the motion of processing work upper surface;
Concrete step is as follows:
(5.1) set up XYZ rectangular coordinate system taking an A as initial point;
(5.2) the middle-grade quality grade that the above working process parameter of basis and user select, the ideal cut speed that calculates housing straight flange is per minute 161mm, the ideal cut speed of inner circle is per minute 160mm.
(5.3), as setting value the housing F-G-H-I-J-F on Figure 12 left side is outwards offset taking the half (or value of user's input) of abrasive jet diameter, inner circle, to bias internal, forms the path planning after skew;
(5.4) adopted butt case to form the path planning on Figure 12 the right, and crossed length of tangent degree and be defined as 1.76mm;
(5.5) above path planning is carried out to smart interpolation;
(5.6) determine the speed (as shown in figure 13) of each short line segment after smart interpolation;
(5.7) determine ejaculation point drag and the jet taper angle of each short line segment after smart interpolation, such as certain any ejaculation point drag in inner circle is 0.122mm, jet taper angle is 0.36 degree;
(5.8) determine cutting head hypsokinesis angle and cutting head lateral deviation angle, corresponding above inner circle point is spent for hypsokinesis 0.7, and lateral deviation 0.36 is spent;
(5.9), according to the position angle of each short line segment and corresponding hypsokinesis angle, lateral deviation angle and beat direction, calculate the corner component around X-axis and Y-axis rotation corresponding with each short line segment;
(5.10) XYZ coordinate of the termination end points of each short line segment and corresponding X-axis, Y-axis corner component form the spatial point of five degree of freedom, all spatial point corresponding with all short line segments are linked up to form and inject the some hyperspace track in the motion of processing work upper surface.Figure 14 is the schematic diagram of implementing this hyperspace track with a concrete five-shaft movement mechanism.(6) according to the working process parameter of injecting hyperspace track a little and design in advance, workpiece is processed.
Claims (5)
1. to penetrate point as controlling a high energy beam job operation for target, it is characterized in that, comprise the following steps:
(1) by cutting pattern vector quantization, and the cutting pattern after vector quantization is split into several line segment unit;
(2), according to processing work and cutting pattern, design is cut line and is cut out line;
(3) according to each line segment unit of cutting pattern, cut line and cut out line, the path planning of point in processing work lower surface motion penetrated in design;
(4) according to the path planning that penetrates point, design cutting scheme;
Described cutting scheme comprises following at least one:
(a) while cutting exterior angle, adopted blanking method and/or cutting head hypsokinesis method;
(b) while cutting interior angle, adopt cutting head hypsokinesis method;
(c) adopt cutting head hypsokinesis method when cutting arc shape work piece;
(d) while eliminating tangent plane natural taper or cut out design tapering, adopt cutting head side direction deflection angle method;
(5) path planning, the cutting scheme of putting according to processing work, ejaculation and the working process parameter designing in advance, calculate and inject the some hyperspace track in the motion of processing work upper surface;
(6) according to the working process parameter of injecting hyperspace track a little and design in advance, workpiece is processed.
2. high energy beam job operation according to claim 1, is characterized in that, if the cutting pattern described in step (2) comprises closed region, designs the direction of incision line of closed region for perpendicular to line of cut, and point of penetration and cut out a coincidence; Described line of cut is the straight line at point of penetration place in cutting pattern or is the tangent line of cutting pattern in point of penetration.
3. high energy beam job operation according to claim 1, is characterized in that, calculates the concrete grammar of injecting a little at the hyperspace track of processing work upper surface motion to be in step (5):
(5.1) set up XYZ rectangular coordinate system taking path planning starting point as initial point;
(5.2) path planning that penetrates point is moved to a setting value to incision line place one lateral deviation, obtain the path planning after skew;
(5.3), according to geometric parameter and the working process parameter of each line segment unit on the path planning after skew, design the ideal cut speed of each line segment unit;
(5.4) if cutting scheme be: cutting adopted blanking method when exterior angle, after the line segment unit that is positioned at position, exterior angle the side in incision, all added forward extended line and reverse extending line; The length of forward extended line and reverse extending line is 1-2 times that this line segment unit penetrates some drag;
(5.5) each line segment unit of the path planning after skew is split as to one or more of short line segments, calculates the XYZ coordinate of every short line segment termination end points;
(5.6) design the cutting speed of this short line segment according to the requirement of the ideal cut speed of line segment unit, each short line segment place and speed continuity and flatness;
(5.7), according to the cutting speed of each short line segment and working process parameter, calculate ejaculation point drag and jet taper angle that each short line segment is corresponding;
(5.8), according to the ejaculation point drag of each short line segment and jet taper angle, calculate corresponding cutting head hypsokinesis angle and cutting head lateral deviation angle and beat direction;
(5.9), according to the position angle of each short line segment and corresponding cutting head hypsokinesis angle, lateral deviation angle and beat direction, calculate the corner component around X-axis and Y-axis rotation corresponding with each short line segment;
(5.10) XYZ coordinate of the termination end points of each short line segment and corresponding X-axis, Y-axis corner component form the spatial point of five degree of freedom, all spatial point corresponding with all short line segments are linked up to form and inject the some hyperspace track in the motion of processing work upper surface.
4. high energy beam job operation according to claim 1, is characterized in that, the concrete grammar of according to the working process parameter of injecting hyperspace track a little and design in advance, workpiece being processed described in step (6) is:
(A) on the hyperspace track of injecting a little, select several spatial point as technology controlling and process point, on these technology controlling and process points, add the required manipulation order of cutting process;
(B) calculate the corresponding various dimensions motion of each spatial point pre-planning information on hyperspace track, described various dimensions pre-planning information includes but not limited to number of motor steps, direction of motion, manipulation order and the speed of multiaxial motion;
(C) various dimensions pre-planning information being sent to slave computer processes.
5. high energy beam job operation according to claim 4, it is characterized in that, various dimensions pre-planning information being sent to the method that slave computer processes in step (C) is: the disposable various dimensions pre-planning information slave computer that sends to, after to be sent completing, slave computer sends to respectively the driver of each axle to process various dimensions pre-planning information again; Or be: various dimensions pre-planning information is sent to slave computer in the mode of data stream, and slave computer edge joint is received limit and sent to respectively the driver of each axle to process various dimensions pre-planning information.
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| CN110765609A (en) * | 2019-10-18 | 2020-02-07 | 上海狮迈科技有限公司 | Offset compensation method for high-energy beam cutting path and high-energy beam cutting device |
| CN112719631B (en) * | 2020-12-21 | 2023-01-20 | 天津长荣科技集团股份有限公司 | Method for editing, dividing and exporting data of laser die cutting design |
| CN113721544A (en) * | 2021-08-31 | 2021-11-30 | 浙江大学 | Laser cutting punching-free processing path generation method |
| CN114167807B (en) * | 2021-12-09 | 2024-01-26 | 上海维宏智能技术有限公司 | Method, device, processor and storage medium for calculating and planning cutting speed for different materials in numerical control system |
| CN114474429B (en) * | 2022-02-17 | 2023-11-10 | 沈阳和研科技股份有限公司 | Image-based cutting compensation method of dicing saw |
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| CN102346459A (en) * | 2011-10-09 | 2012-02-08 | 东南大学 | Cutting process offline coordination method of multi-beam type water jet cutting system |
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