CN106444625A - Cutter head servo control method and cutter head servo control device for glass cutting machine - Google Patents
Cutter head servo control method and cutter head servo control device for glass cutting machine Download PDFInfo
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- CN106444625A CN106444625A CN201610828279.1A CN201610828279A CN106444625A CN 106444625 A CN106444625 A CN 106444625A CN 201610828279 A CN201610828279 A CN 201610828279A CN 106444625 A CN106444625 A CN 106444625A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
- C03B33/00—Severing cooled glass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
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Abstract
The invention discloses a cutter head servo control method and a cutter head servo control device for a glass cutting machine. The method is used to control a cutter head servo controller in order to drive a cutter head servo shaft to drive a cutter head to rotate. The method comprises the following steps: providing a cutter head servo parameter as a target cutter head servo parameter; acquiring a target cutter head servo angle; and performing angle interpolation motion. Angle calculation is performed according to the target cutter head servo parameter to get the target cutter head servo angle, and interpolation is performed according to the target cutter head servo angle to get the output control pulse of the cutter head servo shaft. The cutter head servo controller receives the output control pulse, and makes the cutter head servo shaft rotate, so as to achieve a cutter head servo function. By using the method and the device, the cutter head of a numerical control glass cutting machine can be driven to rotate, the cutter head is driven to rotate according to the processing track in glass processing, and the problem that the processing requirements cannot be met for processing of special-shaped glass as the cutting edge direction of the cutter head is inconsistent with the tangential direction of the track is solved.
Description
Technical field
The present invention relates to a kind of control method and its control device, the servo-actuated control of the more particularly, to a kind of cutter head of glass cutting machine
Method processed and its control device.
Background technology
Glass cutting machine (Glass cutting machine) refers to be exclusively used in a kind of processing machine of glass processing and blanking
Tool.Typically by manual hand manipulation, medium-to-high grade glass cutting machine typically realizes glass by digital control system to low-grade glass cutting machine at present
The automatically or semi-automatically processing of glass cutting.Due to glass processing particularity, glass cutting machine tool tip material is typically chosen diamond.
And diamond cutter cutting edge is in line style, in processing profiled (as circular arc) glass, if cutter head cutting edge direction is cut with track
Line direction is inconsistent, and processing effect can be led to very poor, can damage cutter when serious.
At present, manual hand manipulation's cutter head turns to, not only inefficiency, and also is difficult to meet machining accuracy.It is furnished with number
The glass cutting machine of control system, can facilitate processing linear shape glass, and can meet the numerical control glass cutting of processing profiled glass
Machine is dependent on import, expensive, once and equipment occurs abnormal, maintenance cost is very high.Therefore, cut in existing numerical control glass
In cutting mill, increase and be easily achieved and cutter head following control technical easy to maintenance, be urgent problem.
Content of the invention
The present invention is for avoiding the weak point existing for above-mentioned prior art, provide a kind of cutter head of glass cutting machine with
Flowing control method and its control device so that in numerical control glass cutting machine, cutter head can be servo-actuated, when carrying out glass processing,
Cutter head carries out servo-actuated according to machining locus, solves in processing profiled glass, due to cutter head cutting edge direction and orbit tangent side
To inconsistent it is impossible to meet the defect of processing request.
The solution of the present invention is：A kind of cutter head follow-up control method of glass cutting machine, it is used for controlling cutter head to watch
Take controller to realize the purpose driving cutter head servo axis to be rotated with dynamic cutter head；The method comprising the steps of：
Step one, the servo-actuated parameter of one cutter head of offer are as the servo-actuated parameter of target cutter head：The servo-actuated parameter of cutter head adds for straight line
One of work instruction and arc machining instruction instruction, described straight line Machining Instruction includes the starting point coordinate of straight line and terminal is sat
Mark；Described arc machining instruction includes starting point coordinate, terminal point coordinate, central coordinate of circle and the direction of rotation of circular arc；
Step 2, the acquisition servo-actuated angle of target cutter head：
When straight line processing turns straight line processing, all correspond in the servo-actuated parameter of current cutter head and the servo-actuated parameter of target cutter head
During straight line Machining Instruction, calculate the angle between corresponding two straight lines of this two straight line Machining Instruction, and as described target
The servo-actuated angle of cutter head；
When straight line processing turns arc machining, correspond to straight line Machining Instruction in the servo-actuated parameter of current cutter head, and target
When the servo-actuated parameter of cutter head corresponds to arc machining instruction, calculate this corresponding straight line of straight line Machining Instruction and this arc machining instructs
Angle between the tangent line of corresponding circular arc, and as the servo-actuated angle of described target cutter head；
When arc machining, it is sky in the servo-actuated parameter of current cutter head, and the servo-actuated parameter of target cutter head corresponds to circular arc and adds
During work instruction, only need to calculate the central angle that this arc machining instructs corresponding circular arc, and as the servo-actuated angle of described target cutter head
Degree；
When arc machining turns straight line processing, correspond to arc machining instruction in the servo-actuated parameter of current cutter head, and target
When the servo-actuated parameter of cutter head corresponds to straight line Machining Instruction, calculate this corresponding straight line of straight line Machining Instruction and this arc machining instructs
Angle between the tangent line of corresponding circular arc, and as the servo-actuated angle of described target cutter head；
When arc machining turns arc machining, all correspond in the servo-actuated parameter of current cutter head and the servo-actuated parameter of target cutter head
During arc machining instruction, calculate the angle that this two arc machinings instruct between the tangent line of corresponding two circular arcs, and as institute
State the servo-actuated angle of target cutter head；
Step 3, angle moving interpolation：To described target cutter head, servo-actuated angle carries out interpolation calculating, obtains output control arteries and veins
Punching, described output control pulse is sent to cutter head servo controller to control cutter head servo axis to drive cutter head to be rotated.
As the improvement further of such scheme, in step one, obtained using decoded operation is carried out to G code processed file
Take the servo-actuated parameter of described target cutter head.
As the improvement further of such scheme, in step 2, when straight line processing turns straight line processing, straight according to this two
Line direction vector calculates corresponding angle.
As the improvement further of such scheme, in step 2, when straight line processing turns arc machining, according to rectilinear direction
Vector calculates corresponding angle to circular arc tangential line vector.
As the improvement further of such scheme, in step 2, when arc machining, only need to be sat according to the starting point of circular arc
Mark, terminal point coordinate, radius and direction of rotation calculate central angle.
As the improvement further of such scheme, in step 2, when arc machining turns straight line processing, according to circular arc tangential line
Vector calculates corresponding angle to rectilinear direction vector.
As the improvement further of such scheme, in step 2, when arc machining turns arc machining, according to this two circles
Arc tangent line rector calculates corresponding angle.
As the improvement further of such scheme, methods described also includes step：Carry out threshold value before angle moving interpolation
Judge：Whether judge the servo-actuated angle of described target cutter head less than predetermined minimum rotation angle, as otherwise to described target cutter head
Servo-actuated angle carries out interpolation calculating；Otherwise to described target cutter head, servo-actuated angle does not carry out interpolation calculating, but the mesh in this moment
The mark servo-actuated angle of cutter head and the servo-actuated angle of target cutter head in lower moment carry out angle and add up, and to cumulative in corresponding step three
Value carries out threshold decision.
The present invention also provides a kind of cutter head follow-up control device of glass cutting machine, and it adopts above-mentioned any glass cutting machine
Cutter head follow-up control method, for control cutter head servo controller with realize drive cutter head servo axis band dynamic cutter head rotated
Purpose；Described device includes：
The servo-actuated parameter output module of target cutter head, it is used for the servo-actuated parameter of one cutter head of offer as the servo-actuated ginseng of target cutter head
Number：The servo-actuated parameter of cutter head is the instruction of one of straight line Machining Instruction and arc machining instruction, and described straight line Machining Instruction includes
The starting point coordinate of straight line and terminal point coordinate；The instruction of described arc machining includes the starting point coordinate of circular arc, terminal point coordinate, central coordinate of circle
And direction of rotation；
Target cutter head servo-actuated angle acquisition module, it is used for obtaining the servo-actuated angle of target cutter head：
When straight line processing turns straight line processing, all correspond in the servo-actuated parameter of current cutter head and the servo-actuated parameter of target cutter head
During straight line Machining Instruction, calculate the angle between corresponding two straight lines of this two straight line Machining Instruction, and as described target
The servo-actuated angle of cutter head；
When straight line processing turns arc machining, correspond to straight line Machining Instruction in the servo-actuated parameter of current cutter head, and target
When the servo-actuated parameter of cutter head corresponds to arc machining instruction, calculate this corresponding straight line of straight line Machining Instruction and this arc machining instructs
Angle between the tangent line of corresponding circular arc, and as the servo-actuated angle of described target cutter head；
When arc machining, it is sky in the servo-actuated parameter of current cutter head, and the servo-actuated parameter of target cutter head corresponds to circular arc and adds
During work instruction, only need to calculate the central angle that this arc machining instructs corresponding circular arc, and as the servo-actuated angle of described target cutter head
Degree；
When arc machining turns straight line processing, correspond to arc machining instruction in the servo-actuated parameter of current cutter head, and target
When the servo-actuated parameter of cutter head corresponds to straight line Machining Instruction, calculate this corresponding straight line of straight line Machining Instruction and this arc machining instructs
Angle between the tangent line of corresponding circular arc, and as the servo-actuated angle of described target cutter head；
When arc machining turns arc machining, all correspond in the servo-actuated parameter of current cutter head and the servo-actuated parameter of target cutter head
During arc machining instruction, calculate the angle that this two arc machinings instruct between the tangent line of corresponding two circular arcs, and as institute
State the servo-actuated angle of target cutter head；
Interpolation computing module, it is used for angle moving interpolation：To described target cutter head, servo-actuated angle carries out interpolation calculating, obtains
To output control pulse, described output control pulse is sent to cutter head servo controller to control cutter head servo axis to drive cutter head to enter
Row rotation.
As the improvement further of such scheme, described device also includes threshold value judgment module, and it is used in angle interpolation
Carry out threshold decision before motion：Whether judge the servo-actuated angle of described target cutter head less than predetermined minimum rotation angle, as otherwise
To described target cutter head, servo-actuated angle carries out interpolation calculating；Otherwise to described target cutter head, servo-actuated angle does not carry out interpolation calculating,
But the servo-actuated angle of target cutter head in the servo-actuated angle of target cutter head in this moment and lower moment carries out angle to add up, and corresponding
In step 3, threshold decision is carried out to accumulated value.
Compared with the prior art, especially compared with the numerical control glass cutting machine of import, the present invention enables existing glass
The servo-actuated effect of identical cutter head of cutting machine, and realize simple, the construction cycle is short, function-stable, and low cost is it is easy to keep in repair, device
Cutting accuracy is not less than prior art.
Brief description
Fig. 1 is the flow chart of the cutter head follow-up control method of glass cutting machine of the present invention.
When Fig. 2 is arc machining, the calculating schematic diagram of the servo-actuated angle of target cutter head.
When Fig. 3 is that straight line processing turns straight line processing, the calculating schematic diagram of the servo-actuated angle of target cutter head.
When Fig. 4 is that straight line processing turns arc machining, the calculating schematic diagram of the servo-actuated angle of target cutter head.
When Fig. 5 is that arc machining turns arc machining, the calculating schematic diagram of the servo-actuated angle of target cutter head.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.
Refer to Fig. 1, the cutter head follow-up control method of glass cutting machine of the present invention, it is used for controlling cutter head servo controller
To realize the purpose driving cutter head servo axis to be rotated with dynamic cutter head.The servo-actuated control of cutter head for the glass cutting machine of the present invention
Method processed, arranges the cutter head follow-up control device of corresponding glass cutting machine, the cutter head servo antrol dress of described glass cutting machine
Put including the servo-actuated parameter output module of target cutter head for exporting the servo-actuated parameter of target cutter head, be used for obtaining target cutter head servo-actuated
The target cutter head servo-actuated angle acquisition module of angle, the interpolation computing module for angle moving interpolation, in angle interpolation
Carry out the threshold value judgment module of threshold decision before motion.The method comprising the steps of.
Step one, the servo-actuated parameter of one cutter head of offer are as the servo-actuated parameter of target cutter head：The servo-actuated parameter of cutter head adds for straight line
One of work instruction and arc machining instruction instruction, described straight line Machining Instruction includes the starting point coordinate of straight line and terminal is sat
Mark；Described arc machining instruction includes starting point coordinate, terminal point coordinate, central coordinate of circle and the direction of rotation of circular arc.This step is by mesh
Mark cutter head servo-actuated parameter output module execution.
In step one, except being manually entered the servo-actuated parameter of described target cutter head, it would however also be possible to employ existing G code processing literary composition
Part, carries out decoded operation to G code processed file and obtains the servo-actuated parameter of described target cutter head.
Step 2, the acquisition servo-actuated angle of target cutter head.This step is executed by target cutter head servo-actuated angle acquisition module, this step
Suddenly there are multiple situations, following introduction.
When straight line processing turns straight line processing, all correspond in the servo-actuated parameter of current cutter head and the servo-actuated parameter of target cutter head
During straight line Machining Instruction, calculate the angle between corresponding two straight lines of this two straight line Machining Instruction, and as described target
The servo-actuated angle of cutter head.Corresponding angle can be calculated according to this two rectilinear direction vectors during concrete application.
When straight line processing turns arc machining, correspond to straight line Machining Instruction in the servo-actuated parameter of current cutter head, and target
When the servo-actuated parameter of cutter head corresponds to arc machining instruction, calculate this corresponding straight line of straight line Machining Instruction and this arc machining instructs
Angle between the tangent line of corresponding circular arc, and as the servo-actuated angle of described target cutter head.Can be according to straight line side during concrete application
Calculate corresponding angle to vector to circular arc tangential line vector.
When arc machining, it is sky in the servo-actuated parameter of current cutter head, and the servo-actuated parameter of target cutter head corresponds to circular arc and adds
During work instruction, only need to calculate the central angle that this arc machining instructs corresponding circular arc, and as the servo-actuated angle of described target cutter head
Degree.Only central angle need to be calculated according to the starting point coordinate of circular arc, terminal point coordinate, radius and direction of rotation during concrete application.
When arc machining turns straight line processing, correspond to arc machining instruction in the servo-actuated parameter of current cutter head, and target
When the servo-actuated parameter of cutter head corresponds to straight line Machining Instruction, calculate this corresponding straight line of straight line Machining Instruction and this arc machining instructs
Angle between the tangent line of corresponding circular arc, and as the servo-actuated angle of described target cutter head.Can be cut according to circular arc during concrete application
Line vector calculates corresponding angle to rectilinear direction vector.
When arc machining turns arc machining, all correspond in the servo-actuated parameter of current cutter head and the servo-actuated parameter of target cutter head
During arc machining instruction, calculate the angle that this two arc machinings instruct between the tangent line of corresponding two circular arcs, and as institute
State the servo-actuated angle of target cutter head.Corresponding angle can be calculated according to this two circular arc tangential line vectors during concrete application.
Step 3, angle moving interpolation：To described target cutter head, servo-actuated angle carries out interpolation calculating, obtains output control arteries and veins
Punching, described output control pulse is sent to cutter head servo controller to control cutter head servo axis to drive cutter head to be rotated.This step
Suddenly executed by interpolation computing module,
A step can be increased before step 3, before angle moving interpolation, carry out threshold decision：Judge described mesh
Whether the mark servo-actuated angle of cutter head is less than predetermined minimum rotation angle, as otherwise servo-actuated angle carries out interpolation to described target cutter head
Calculate；Otherwise to described target cutter head, servo-actuated angle does not carry out interpolation calculating, but the servo-actuated angle of target cutter head in this moment and
The servo-actuated angle of target cutter head in lower moment carries out angle and adds up, and carries out threshold decision to accumulated value in corresponding step three.
This step is executed by threshold value judgment module.
Therefore, the servo-actuated angle of target cutter head can obtain the servo-actuated parameter of target cutter head from G code processed file through decoding
Afterwards, angle calculation is carried out according to the servo-actuated parameter of target, after obtaining the servo-actuated angle of target cutter head, carry out whether threshold decision carries out angle
Degree moving interpolation.The servo-actuated parameter of described target cutter head includes Machining Instruction number (line correspondence and arc machining), starting point coordinate, eventually
Point coordinates, central coordinate of circle and direction of rotation (arc machining).Above-mentioned moving interpolation refers to, according to servo-actuated angle, carry out interpolation meter
Calculate, obtain the output control pulse of cutter head servo axis.Above-mentioned output control pulse is sent to cutter head SERVO CONTROL by CNC controller
Device, then control cutter head servo axis to be rotated by cutter head servo controller, thus realizing cutter head lag function.
In being embodied as, the acquisition to the servo-actuated angle of target cutter head describes in detail again, as shown in Figure 2-5.
When carrying out arc machining, read Machining Instruction code from G code processed file, through decoding, obtain servo-actuated
Parameter：Starting point coordinate S (xs,ys), terminal point coordinate E (xE,yE), central coordinate of circle O (xO,yO), and arc machining direction.As Fig. 2
Solid line represents and is worked into E point clockwise from S point, dotted line represents that S point is worked into E point counterclockwise.Found out by Fig. 2, machine direction is not
With, machining locus are just different, and corresponding central angle is different, and the corresponding central angle of Fig. 2 solid black lines is α, and now circular arc is minor arc,
The corresponding central angle of dotted line is (2 π-α), and now circular arc is major arc.Calculate α first, then carry out central angle and accept or reject judgement.According to
Amount angle formulaeCan obtain：
According to vectorial multiplication cross formulaIn conjunction with arc machining
Direction can obtain：
In formula, G02 represents circular arc machine direction clockwise, and G03 represents circular arc machine direction counterclockwise.
Can get the servo-actuated angle of cutter head during arc machining according to formula (1), (2), be then passed to the servo-actuated interpolation of cutter head
Instruction carries out interpolation.Interpolation Process as shown in Fig. 2 in locus interpolation simultaneously, further according to the servo-actuated angle of calculated cutter head in real time
Degree δ, carries out the output pulsed quantity that interpolation is calculated each axle.These pulsed quantities are sent to servo controller through CNC controller,
Final controlled motor is rotated, thus realizing locus interpolation and cutter head is servo-actuated.
Carry out straight line processing go to straight line processing when, from G code processed file through decoding, obtain servo-actuated parameter：Rise
Point coordinates A (xA,yA), transfer point coordinates B (xB,yB), terminal point coordinate C (xC,yC), as shown in Figure 3.According to aforementioned vector angle meter
Calculate formula (1) and the servo-actuated angle of cutter head can be calculated, then through the servo-actuated Interpolation Process of aforementioned cutter head, realize cutter head servo-actuated.
Carry out straight line processing go to arc machining when, from G code processed file through decoding, obtain servo-actuated parameter：Rise
Point coordinates A (xA,yA), transfer point coordinates B (xB,yB), terminal point coordinate C (xC,yC), central coordinate of circle O (xO,yO), and arc machining
Direction, as shown in Figure 4.First according to arc machining direction and coordinate parameters, be calculated circular arc tangential line vector, then further according to
Above-mentioned straight line processing goes to the method in straight line processing, is calculated the servo-actuated angle of cutter head, then through the servo-actuated interpolation of aforementioned cutter head
Process, realizes cutter head servo-actuated.
When carrying out arc machining and going to straight line processing, it is calculated the method for the servo-actuated angle of cutter head and above-mentioned straight line processing
The computational methods going to arc machining are basically identical.
When carrying out arc machining and going to arc machining, from G code processed file through decoding, obtain servo-actuated parameter：Rise
Point coordinates A (xA,yA), transfer point coordinates B (xB,yB), terminal point coordinate C (xC,yC), circular arc 1 central coordinate of circle O1(xO1,yO1), circular arc 2
Central coordinate of circle O2(xO2,yO2) and arc machining direction, as shown in Figure 5.First according to arc machining direction and coordinate parameters, point
It is not calculated circular arc 1 tangent line rector and circular arc 2 tangent line rector, then go in straight line processing further according to the processing of above-mentioned straight line
Method, is calculated the servo-actuated angle of cutter head, then through the servo-actuated Interpolation Process of aforementioned cutter head, realizes cutter head servo-actuated.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. the cutter head follow-up control method of a kind of glass cutting machine, it is used for controlling cutter head servo controller to realize driving cutter head
The purpose that servo axis are rotated with dynamic cutter head；It is characterized in that：The method comprising the steps of：
Step one, the servo-actuated parameter of one cutter head of offer are as the servo-actuated parameter of target cutter head：The servo-actuated parameter of cutter head refers to for straight line processing
One of order and arc machining instruction instruction, described straight line Machining Instruction includes starting point coordinate and the terminal point coordinate of straight line；Institute
State starting point coordinate, terminal point coordinate, central coordinate of circle and the direction of rotation that arc machining instruction includes circular arc；
Step 2, the acquisition servo-actuated angle of target cutter head：
When straight line processing turns straight line processing, all correspond to straight line in the servo-actuated parameter of current cutter head and the servo-actuated parameter of target cutter head
During Machining Instruction, calculate the angle between corresponding two straight lines of this two straight line Machining Instruction, and as described target cutter head
Servo-actuated angle；
When straight line processing turns arc machining, correspond to straight line Machining Instruction in the servo-actuated parameter of current cutter head, and target cutter head
When servo-actuated parameter corresponds to arc machining instruction, calculate this corresponding straight line of straight line Machining Instruction corresponding with the instruction of this arc machining
The tangent line of circular arc between angle, and as the servo-actuated angle of described target cutter head；
When arc machining, it is sky in the servo-actuated parameter of current cutter head, and the servo-actuated parameter of target cutter head corresponds to arc machining and refers to
When making, only need to calculate the central angle that this arc machining instructs corresponding circular arc, and as the servo-actuated angle of described target cutter head；
When arc machining turns straight line processing, correspond to arc machining instruction in the servo-actuated parameter of current cutter head, and target cutter head
When servo-actuated parameter corresponds to straight line Machining Instruction, calculate this corresponding straight line of straight line Machining Instruction corresponding with the instruction of this arc machining
The tangent line of circular arc between angle, and as the servo-actuated angle of described target cutter head；
When arc machining turns arc machining, all correspond to circular arc in the servo-actuated parameter of current cutter head and the servo-actuated parameter of target cutter head
During Machining Instruction, calculate the angle that this two arc machinings instruct between the tangent line of corresponding two circular arcs, and as described mesh
The mark servo-actuated angle of cutter head；
Step 3, angle moving interpolation：To described target cutter head, servo-actuated angle carries out interpolation calculating, obtains output control pulse,
Described output control pulse is sent to cutter head servo controller to control cutter head servo axis to drive cutter head to be rotated.
2. glass cutting machine as claimed in claim 1 cutter head follow-up control method it is characterised in that：In step one, adopt
Decoded operation is carried out to G code processed file and obtains the servo-actuated parameter of described target cutter head.
3. glass cutting machine as claimed in claim 1 cutter head follow-up control method it is characterised in that：In step 2, when straight
When line processing turns straight line processing, calculate corresponding angle according to this two rectilinear direction vectors.
4. glass cutting machine as claimed in claim 1 cutter head follow-up control method it is characterised in that：In step 2, when straight
When line processing turns arc machining, corresponding angle is calculated to circular arc tangential line vector according to rectilinear direction vector.
5. glass cutting machine as claimed in claim 1 cutter head follow-up control method it is characterised in that：In step 2, work as circle
During arc processing, only central angle need to be calculated according to the starting point coordinate of circular arc, terminal point coordinate, radius and direction of rotation.
6. glass cutting machine as claimed in claim 1 cutter head follow-up control method it is characterised in that：In step 2, work as circle
When arc processing turns straight line processing, corresponding angle is calculated to rectilinear direction vector according to circular arc tangential line vector.
7. glass cutting machine as claimed in claim 1 cutter head follow-up control method it is characterised in that：In step 2, work as circle
When arc processing turns arc machining, calculate corresponding angle according to this two circular arc tangential line vectors.
8. glass cutting machine as claimed in claim 1 cutter head follow-up control method it is characterised in that：Methods described also includes
Step：Carry out threshold decision before angle moving interpolation：Judge the servo-actuated angle of described target cutter head whether less than predetermined minimum
Rotational angle, as otherwise to described target cutter head, servo-actuated angle carries out interpolation calculating；The otherwise not servo-actuated angle to described target cutter head
Degree carries out interpolation calculating, but the servo-actuated angle of target cutter head in the servo-actuated angle of target cutter head in this moment and lower moment carries out angle
Cumulative, and in corresponding step three, threshold decision is carried out to accumulated value.
9. the cutter head follow-up control device of a kind of glass cutting machine, it adopts glass as claimed in any of claims 1 to 7 in one of claims
The cutter head follow-up control method of glass cutting machine, for controlling cutter head servo controller to realize driving cutter head servo axis band dynamic cutter head
The purpose being rotated；It is characterized in that：Described device includes：
The servo-actuated parameter output module of target cutter head, it is used for the servo-actuated parameter of one cutter head of offer as the servo-actuated parameter of target cutter head：
The servo-actuated parameter of cutter head is the instruction of one of straight line Machining Instruction and arc machining instruction, and described straight line Machining Instruction includes straight line
Starting point coordinate and terminal point coordinate；Described arc machining instruction includes starting point coordinate, terminal point coordinate, central coordinate of circle and the rotation of circular arc
Turn direction；
Target cutter head servo-actuated angle acquisition module, it is used for obtaining the servo-actuated angle of target cutter head：
When straight line processing turns straight line processing, all correspond to straight line in the servo-actuated parameter of current cutter head and the servo-actuated parameter of target cutter head
During Machining Instruction, calculate the angle between corresponding two straight lines of this two straight line Machining Instruction, and as described target cutter head
Servo-actuated angle；
When straight line processing turns arc machining, correspond to straight line Machining Instruction in the servo-actuated parameter of current cutter head, and target cutter head
When servo-actuated parameter corresponds to arc machining instruction, calculate this corresponding straight line of straight line Machining Instruction corresponding with the instruction of this arc machining
The tangent line of circular arc between angle, and as the servo-actuated angle of described target cutter head；
When arc machining, it is sky in the servo-actuated parameter of current cutter head, and the servo-actuated parameter of target cutter head corresponds to arc machining and refers to
When making, only need to calculate the central angle that this arc machining instructs corresponding circular arc, and as the servo-actuated angle of described target cutter head；
When arc machining turns straight line processing, correspond to arc machining instruction in the servo-actuated parameter of current cutter head, and target cutter head
When servo-actuated parameter corresponds to straight line Machining Instruction, calculate this corresponding straight line of straight line Machining Instruction corresponding with the instruction of this arc machining
The tangent line of circular arc between angle, and as the servo-actuated angle of described target cutter head；
When arc machining turns arc machining, all correspond to circular arc in the servo-actuated parameter of current cutter head and the servo-actuated parameter of target cutter head
During Machining Instruction, calculate the angle that this two arc machinings instruct between the tangent line of corresponding two circular arcs, and as described mesh
The mark servo-actuated angle of cutter head；
Interpolation computing module, it is used for angle moving interpolation：To described target cutter head, servo-actuated angle carries out interpolation calculating, obtains defeated
Go out to control pulse, described output control pulse is sent to cutter head servo controller to control cutter head servo axis to drive cutter head to be revolved
Turn.
10. glass cutting machine as claimed in claim 9 cutter head follow-up control device it is characterised in that：Described device is also wrapped
Include threshold value judgment module, it is used for carrying out threshold decision before angle moving interpolation：Judge that the servo-actuated angle of described target cutter head is
No less than predetermined minimum rotation angle, as otherwise to described target cutter head, servo-actuated angle carries out interpolation calculating；Otherwise not to institute
State the servo-actuated angle of target cutter head and carry out interpolation calculating, but the servo-actuated angle of target cutter head in this moment and the target cutter head in lower moment
Servo-actuated angle carries out angle and adds up, and carries out threshold decision to accumulated value in corresponding step three.
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