CN110961798B - Laser cutting control system and control method - Google Patents
Laser cutting control system and control method Download PDFInfo
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- CN110961798B CN110961798B CN201911212988.7A CN201911212988A CN110961798B CN 110961798 B CN110961798 B CN 110961798B CN 201911212988 A CN201911212988 A CN 201911212988A CN 110961798 B CN110961798 B CN 110961798B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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Abstract
The invention relates to a laser cutting control system and a control method, wherein the laser cutting control system comprises: motion control card and servo drive module, motion control card and servo drive module include the network element respectively, wherein: the motion control card is used for acquiring motion control information from the current position to the position of a target for starting cutting and sending the motion control information to the servo drive module through a network unit of the motion control card; and the servo driving module controls the operation of the motor according to the motion control information and the motor operation feedback information, and controls and outputs a laser cutting signal when reaching the cutting starting target position. The motion control card controls the servo drive module through the network unit, saves the traditional shaft module and the position comparison unit, has simple structure, less transmission paths and high transmission speed, and can achieve better processing precision.
Description
Technical Field
The invention relates to the field of laser cutting control, in particular to a laser cutting control system and a laser cutting control method.
Background
The traditional laser cutting control system generally comprises a motion control card, a shaft module, a servo driver and other components, is complex in structure and low in integration level, and not only is wiring complicated in practical application, but also is long in debugging process and low in reliability.
In a conventional laser cutting control system, a motion control card needs to control servo drivers of an X axis, a Y axis and a Z axis through an external axis module, and meanwhile, each servo driver needs to transmit encoder position information back to the axis module and control laser output through position comparison information. The transmission paths are multiple, the system is complex, and the wiring and debugging difficulty is high; and the encoder has low pulse transmission speed, so that the position comparison output signal is delayed, and better processing precision cannot be achieved.
Disclosure of Invention
Therefore, the problems that in a traditional laser cutting control system, a plurality of transmission paths are needed, the system is complex, and wiring and debugging difficulty is high need to be solved; and the encoder has low pulse transmission speed, so that the position comparison output signal is delayed, and better processing precision cannot be achieved.
A laser cutting control system, comprising: motion control card and servo drive module, motion control card and servo drive module include the network element respectively, wherein: the motion control card is used for acquiring motion control information from the current position to the position of a target for starting cutting and sending the motion control information to the servo drive module through a network unit of the motion control card; and the servo driving module controls the operation of the motor according to the motion control information and the motor operation feedback information, and controls and outputs a laser cutting signal when reaching the cutting starting target position.
In one embodiment, the servo drive module comprises an X-axis servo driver, a Y-axis servo driver and a Z-axis servo driver; the X-axis servo driver is used for acquiring position information of an X axis of a motor encoder, the Y-axis servo driver is used for acquiring position information of a Y axis of the motor encoder, and the Z-axis servo driver is used for acquiring position information of a Z axis of the motor encoder;
the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver comprise network units; any one of the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver comprises a position comparison unit, the servo driver where the position comparison unit is located is used for receiving corresponding motor encoder shaft position information transmitted by the other two servo drivers through a network unit, and the position comparison unit judges whether the cutting starting target position is reached according to the motor encoder X-axis position information, the motor encoder Y-axis position information and the motor encoder Z-axis position information.
In one embodiment, the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver all comprise sampling units, and the sampling units are used for collecting three-phase alternating-current voltages of the motor to obtain motor current signals; the sampling unit further comprises a motor encoder, and the motor encoder is used for acquiring a motor position signal and a motor speed signal; the motor operation feedback information comprises the motor position signal, the motor speed signal and the motor current signal; and the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver control the operation of the motor according to the motion control information, the motor position signal, the motor speed signal and the motor current signal.
In one embodiment, the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver each include a processing unit, and the processing unit is configured to generate a switching signal according to the motion control information, the motor position signal, the motor speed signal and the motor current signal, and the switching signal is configured to control the operation of the motor.
In one embodiment, the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver each include a rectifying unit, the rectifying unit is configured to rectify an externally input voltage to obtain a first direct current voltage and a second direct current voltage, the first direct current voltage is used for motor control, and the second direct current voltage is used for providing a power supply for the sampling unit and the processing unit.
In one embodiment, the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver each include an inverter unit, and the inverter unit converts the first direct-current voltage into an alternating-current voltage according to the switching signal generated by the processing unit, where the alternating-current voltage is used to control the operation of the motor.
In one embodiment, the switching signal is a PWM signal.
In one embodiment, the first dc voltage is 310V, and the second dc voltage is 15V or less.
In one embodiment, the motion control card comprises a spatial trajectory calculation unit and a motion control unit, wherein:
the space track calculation unit is used for calculating and acquiring space motion track information from the current position to the position of the cutting starting target;
the motion control unit is used for acquiring a target motion speed and a target motion acceleration according to the space motion track information;
and the network unit of the motion control card is used for sending the space motion track information from the current position to the position of the target for starting cutting, the target motion speed and the target motion acceleration to the servo driving module.
A laser cutting control method is suitable for a laser cutting control system, the laser cutting control system comprises a motion control card and a servo drive module, and the motion control card and the servo drive module respectively comprise a network unit; the method comprises the following steps:
acquiring motion control information from the current position to the position of a target for starting cutting through the motion control card;
sending the motion control information to the servo drive module through a network unit of the motion control card;
the servo driving module controls the operation of the motor according to the motion control information and the motor operation feedback information;
and judging whether the target position for starting cutting is reached, continuing to control the motor to operate when the target position for starting cutting is not reached, and controlling and outputting a laser cutting signal when the target position for starting cutting is reached.
According to the laser cutting control system and the control method, the motion control card controls the servo drive module through the network unit, the traditional shaft module and the position comparison unit are omitted, the structure is simple, the transmission path is few, the transmission speed is high, and better processing precision can be achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a first embodiment of a laser cutting control system provided by the present invention;
FIG. 2 is a schematic diagram of a second embodiment of a laser cutting control system provided by the present invention;
FIG. 3 is a schematic diagram of a third embodiment of a laser cutting control system provided by the present invention;
FIG. 4 is a schematic view of a fourth embodiment of a laser cutting control system provided by the present invention;
FIG. 5 is a schematic diagram of a fifth embodiment of a laser cutting control system provided by the present invention;
FIG. 6 is a schematic diagram of a sixth embodiment of a laser cutting control system provided by the present invention;
FIG. 7 is a schematic diagram of a seventh embodiment of a laser cutting control system provided by the present invention;
fig. 8 is a schematic flow chart of a laser cutting control method provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, which is a schematic view of a first embodiment of a laser cutting control system provided by the present invention, the laser cutting control system includes: the motion control card 100 and the servo driver module 200, the motion control card 100 and the servo driver module 200 respectively include a network unit 300, wherein: the motion control card 100 is configured to acquire motion control information from a current position to a position where a cutting target starts, and send the motion control information to the servo driving module 200 through the network unit 300 of the motion control card 100 by using a network protocol; the servo driving module 200 controls the operation of the motor according to the motion control information and the motor operation feedback information, and controls to output a laser cutting signal when the target position for starting cutting is reached.
According to the laser cutting control system, the motion control card controls the servo drive module through the network unit, the traditional shaft module and the position comparison unit are omitted, the structure is simple, the transmission path is few, the transmission speed is high, and better processing precision can be achieved.
In one embodiment, as shown in fig. 2, which is a schematic view of a second embodiment of the laser cutting control system provided by the present invention, the servo driving module 200 may specifically include an X-axis servo driver 210, a Y-axis servo driver 220, and a Z-axis servo driver 230; the X-axis servo driver 210 is configured to obtain position information of an X axis of a motor encoder, the Y-axis servo driver 220 is configured to obtain position information of a Y axis of the motor encoder, and the Z-axis servo driver 230 is configured to obtain position information of a Z axis of the motor encoder.
The X-axis servo driver 210, the Y-axis servo driver 220 and the Z-axis servo driver 230 include a network unit 300; and any one of the X-axis servo driver 210, the Y-axis servo driver 220, and the Z-axis servo driver 230 includes a position comparing unit 211 (the position comparing unit 211 is taken as an example in the figure in the X-axis servo driver 210), the servo driver (the X-axis servo driver 210) where the position comparing unit 211 is located is configured to receive, through the network unit 300, corresponding motor encoder shaft position information (in this embodiment, motor encoder Y shaft position information and motor encoder Z shaft position information) transmitted by the other two servo drivers (the Y-axis servo driver 220 and the Z-axis servo driver 230) through the network unit 300, and the position comparing unit 211 determines whether the cutting start target position is reached according to the motor encoder X shaft position information, the motor encoder Y shaft position information, and the motor encoder Z shaft position information. If the cutting start target position is (10,10,10), the current position information of the X shaft of the motor encoder is 1, the position information of the Y shaft of the motor encoder is 2, and the position information of the Z shaft of the motor encoder is 3, so that the position information of the X shaft, the Y shaft and the Z shaft does not reach the cutting start target position, and the motor needs to be controlled to operate until the cutting start target position is reached.
In one embodiment, as shown in fig. 3, which is a schematic view of a third embodiment of the laser cutting control system provided by the present invention, each of the X-axis servo driver 210, the Y-axis servo driver 220, and the Z-axis servo driver 230 includes a sampling unit 400, where the sampling unit 400 is configured to collect three-phase ac voltages of a motor to obtain a motor current signal (the motor current signal is used to obtain a motor acceleration signal); the sampling unit 400 further includes a motor encoder for acquiring a motor position signal and a motor speed signal; the motor operation feedback information comprises a motor position signal, a motor speed signal and a motor current signal; the X-axis servo driver 210, the Y-axis servo driver 220, and the Z-axis servo driver 230 control the operation of the motor according to the motion control information, the motor position signal, the motor speed signal, and the motor current signal.
In one embodiment, as shown in fig. 4, which is a schematic view of a fourth embodiment of the laser cutting control system provided by the present invention, each of the X-axis servo driver 210, the Y-axis servo driver 220, and the Z-axis servo driver 230 includes a processing unit 500, and the processing unit 500 is configured to generate a switching signal for controlling the operation of the motor according to the motion control information, the motor position signal, the motor speed signal, and the motor current signal.
In one embodiment, as shown in fig. 5, which is a schematic diagram of a fifth embodiment of the laser cutting control system provided by the present invention, each of the X-axis servo driver 210, the Y-axis servo driver 220, and the Z-axis servo driver 230 includes a rectifying unit 600, where the rectifying unit 600 is configured to rectify an externally input voltage to obtain a first direct current voltage and a second direct current voltage, the first direct current voltage is used for motor control, and the second direct current voltage is used for providing a power supply for the sampling unit 400 and the processing unit 500. In one embodiment, the first dc voltage may be 310V, and the second dc voltage may be 15V or less.
In one embodiment, as shown in fig. 6, which is a schematic view of a sixth embodiment of the laser cutting control system provided by the present invention, each of the X-axis servo driver 210, the Y-axis servo driver 220, and the Z-axis servo driver 230 includes an inverter unit 700, and the inverter unit 700 converts the first direct-current voltage into an alternating-current voltage according to the switching signal generated by the processing unit 500, and the alternating-current voltage is used for controlling the operation of the motor. In one embodiment, the switching signal may be a PWM (Pulse width modulation) signal, and the PWM signal is input to a control end of a switching tube of the inverter unit 700 to control on and off of the switching tube of the inverter unit 700, so as to convert the first dc voltage into an ac voltage, and further control operation of the motor through the ac voltage.
In one embodiment, as shown in fig. 7, which is a schematic diagram of a seventh embodiment of the laser cutting control system provided by the present invention, the motion control card 100 may specifically include a spatial trajectory calculation unit 110 and a motion control unit 120, where:
the spatial trajectory calculation unit 110 is configured to calculate and acquire spatial motion trajectory information from the current position to the cutting start target position.
The motion control unit 120 is configured to obtain a target motion speed and a target motion acceleration according to the spatial motion trajectory information.
The network unit 300 of the motion control card 100 is configured to send the spatial motion trajectory information from the current position to the cutting start target position, the target motion velocity, and the target motion acceleration to the servo driving module 200.
The invention also provides a laser cutting control method, which is suitable for a laser cutting control system, wherein the laser cutting control system specifically comprises a motion control card and a servo drive module, and the motion control card and the servo drive module respectively comprise a network unit; as shown in fig. 8, the laser cutting control method may specifically include the following steps:
step S100: and acquiring motion control information from the current position to the cutting starting target position through the motion control card.
Step S200: and sending the motion control information to the servo drive module through the network unit of the motion control card.
Step S300: and the servo driving module controls the operation of the motor according to the motion control information and the motor operation feedback information.
Step S400: and judging whether the laser cutting machine reaches the cutting starting target position, continuing to control the motor to operate when the laser cutting machine does not reach the cutting starting target position, and controlling to output a laser cutting signal when the laser cutting machine reaches the cutting starting target position.
The laser cutting control method in this embodiment is the same as the laser cutting control system in the embodiment corresponding to fig. 1, and the specific implementation process is described in detail in the corresponding system embodiment, and the technical features in the system embodiment are all applicable in this method embodiment, and are not described herein again.
According to the laser cutting control method, the servo drive module is controlled through the motion control card and the network unit, the traditional shaft module and the position comparison unit are omitted, the structure is simple, the transmission path is few, the transmission speed is high, and better processing precision can be achieved.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A laser cutting control system, comprising: motion control card and servo drive module, motion control card and servo drive module include the network element respectively, wherein: the motion control card is used for acquiring motion control information from the current position to the position of a target for starting cutting and sending the motion control information to the servo drive module through a network unit of the motion control card; the servo driving module controls the operation of the motor according to the motion control information and the motor operation feedback information, and controls and outputs a laser cutting signal when reaching the cutting starting target position;
the servo drive module comprises an X-axis servo driver, a Y-axis servo driver and a Z-axis servo driver; the X-axis servo driver is used for acquiring position information of an X axis of a motor encoder, the Y-axis servo driver is used for acquiring position information of a Y axis of the motor encoder, and the Z-axis servo driver is used for acquiring position information of a Z axis of the motor encoder;
the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver comprise network units; any one of the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver comprises a position comparison unit, the servo driver where the position comparison unit is located is used for receiving corresponding motor encoder shaft position information transmitted by the other two servo drivers through a network unit through the network unit, and the position comparison unit judges whether the cutting starting target position is reached or not according to the motor encoder X-axis position information, the motor encoder Y-axis position information and the motor encoder Z-axis position information until the cutting starting target position is reached.
2. The laser cutting control system of claim 1, wherein the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver each comprise a sampling unit, and the sampling unit is configured to collect three-phase ac voltages of the motor to obtain a motor current signal; the sampling unit further comprises a motor encoder, and the motor encoder is used for acquiring a motor position signal and a motor speed signal; the motor operation feedback information comprises the motor position signal, the motor speed signal and the motor current signal; and the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver control the operation of the motor according to the motion control information, the motor position signal, the motor speed signal and the motor current signal.
3. The laser cutting control system of claim 2, wherein the X-axis servo driver, the Y-axis servo driver, and the Z-axis servo driver each comprise a processing unit configured to generate a switching signal for controlling operation of a motor based on the motion control information, a motor position signal, a motor speed signal, and a motor current signal.
4. The laser cutting control system of claim 3, wherein the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver each comprise a rectifying unit, the rectifying unit is configured to rectify an externally input voltage to obtain a first direct current voltage and a second direct current voltage, the first direct current voltage is used for motor control, and the second direct current voltage is used for providing power for the sampling unit and the processing unit.
5. The laser cutting control system of claim 4, wherein the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver each comprise an inverter unit, and the inverter unit converts the first direct-current voltage into an alternating-current voltage according to the switching signal generated by the processing unit, and the alternating-current voltage is used for controlling the operation of the motor.
6. The laser cutting control system of claim 5, wherein the switching signal is a PWM signal.
7. The laser cutting control system of claim 4, wherein the first DC voltage is 310V and the second DC voltage is 15V or less.
8. The laser cutting control system of claim 1, wherein the motion control card comprises a spatial trajectory calculation unit and a motion control unit, wherein:
the space track calculation unit is used for calculating and acquiring space motion track information from the current position to the position of the cutting starting target;
the motion control unit is used for acquiring a target motion speed and a target motion acceleration according to the space motion track information;
and the network unit of the motion control card is used for sending the space motion track information from the current position to the position of the target for starting cutting, the target motion speed and the target motion acceleration to the servo driving module.
9. A laser cutting control method is characterized by being suitable for a laser cutting control system, wherein the laser cutting control system comprises a motion control card and a servo drive module, and the motion control card and the servo drive module respectively comprise a network unit; the method comprises the following steps:
acquiring motion control information from the current position to the position of a target for starting cutting through the motion control card;
sending the motion control information to the servo drive module through a network unit of the motion control card;
the servo driving module controls the operation of the motor according to the motion control information and the motor operation feedback information;
judging whether the target position for starting cutting is reached, continuing to control the motor to operate when the target position for starting cutting is not reached, and controlling and outputting a laser cutting signal when the target position for starting cutting is reached;
the servo drive module comprises an X-axis servo driver, a Y-axis servo driver and a Z-axis servo driver; the X-axis servo driver is used for acquiring position information of an X axis of a motor encoder, the Y-axis servo driver is used for acquiring position information of a Y axis of the motor encoder, and the Z-axis servo driver is used for acquiring position information of a Z axis of the motor encoder;
the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver comprise network units; any one of the X-axis servo driver, the Y-axis servo driver and the Z-axis servo driver comprises a position comparison unit, the servo driver where the position comparison unit is located is used for receiving corresponding motor encoder shaft position information transmitted by the other two servo drivers through a network unit through the network unit, and the position comparison unit judges whether the cutting starting target position is reached or not according to the motor encoder X-axis position information, the motor encoder Y-axis position information and the motor encoder Z-axis position information until the cutting starting target position is reached.
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| CN113953684B (en) * | 2021-11-18 | 2024-06-21 | 上海维宏智能技术有限公司 | System, method, device, processor and computer readable storage medium for realizing laser cutting position synchronous control |
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| CN102581745B (en) * | 2012-02-29 | 2014-09-10 | 清华大学 | Handling robot system for chemical mechanical polishing |
| CN103488189B (en) * | 2013-09-24 | 2017-01-18 | 国家电网公司 | Control method of servo motor |
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