CN113245724A

CN113245724A - Multi-cutting-head tool path generation method, device, machining method, equipment and medium

Info

Publication number: CN113245724A
Application number: CN202110704249.0A
Authority: CN
Inventors: 王建业; 王广川; 杨燕萍; 陈源澄
Original assignee: Guangdong Coordy Numerical Control Technology Co ltd
Current assignee: GUANGDONG KUDI ERJI LASER EQUIPMENT Co.,Ltd.
Priority date: 2021-06-24
Filing date: 2021-06-24
Publication date: 2021-08-13
Anticipated expiration: 2041-06-24
Also published as: CN113245724B

Abstract

The invention discloses a method and a device for generating a multi-cutting-head tool path, a processing method, equipment and a medium. The cutter path generation method comprises the following steps: dividing the original cutter path into a plurality of cutter paths with equal length according to the number of the cutting heads; calculating respective running time of the cutting tool paths; finding out the maximum value of the running time and the corresponding serial number from the running time, and finding out the minimum value of the running time and the corresponding serial number; if the maximum operation time difference of the cutting knife paths is larger than a preset time value, reducing the length of the cutting knife path with the longest operation time and increasing the length of the cutting knife path with the shortest operation time; repeating the processes from the second step to the fourth step until the maximum operation time difference of the cutting tool path is less than or equal to a preset time value; and outputting the coordinate values of the starting point and the end point of the cutting tool path and the motion planning path of the cutting tool path. The method can lead the cutting time of each cutting head to be consistent, thereby improving the efficiency of the cutting process.

Description

Multi-cutting-head tool path generation method, device, machining method, equipment and medium

Technical Field

The invention relates to the technical field of industrial control equipment, in particular to a method and a device for generating a multi-cutting-head tool path, a machining method, equipment and a medium.

Background

The blanking from the strip-shaped raw material in batches is a common process in the sheet metal production. In the blanking process of the laser cutting equipment, the cutting heads are adopted, so that the cutting efficiency can be improved by multiple times. However, when a plurality of cutting heads are used, if the cutting times of the respective cutting heads are not matched, the efficiency of the cutting process will be affected. Planning the movement path of the multiple cutting heads therefore becomes particularly important.

Disclosure of Invention

The invention mainly aims to provide a method, a device, a processing method, equipment and a medium for generating a multi-cutting-head tool path, and aims to solve the problem that the cutting process efficiency is influenced due to the fact that the cutting time of each cutting head is not matched in the prior art.

The embodiment of the invention provides a method for generating a cutter path with multiple cutting heads. A plurality of cutting heads are disposed in the coaxial asynchronous cutting apparatus for cutting a workpiece. The multi-cutting-head tool path generation method comprises the following steps:

the method comprises the following steps: according to the number of cutting heads, the original tool paths R₀Dividing the cutting tool path into a plurality of cutting tool paths with equal lengths;

step two: inserting the avoiding path of each cutting head on the cutting paths with the same length to generate an updated cutting path R₁、R₂、…、R_mWherein the number m of the cutting heads is a positive integer, and m is more than or equal to 2;

step seven: outputting the cutting tool path R₁、R₂、…、R_mThe motion path of (a).

Another embodiment of the invention provides a method for generating a multiple cutting head tool path. A plurality of cutting heads are disposed in the coaxial asynchronous cutting apparatus for cutting a workpiece. The multi-cutting-head tool path generation method comprises the following steps:

step three: calculating the cutting tool path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_m；

Step four: from run time t₁、t₂、…、t_mIn the method, the maximum value t of the running time is found_maxAnd corresponding serial number i_maxAnd finding the minimum value t of the running time_minAnd corresponding serial number i_min；

Step five: if the cutting tool path R₁、R₂、…、R_mThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reduced_imaxLength of (2) and increase of cutting path R with shortest running time_iminLength of (d);

step six: repeating the flow from the second step to the fifth step until the cutting tool path R₁、R₂、…、R_mThe maximum running time difference is less than or equal to a preset time value;

Optionally, the plurality of cutting heads are movably disposed on the same shared shaft Y axis, and the moving direction of the plurality of cutting heads is the axial direction of the shared shaft.

Optionally, the multi-cutter head tool path generating method further comprises the following steps:

at the original tool path R₀Finding the node F with the smallest X-axis coordinate_Q；

From the node F_QStarting from the original tool path R along the X-axis direction₀Zhonghua searchFinding the corresponding two nodes F with the same X-axis coordinate_sAnd F_s'' until node F_sAnd node F_s'' the difference in the Y-axis coordinate is greater than or equal to the minimum spacing of adjacent cutting heads;

the node F_sSet as the original tool path R₀The starting point of (2).

Optionally, the first avoidance path of a first of the adjacent cutting heads is: according to node F_sTo node F_s' profile slave node F_s' moving to node F_sWherein the node F_sNode F_s' and node F_s'' have the same X-axis coordinate, and the node F_s' and the node F_sAnd the node F_s'' with the node F_sAre equal in difference between the Y-axis coordinates of (a).

Optionally, the second avoidance path of a second one of the adjacent cutting heads is: according to node F_e' to node F_eProfile slave node F_eMove to node F_e'' of the path, wherein the node F_eAs a destination, the node F_eNode F_e' and node F_e'' have the same X-axis coordinate, and the node F_e' and the node F_eIs equal to the minimum spacing of the first cutting head and the second cutting head, the node F_e'' with the node F_eIs equal to the minimum separation of the first cutting head and the second cutting head. The avoidance paths of the rest cutting heads are analogized in the same way.

Optionally, the cutting process of the first cutting head and the second cutting head is:

setting a cutting start point of the second cutting head to be a node F_sSetting the cutting starting point of the first cutting head to be F_s’；

Bringing the second cutting head along the original tool path R₀Slave node F_sTo node F_s'' cutting, and enabling the first cutting head to carry out avoidance action along the first avoidance path;

when the second cutting head moves to the node F_s'' the first cutting head is moved to the node F_sAnd starts cutting towards the other side opposite to the moving direction of the second cutting head;

when the second cutting head moves to the node F_eWhile the first cutting head is moved to the node F_e’；

The first cutting head is made to follow the original tool path R₀Slave node F_e' to node F_eCutting is carried out, and the second cutting head carries out avoidance action along the second avoidance path;

when the first cutting head moves to the node F_eWhile the second cutting head is moved to the node F_e’’；

Having the first cutting head pass from the node F_eStraight line returns to the node F_s', with said second cutting head from said node F_e'' straight line returns to the node F_s. The cutting paths of the remaining cutting heads and so on.

Optionally, the longest-running cutter path R_imaxIs reduced to (L)_imax*t_min）/t_maxThe cutting path R with the shortest running time_iminIncreased in length of (L)_imin*t_max）/t_minWherein L is_imaxFor the longest-running cutting path R_imaxLength of (L)_iminFor the cutting path R with the shortest running time_iminLength of (d).

Optionally, the longest-running cutter path R_imaxIs reduced to L_imax*（t_max+t_min）/2t_maxThe cutting path R with the shortest running time_iminIncreased in length of L_imin*（t_max+t_min）/2t_minWherein L is_imaxFor the longest running timeCutter path R_imaxLength of (L)_iminFor the cutting path R with the shortest running time_iminLength of (d).

Optionally, the longest-running cutter path R_imaxIs reduced to L_imax*（t1+t2+…+tm）/（m*t_max) The cutting path R with the shortest running time_imaxIncreased in length of L_imin*（t1+t2+…+tm）/（m*t_min) Wherein L is_imaxFor the longest-running cutting path R_imaxLength of (L)_iminFor the cutting path R with the shortest running time_iminLength of (d).

Another embodiment of the present invention further provides a method for generating a multiple cutting head tool path, including the following steps:

the method comprises the following steps: according to the number of cutting heads, the original tool paths R₀Divided into a plurality of cutter paths R of equal length₁、R₂、…、R_mWherein m is a positive integer;

step two: calculating the cutting tool path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_m；

Step three: from run time t₁、t₂、…、t_mIn the method, the maximum value t of the running time is found_maxAnd corresponding serial number i_maxAnd finding the minimum value t of the running time_minAnd corresponding serial number i_min；

Step four: if the cutting tool path R₁、R₂、…、R_mThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reduced_imaxLength of (2) and increase of cutting path R with shortest running time_iminLength of (d);

step five: repeating the flow from the second step to the fourth step until the cutting tool path R₁、R₂、…、R_mThe maximum running time difference is less than or equal to a preset time value;

step six: outputting the cutting tool path R₁、R₂、…、R_mAnd a start point coordinate value and an end point coordinate value of the cutting path R₁、R₂、…、R_mPlanning a path.

calculating a cutter path offset distance Vi = (m-i) NP of the ith cutter path, wherein P is a blanking interval, and N is a positive integer;

obtaining a predetermined minimum spacing D between cutting heads_minAnd Vi is made to be larger than or equal to D_min。

Optionally, the longest-running cutter path R_imaxIs reduced by L_imax*（1-t_min/t_max) The cutting path R with the shortest running time_iminIncrease in length of L_imax*（1-t_min/t_max) Wherein L is_imaxFor the longest-running cutting path R_imaxLength of (d).

Optionally, the preset time value ranges from 10ms to 100 ms.

The embodiment of the invention also provides a workpiece processing method, which comprises the following steps:

providing a plurality of cutting heads;

acquiring the contour information of a workpiece, and determining the original tool paths R of the plurality of cutting heads₀；

Generating the cutting paths R of the plurality of cutting heads according to the multi-cutting-head path generating method₁、R₂、…、R_mDetermining the cutting path R₁、R₂、…、R_mAnd a start point coordinate value and an end point coordinate value of the cutting path R₁、R₂、…、R_mThe motion planning path of (2);

according to the cutting path R₁、R₂、…、R_mAnd a start point coordinate value and an end point coordinate value of the cutting path R₁、R₂、…、R_mDetermining machining control parameters of the plurality of cutting heads; and

and processing the workpiece according to the processing control parameters of the cutting heads.

The embodiment of the invention also provides a multi-cutting-head tool path generating device, which comprises the following modules:

a segmentation module: according to the number of cutting heads, the original tool paths R₀Dividing the cutting tool path into a plurality of cutting tool paths with equal lengths;

inserting a module: inserting the avoiding path of each cutting head on the cutting paths with the same length to generate an updated cutting path R₁、R₂、…、R_mWherein m is a positive integer;

a calculation module: calculating the cutting tool path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_m；

A searching module: from run time t₁、t₂、…、t_mIn the method, the maximum value t of the running time is found_maxAnd corresponding serial number i_maxAnd finding the minimum value t of the running time_minAnd corresponding serial number i_min；

A comparison module: if the cutting tool path R₁、R₂、…、R_mThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reduced_imaxLength of (2) and increase of cutting path R with shortest running time_iminUp to the cutting path R₁、R₂、…、R_mThe maximum running time difference is less than or equal to a preset time value;

an output module: outputting the cutting tool path R₁、R₂、…、R_mAnd a start point coordinate value and an end point coordinate value of the cutting path R₁、R₂、…、R_mPlanning a path.

The embodiment of the present invention further provides a laser cutting device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the workpiece processing method as described above.

An embodiment of the present invention further provides a computer-readable storage medium, where a workpiece processing control program is stored on the computer-readable storage medium, and when the workpiece processing control program is executed by a processor, the steps of the workpiece processing method described above are implemented.

In the method for generating the multiple cutting head tool paths, the original tool paths R are determined according to the number of the cutting heads₀Dividing the cutting tool path into a plurality of cutting tool paths with equal lengths; inserting the avoiding path of each cutting head on the cutting paths with the same length to generate an updated cutting path R₁、R₂、…、R_mWherein m is a positive integer; calculating the cutting tool path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_m(ii) a From run time t₁、t₂、…、t_mIn the method, the maximum value t of the running time is found_maxAnd corresponding serial number i_maxAnd finding the minimum value t of the running time_minAnd corresponding serial number i_min(ii) a If the cutting tool path R₁、R₂、…、R_mThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reduced_imaxLength of (2) and increase of cutting path R with shortest running time_iminLength of (d); repeating the step of inserting an avoidance path to the step of calculating the running time difference until the cutting tool path R₁、R₂、…、R_mThe maximum running time difference is less than or equal to a preset time value; outputting the cutting tool path R₁、R₂、…、R_mAnd a start point coordinate value and an end point coordinate value of the cutting path R₁、R₂、…、R_mPlanning a path. The method can lead the cutting time of each cutting head to be consistent as much as possible, thereby improving the efficiency of the cutting process.

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 can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a blanking layout during sheet metal processing.

Fig. 2 is a schematic diagram of a double-head cutting tool path in a double-head cutting process.

Fig. 3 is a schematic profile view of a double-head cutting process.

Fig. 4 is a schematic flow chart of a multi-cutting-head tool path generating method according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a laser cutting apparatus according to an embodiment of the present invention.

FIG. 6 is a schematic diagram of an original tool path of a workpiece to be cut according to an embodiment of the present invention.

Fig. 7 is a schematic flow chart illustrating the process of determining the starting point of the original tool path in fig. 6.

Fig. 8 is a schematic flow chart of cutting the workpiece to be cut in fig. 6.

Fig. 9 is a schematic flow chart of a multi-cutting-head tool path generating method according to an embodiment of the present invention.

Fig. 10 is a schematic structural diagram of a laser cutting apparatus according to an embodiment of the present invention.

Fig. 11 is a schematic flow chart of fig. 9 for reducing the length of the longest cutting path in operation.

Fig. 12 is a schematic flow chart illustrating the process of increasing the length of the cutting blade path having the shortest operation time in fig. 9.

Fig. 13 is a schematic flow chart of the tool path offset setting in fig. 9.

Fig. 14 is a flowchart illustrating a workpiece processing method according to another embodiment of the invention.

Fig. 15 is a block diagram of a multi-cutter head tool path generating apparatus according to yet another embodiment of the present invention.

Fig. 16 is a hardware configuration diagram of a control device of the laser cutting device in fig. 5 or 10.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture, and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if the meaning of "and/or" and/or "appears throughout, the meaning includes three parallel schemes, for example," A and/or B "includes scheme A, or scheme B, or a scheme satisfying both schemes A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

In order to more clearly describe the solution provided by the embodiments of the present invention, some terms in laser cutting will be described and explained below.

Referring to fig. 1 to 3, the sheet metal material to be processed includes a material belt and a workpiece to be cut arranged on the material belt.

The concept involved in laser cutting is defined as follows:

blanking: the work piece to be cut is separated from the strip by various methods such as presses, guillotine shears, sawing, flame cutting, plasma cutting, laser cutting, etc., called blanking.

A unit: the combination of blanking members that can be formed by performing a cutting pass at one time is referred to as a unit. The laser blanking process is to circularly execute a cutting tool path and continuously produce blanking pieces by taking units as units. FIG. 2 shows a tool path with one unit containing eight blanking members; fig. 3 shows a knife path with one unit containing one blanking member.

Pitch P: the distance in the feeding direction of the same feature point on two adjacent unit profiles is called the pitch P, as shown in fig. 2. In laser blanking, the distance between the starting points of a certain cutting head on two adjacent units is generally referred to.

And (3) spacing D: the distance of adjacent cutting heads in the direction of possible collisions is referred to as the spacing D. As shown in FIGS. 1 and 3, to prevent the cutting heads from colliding, the system must set a minimum distance D_minAnd ensure that the distance D between adjacent cutting heads is more than or equal to D_min。

Synchronous cutting: during the cutting process, the position relation among the cutting heads is kept unchanged, the cutting of workpieces with the same shape is completed, and the cutting coordination mode is called synchronous cutting.

The synchronous cutting can improve the cutting efficiency to the maximum extent. When synchronous cutting is carried out, relative motion among a plurality of cutting heads is kept static, a control method of the system is simple, and the cutter path design is easy. Synchronous cutting is suitable for smaller workpieces.

Since the positional relationship between the cutting heads is kept constant due to the synchronous movement of the plurality of cutting heads, parameters of a synchronous offset Q, which represents a distance that must be maintained between the cutting heads, and a coaxial pitch P', which represents a stock-out pitch of the workpiece in a direction perpendicular to the feeding direction, are introduced for the coaxial synchronous cutting, as shown in fig. 2.

Therefore, only the cutting tool path of one of the cutting heads needs to be generated, and the synchronous offset distance between the other cutting heads and the cutting head is calculated, so that the unit tool path for coaxial synchronous cutting can be automatically generated, as shown in fig. 2.

Synchronous offset distance Q of ith processing tool path_iIs composed of

Q_i = ( M - i ) N P’

Wherein M is the number of processing heads, P is blanking pitch, i =1, 2, 3, …, M;

n is an integer, N is not less than 0 and satisfies the following conditions: n P' ≧ D_min> (N–1)P’。

Asynchronous cutting: in the cutting process, relative motion exists between the two cutting heads and between the cutting heads, so that cutting tool paths with different shapes are completed, and workpiece cutting is completed cooperatively, and the cutting coordination mode is called asynchronous cutting, as shown in fig. 3.

The asynchronous cutting tool path is flexible and has strong applicability, but the control method of the system is complex, and the difficulty of tool path design is higher. The feeding pitch is short during asynchronous cutting, the speed change is small, the workpiece and the waste are not easy to misplace, and the stacking reliability is high.

The start point of the cutting knife path has great influence on the cutting efficiency of the unit knife path for coaxial asynchronous cutting. The reasonable starting point enables the moving direction trends of a plurality of cutting knife paths at any coordinate of the shared shaft to be consistent, and ensures that the moving speed of each cutting head is not limited. Coaxial asynchronous cutting, every time a cutting head is added, the cutting efficiency can be improved by 0.5-0.8 times. Double-ended coaxial asynchronous cutting is most economical and therefore the automatic generation of the corresponding tool paths is discussed below.

The idle path of the cutting knife path needs to be additionally provided with an avoiding design to ensure that the distance between the cutting heads is not less than D_minAnd collision is prevented.

Blanking model: the design and data of the blanking production can be represented by a blanking model. A complete blanking pattern is defined by the workpiece profile C and the cell pitch P, as shown in fig. 4. The contour is composed of n contour nodes, and the contour nodes are connected by straight-line segments, namely:

C = {T₁，T₂，T₃，…，T_n，T₁}，

wherein T is₁As a starting point, T since the contour is closed₁Also the end point of the profile. Contour node T_iExpressed by its coordinates as：

T_i = (x_i，y_i)，

And under the premise of ensuring the cutting precision, discretizing the contour curve part and converting the contour curve part into a group of short line segments.

Considering that a cutting unit may be composed of a plurality of workpieces, and a workpiece may also be composed of an outer contour and a plurality of inner contours, the blanking model B should be:

B = { P，C₁，C₂，C₃，…，C_m }，

wherein P represents a pitch, C₁ - C_mRepresenting m profiles of the cutting unit. Unfolding the above formula yields:

wherein, the superscript of the node represents the outline to which the node belongs.

Unit tool path model:

as shown in FIG. 6, R₁Cutting path, R, of a 1# cutting head₂Cutting path, R, of a 2# cutting head₁And R₂Forming a unit cutter path. The cutter path consists of a plurality of cutter path nodes. F_s' is R₁Starting point of (1), F_sIs R₂The starting point of (2). Since the cutting path is performed cyclically, the cutting head must return to the starting point at the end of a unit, so the cutting path R is a closed polygon, i.e.:

R = { F₁，F₂，F₃，…，F_n，F₁ }，

wherein, F_iThe ith tool path node is shown,

F_i = (x_i，y_i，z_i)，

where i =1, 2, 3, …, n, (xi, yi) is the contour node, z_iIs the height coordinate of the cutting head,

z_i= 0 represents that the cutting head is at the original height and in a standby state, and the front is a lost motion path;

z_i<0 indicates that the cutting head is at cutting height and working, with the cutting path in front.

The cutting heads are M in number, and each cutting head comprises a unit cutter path consisting of M cutting cutter paths. The model S is as follows:

S = { R₁，R₂，R₃，…，R_M }，

unfolding to obtain:

wherein the superscript indicates the knife way or cutting head to which it belongs.

Referring to fig. 4, an embodiment of the invention provides a method for generating a multiple cutting head tool path. The cutting heads are arranged in the coaxial asynchronous cutting equipment and are used for cutting workpieces on a production line. The multi-cutting-head tool path generation method comprises the following steps:

the method comprises the following steps: according to the number of cutting heads, the original tool paths R₀Divided into a plurality of cutter paths R of equal length₁’、R₂’、…、R_m', wherein m is a positive integer. Wherein, the original tool path R₀To create a single-ended cutting path from the blanking model without regard to the number of cutting heads. Since all the contours in the workpiece need to be cut, all the contour nodes T except the final contour node_i = ( x_i，y_i) Conversion to tool path node F_i = ( x_i，y_i，z_C) Wherein z is_C<0, indicating a forward cut. Last node T of each contour_L = ( x_L，y_L) Converting into a tool path node: f_L = ( x_L，y_L，z_P) Wherein z is_PAnd = 0, indicating that the front is a lost motion path. Obtaining the original tool path R after conversion₀。

WhereinThe superscript indicates the outline to which it belongs. If the cutter is a single-head cutter, the original cutter path R is obtained₀And then the blanking machine can be used for blanking production.

The original tool path R₀According to the number of cutting heads, the cutting machine is divided into M sections of cutting tool paths,

Divide ( R₀，M，L₁，L₂，L₃，…，L_M )

= { R₁’，R₂’，R₃’，…，R_M’ }

=

wherein the Divide function is a segmentation algorithm, L₁，L₂，L₃，…，L_MThe length of each cutting tool path after segmentation is represented, and the following requirements are satisfied: l is₁ + L₂ + L₃+ … + L_ML, L is the original tool path R₀Length of (d).

In the dividing process, tool path nodes are inserted into the front end and the rear end of the cutting tool path by an interpolation method according to the length requirement of each cutting tool path.

Step two: inserting the avoiding path of each cutting head on the cutting paths with the same length to generate an updated cutting path R₁、R₂、…、R_mWherein m is a positive integer.

Step three: calculating the cutting tool path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_m. In this embodiment, the cutting path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_mAnd the method is realized through motion planning. The motion planning is the main function of the cutting numerical control system, and the cutting motion is executed completely according to the planning result. The movement time acquired by the movement plan is completely consistent with the actual cutting time. The movement time of the cutter path R is t = Plan (R), and a function Plan is a movement planning method for completing movementAnd returning to the exercise time after the dynamic programming. Specifically, the original tool path R₀Divided into M sections of cutting tool paths R with equal length₁~R_M. Setting each segment length to L₁ = L₂ = L₃ = … = L_M= L/M, to yield R₁，R₂，R₃，…，R_M. The length of the M-section cutting knife paths is equal, but the cutting time difference is usually larger due to different shapes of the knife paths, and the production efficiency is obviously influenced by the difference of the cutting time of each section in blanking production.

Step four: from run time t₁、t₂、…、t_mIn the method, the maximum value t of the running time is found_maxAnd corresponding serial number i_maxAnd finding the minimum value t of the running time_minAnd corresponding serial number i_min。

Step five: if the cutting tool path R₁、R₂、…、R_mThe maximum operation time difference is larger than the preset time value delta t, and the cutting tool path R with the longest operation time is reduced_imaxLength of (2) and increase of cutting path R with shortest running time_iminLength of (d). In this embodiment, the preset time value ranges from 10ms to 100 ms.

Step six: repeating the flow from the second step to the fifth step until the cutting tool path R₁、R₂、…、R_mThe maximum running time difference is less than or equal to the preset time value delta t.

Step seven: outputting the cutting tool path R₁、R₂、…、R_mAnd a start point coordinate value and an end point coordinate value of the cutting path R₁、R₂、…、R_mPlanning a path.

In the method for generating the multiple cutting head tool paths, the original tool paths R are determined according to the number of the cutting heads₀Dividing the cutting tool path into a plurality of cutting tool paths with equal lengths; inserting the avoiding path of each cutting head on the cutting paths with the same length to generate an updated cutting path R₁、R₂、…、R_mWherein m is a positive integer; calculate outThe cutting tool path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_m(ii) a From run time t₁、t₂、…、t_mIn the method, the maximum value t of the running time is found_maxAnd corresponding serial number i_maxAnd finding the minimum value t of the running time_minAnd corresponding serial number i_min(ii) a If the cutting tool path R₁、R₂、…、R_mThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reduced_imaxLength of (2) and increase of cutting path R with shortest running time_iminLength of (d); repeating the step of inserting an avoidance path to the step of calculating the running time difference until the cutting tool path R₁、R₂、…、R_mThe maximum running time difference is less than or equal to a preset time value; outputting the cutting tool path R₁、R₂、…、R_mAnd a start point coordinate value and an end point coordinate value of the cutting path R₁、R₂、…、R_mPlanning a path. The method can lead the cutting time of each cutting head to be consistent as much as possible, thereby improving the efficiency of the cutting process.

Referring to fig. 5, in the present embodiment, the method for generating multiple cutting head tool paths is applied to a coaxial asynchronous cutting apparatus. In the present embodiment, for the convenience of description, a direction opposite to the moving direction of the workpiece is defined as an X-axis direction, and a direction perpendicular to the moving direction of the workpiece and on the same horizontal plane is defined as a Y-axis direction. At this time, the shared shaft 230 of the cutting device can move along the X-axis, the plurality of cutting

heads

210 and 220 can move along the Y-axis direction on the shared shaft, and each cutting

head

210 and 220 can reach any point in the machining range under certain constraint, so as to realize multi-head coordination machining in a coaxial layout. Specifically, the plurality of cutting

heads

210, 220 are movably disposed on the same shared shaft, and the moving direction of the plurality of cutting

heads

210, 220 is the axial direction of the shared shaft 230, and the axial direction of the shared shaft 230 is perpendicular to the moving direction of the production line.

Referring to fig. 6-8 together, in one embodiment of the invention, the plurality of cutting heads includes a first cutting head 210 and a second cutting head 220. At this time, the cutting start points of the first and second cutting heads 210 and 220 are determined in a manner including the steps of:

From the node F_QStarting from the original tool path R along the X-axis direction₀Find out two corresponding nodes F with the same X-axis coordinate_sAnd F_s'' until node F_sAnd node F_s'' the difference in the Y-axis coordinate is greater than or equal to the minimum separation of the first cutting head 210 and the second cutting head 220;

the node F_sSet as the original tool path R₀The starting point of (2).

To prevent the first cutting head 210 and the second cutting head 220 from colliding with each other, it is necessary to insert an escape path of the first cutting head 210 and the second cutting head 220, as needed. Specifically, the first avoidance path of the first cutting head 210 is: according to node F_sTo node F_s' profile slave node F_s' moving to node F_sWherein the node F_sNode F_s' and node F_s'' have the same X-axis coordinate, and the node F_s' and the node F_sAnd the node F_s'' with the node F_sAre equal in difference between the Y-axis coordinates of (a). The second avoidance path of the second cutting head 220 is: according to node F_e' to node F_eProfile slave node F_eMove to node F_e'' of the path, wherein the node F_eAs a destination, the node F_eNode F_e' and node F_e'' have the same X-axis coordinate, and the node F_e' and the node F_eIs equal to the smallest distance between the first cutting head 210 and the second cutting head 220Distance, said node F_e'' with the node F_eIs equal to the minimum separation of the first cutting head 210 and the second cutting head 220. The plurality of cutting heads may also include the remaining cutting heads other than the first cutting head 210 and the second cutting head 220, as desired. The avoidance paths of the rest cutting heads are analogized in the same way.

Referring to fig. 8, in a specific cutting process, the cutting processes of the first cutting head 210 and the second cutting head 220 are as follows:

setting a cutting start point of the second cutting head 220 as a node F_sSetting the cutting start point of the first cutting head 210 as F_s’；

The second cutting head 220 is made to follow the original tool path R₀Slave node F_sTo node F_s'' cutting, so that the first cutting head 210 carries out an avoiding action along the first avoiding path;

when the second cutting head 220 is moved to the node F_s'' the first cutting head 210 is moved to the node F_sAnd starts cutting toward the other side opposite to the direction of movement of the second cutting head 220;

when the second cutting head 220 is moved to the node F_eThe first cutting head 210 moves to the node F_e’；

The first cutting head 210 is made to follow the original tool path R₀Slave node F_e' to node F_eCutting is carried out, so that the second cutting head 220 carries out avoidance action along the second avoidance path;

when the first cutting head 210 moves to the node F_eWhen the second cutting head 220 is moved to the node F_e’’；

The first cutting head 210 is driven from the node F_eStraight line returns to the node F_s', with said second cutting head 220 from said node F_e'' straight line returns to the node F_s。

The plurality of cutting heads may also include the remaining cutting heads other than the first cutting head 210 and the second cutting head 220, as desired. The cutting paths of the remaining cutting heads and so on.

According to the requirement, the cutting tool path R with the longest reduced running time in the step five_imaxThe length of (d) is specifically:

obtaining the cutting tool path R_imaxTwo adjacent cutting tool paths R_imax-1And R_imax+1If the cutting path R is running_imax-1Has a running time greater than that of the cutting tool path R_imax+1The running time of (2), then the cutting tool path R is reduced_imaxLength of (2), increase of cutting path R_imax+1If the length of the cutting path R_imax-1Is less than the cutting path R_imax+1The running time of (2), then the cutting tool path R is reduced_imaxLength of (2), increase of cutting path R_imax-1Length of (d). That is, when it is desired to reduce the cutter path R_imaxAt a length of (a) which correspondingly affects two adjacent cutting paths R_imax-₁And R_imax+1. Or a cutting path R_imax-1Is increased in length, or the cutting path R_imax+1Is increased. In order to reduce the adjacent two cutting tool paths R_imax-1And R_imax+1The cutting path R is preferably selected because of the influence of the increase in length_imax-₁And R_imax+1The length is increased by one cutting knife path with short middle operation time.

According to the requirement, the cutting tool path R with the shortest running time is increased in the step five_iminThe length of (d) is specifically:

obtaining the cutting tool path R_iminTwo adjacent cutting tool paths R_imin-1And R_imin+1If the cutting path R is running_imin-1Has a running time greater than that of the cutting tool path R_imin+1The running time of (2) is increased, the cutting tool path R is increased_iminLength of cutting path R is reduced_imin-1If the length of the cutting path R_imin-1Is less than the cutting path R_imin+1The running time of (2) is increased, the cutting tool path R is increased_iminLength of (2), increase of cutting path R_imin+1Length of (d). I.e. when requiredEnlarged cutting tool path R_iminAt a length of (a) which correspondingly affects two adjacent cutting paths R_imin-1And R_imin+1. Or a cutting path R_imin-1Is reduced in length, or is the cutting path R_imin+1Is reduced. In order to reduce the adjacent two cutting tool paths R_imin-1And R_imin+1Preference is given to the cutting path R because of the influence of the reduced length_imin-1And R_imin+1The length reduction is performed by a cutting path with a long medium operation time.

Understandably, the longest-running cutter path R_imaxIs reduced to (L)_imax*t_min）/t_maxThe cutting path R with the shortest running time_iminIncreased in length of (L)_imin*t_max）/t_minWherein L is_imaxFor the longest-running cutting path R_imaxLength of (L)_iminFor the cutting path R with the shortest running time_iminLength of (d).

Understandably, the longest-running cutter path R_imaxIs reduced to L_imax*（t_max+t_min）/2t_maxThe cutting path R with the shortest running time_iminIncreased in length of L_imin*（t_max+t_min）/2t_minWherein L is_imaxFor the longest-running cutting path R_imaxLength of (L)_iminFor the cutting path R with the shortest running time_iminLength of (d).

Understandably, the longest-running cutter path R_imaxIs reduced to L_imax*（t₁+t₂+…+t_m）/（m*t_max) The cutting path R with the shortest running time_imaxIncreased in length of L_imin*（t₁+t₂+…+t_m）/（m*t_min) Wherein L is_imaxFor the longest-running cutting path R_imaxLength of (L)_iminFor the cutting path R with the shortest running time_iminLength of (d).

Referring to fig. 9, another embodiment of the invention further provides a method for generating a multiple cutting head tool path. The multi-cutting-head cutter path generation method is used in an asynchronous cutting device with different axes, and is shown in fig. 10. The asynchronous cutting device 200 of figure 10 comprises a plurality of cutting heads 1#, 2#, and 3 #. The multi-cutting-head tool path generation method comprises the following steps:

the method comprises the following steps: according to the number of cutting heads, the original tool paths R₀Divided into a plurality of cutter paths R of equal length₁、R₂、…、R_mWherein m is a positive integer. Wherein, the original tool path R₀To create a single-ended cutting path from the blanking model without regard to the number of cutting heads. Since all the contours in the workpiece need to be cut, all contour nodes Ti = (xi, yi), except for the contour last node, are converted into tool path nodes Fi = (xi, yi, zC), where zC<0, indicating a forward cut. The last node TL = (xL, yL) for each profile is converted to a tool path node: FL = (xL, yL, zP), where zP = 0, indicating that the forward is a free path. Obtaining the original tool path R after conversion₀。

Wherein the superscript indicates the outline to which it belongs. If the cutter is a single-head cutter, the original cutter path R is obtained₀And then the blanking machine can be used for blanking production.

Divide ( R₀，M，L₁，L₂，L₃，…，L_M ) = { R₁，R₂，R₃，…，R_M } =

wherein the Divide function is a segmentation algorithm, L₁，L₂，L₃，…，L_MIndicating each cutting path after divisionMust satisfy: l is₁ + L₂ + L₃ + … + L_ML, L is the original tool path R₀Length of (d).

Step two: calculating the cutting tool path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_m. In this embodiment, the cutting path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_mAnd the method is realized through motion planning. The motion planning is the main function of the cutting numerical control system, and the cutting motion is executed completely according to the planning result. The movement time acquired by the movement plan is completely consistent with the actual cutting time. The movement time of the cutter path R is t = Plan (R), and the function Plan is a movement planning method and returns the movement time after the movement planning is completed. Specifically, the original tool path R₀Divided into M sections of cutting tool paths R with equal length₁~R_M. The lengths of the sections are set to be L1 = L2 = L3 = … = LM = L/M, and R is obtained₁，R₂，R₃，…，R_M. The length of the M-section cutting knife paths is equal, but the cutting time difference is usually larger due to different shapes of the knife paths, and the production efficiency is obviously influenced by the difference of the cutting time of each section in blanking production.

Step three: from run time t₁、t₂、…、t_mIn the method, the maximum value t of the running time is found_maxAnd corresponding serial number i_maxAnd finding the minimum value t of the running time_minAnd corresponding serial number i_min。

Step four: if the cutting tool path R₁、R₂、…、R_mThe maximum operation time difference is larger than the preset time value delta t, and the cutting tool path R with the longest operation time is reduced_imaxLength of (2) and increase of cutting path R with shortest running time_iminLength of (d). In this implementationIn an example, the preset time value ranges from 10ms to 100 ms.

Step five: repeating the flow from the second step to the fourth step until the cutting tool path R₁、R₂、…、R_mThe maximum running time difference is less than or equal to the preset time value delta t.

In the method for generating the multiple cutting head tool paths provided by the embodiment of the invention, the original tool paths R are used₀Divided into a plurality of cutter paths R of equal length₁、R₂、…、R_mCalculating the cutting path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_mAnd from the running time t₁、t₂、…、t_mIn the method, the maximum value t of the running time is found_maxAnd corresponding serial number i_maxAnd finding the minimum value t of the running time_minAnd corresponding serial number i_min. If the cutting tool path R₁、R₂、…、R_mThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reduced_imaxLength of (2) and increase of cutting path R with shortest running time_iminLength of (d). Then, repeating the operation time calculation step and the operation time maximum and minimum value searching step until the cutting tool path R₁、R₂、…、R_mThe maximum running time difference is less than or equal to the preset time value. The method can lead the cutting time of each cutting head to be consistent as much as possible, thereby improving the efficiency of the cutting process.

According to requirements, in the fourth step, the cutting knife path R with the longest running time_imaxIs reduced by L_imax*（1-t_min/t_max) The cutting path R with the shortest running time_iminIncrease in length of L_imax*（1-t_min/t_max) Wherein L is_imaxFor the longest-running cutting path R_imaxLength of (d).

Referring to FIG. 11, the cutting blade path R with the longest operation time is reduced in the fourth step according to the requirement_imaxThe length of (b) may also be in other ways, specifically:

obtaining the cutting tool path R_imaxTwo adjacent cutting tool paths R_imax-1And R_imax+1If the cutting path R is running_imax-1Has a running time greater than that of the cutting tool path R_imax+1The running time of (2), then the cutting tool path R is reduced_imaxLength of (2), increase of cutting path R_imax+1If the length of the cutting path R_imax-1Is less than the cutting path R_imax+1The running time of (2), then the cutting tool path R is reduced_imaxLength of (2), increase of cutting path R_imax-1Length of (d). That is, when it is desired to reduce the cutter path R_imaxAt a length of (a) which correspondingly affects two adjacent cutting paths R_imax-1And R_imax+1. Or a cutting path R_imax-1Is increased in length, or the cutting path R_imax+1Is increased. In order to reduce the adjacent two cutting tool paths R_imax-1And R_imax+1The cutting path R is preferably selected because of the influence of the increase in length_imax-1And R_imax+1The length is increased by one cutting knife path with short middle operation time.

Referring to fig. 12, the cutter path R with the shortest operation time is increased in the fourth step as required_iminThe length of (b) may also be in other ways, specifically:

obtaining the cutting tool path R_iminTwo adjacent cutting tool paths R_imin-1And R_imin+1If the cutting path R is running_imin-1Has a running time greater than that of the cutting tool path R_imin+1The running time of (2) is increased, the cutting tool path R is increased_iminLength of cutting path R is reduced_imin-1If the length of the cutting path R_imin-1Is less than the cutting path R_imin+1The running time of (2) is increased, the cutting tool path R is increased_iminLength of (2), increase of cutting path R_imin+1Length of (d). That is, when the cutter path R needs to be enlarged_iminAt a length of (a) which correspondingly affects two adjacent cutting paths R_imin-1And R_imin+1. Or a cutting path R_imin-1Is reduced in length, or is the cutting path R_imin+1Is reduced. In order to reduce the adjacent two cutting tool paths R_imin-1And R_imin+1Preference is given to the cutting path R because of the influence of the reduced length_imin-1And R_imin+1The length reduction is performed by a cutting path with a long medium operation time.

Referring to fig. 13, the method for generating a multiple cutting head tool path further includes the following steps, as required:

Understandably, the longest-running cutTool path R_imaxIs reduced to L_imax*（t1+t2+…+tm）/（m*t_max) The cutting path R with the shortest running time_imaxIncreased in length of L_imin*（t1+t2+…+tm）/（m*t_min) Wherein L is_imaxFor the longest-running cutting path R_imaxLength of (L)_iminFor the cutting path R with the shortest running time_iminLength of (d).

Referring to fig. 14, an embodiment of the present invention further provides a workpiece processing method, including the following steps:

providing a plurality of cutting heads;

Generating cutter paths R of the plurality of cutting heads according to the multi-cutting-head cutter path generation method of the above embodiment₁、R₂、…、R_mDetermining the cutting path R₁、R₂、…、R_mAnd a start point coordinate value and an end point coordinate value of the cutting path R₁、R₂、…、R_mThe motion planning path of (2);

Referring to fig. 15, an embodiment of the present invention further provides a multi-cutting-head tool path generating apparatus 100, including the following modules:

the segmentation module 110: according to the number of cutting heads, the original tool paths R₀Dividing the cutting tool path into a plurality of cutting tool paths with equal lengths;

the insertion module 160: inserting the avoiding path of each cutting head on the cutting paths with the same length to generate an updated cutting path R₁、R₂、…、R_mWherein m is a positive integer;

the calculation module 120: calculating the cutting tool path R₁、R₂、…、R_mRespective operating times t₁、t₂、…、t_m；

The lookup module 130: from run time t₁、t₂、…、t_mIn the method, the maximum value t of the running time is found_maxAnd corresponding serial number i_maxAnd finding the minimum value t of the running time_minAnd corresponding serial number i_min；

The comparison module 140: if the cutting tool path R₁、R₂、…、R_mThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reduced_imaxLength of (2) and increase of cutting path R with shortest running time_iminUp to the cutting path R₁、R₂、…、R_mThe maximum running time difference is less than or equal to a preset time value;

the output module 150: outputting the cutting tool path R₁、R₂、…、R_mAnd a start point coordinate value and an end point coordinate value of the cutting path R₁、R₂、…、R_mPlanning a path.

An embodiment of the present invention further provides a laser cutting apparatus 200, as shown in fig. 5, which includes a plurality of cutting

heads

210, 220 and a control apparatus for controlling the plurality of cutting

heads

210, 220 to perform a cutting action. The control apparatus includes: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the workpiece processing method as described above. Specifically, referring to fig. 16, the control device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

According to need, the embodiment of the present invention further provides a laser cutting device 200, as shown in fig. 10, which includes a plurality of cutting heads 1#, 2#, 3# and a control device for controlling the plurality of cutting heads 1#, 2#, 3# to perform cutting action. The control apparatus includes: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the workpiece processing method as described above.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A multi-cutting-head tool path generation method, wherein a plurality of cutting heads are arranged in a coaxial asynchronous cutting device and used for cutting a workpiece, and the method is characterized by comprising the following steps:

step two: inserting the avoiding path of each cutting head on the cutting paths with the same length to generate an updated cutting path R₁、R₂、…、R_mWherein, in the step (A),the number m of the cutting heads is a positive integer, and m is more than or equal to 2;

2. A multi-cutting-head tool path generation method, wherein a plurality of cutting heads are arranged in a coaxial asynchronous cutting device and used for cutting a workpiece, and the method is characterized by comprising the following steps:

3. The method for generating multiple cutting head tool paths according to claim 1 or 2, wherein the multiple cutting heads are movably arranged on the same shared shaft Y-axis, and the moving direction of the multiple cutting heads is the axial direction of the shared shaft.

4. The multi-cutter head tool path generation method of claim 1 or 2, further comprising the steps of:

From the node F_QStarting from the original tool path R along the X-axis direction₀Find out two corresponding nodes F with the same X-axis coordinate_sAnd F_s'' until node F_sAnd node F_s'' the difference in the Y-axis coordinate is greater than or equal to the minimum spacing of adjacent cutting heads;

the node F_sSet as the original tool path R₀The starting point of (2).

5. The method of multiple cutter head path generation of claim 4, wherein the first avoidance path of a first of the adjacent cutter heads is: according to node F_sTo node F_s' profile slave node F_s' moving to node F_sWherein the node F_sNode F_s' and node F_s'' have the same X-axis coordinate, and the node F_s' and the node F_sAnd the node F_s'' with the node F_sAre equal in difference between the Y-axis coordinates of (a).

6. The method of generating a multiple cutter path of claim 5, wherein the second bypass path of a second of the adjacent cutters is: according to node F_e' to node F_eProfile slave node F_eMove to node F_e'' of the path, wherein the node F_eAs a destination, the node F_eNode F_e' and node F_e'' have the same X-axis coordinate, and the node F_e' and the node F_eIs equal to the minimum spacing of the first cutting head and the second cutting head, the node F_e'' with the node F_eIs equal to the minimum separation of the first cutting head and the second cutting head.

7. The method of generating multiple cutting head tool paths of claim 6, wherein the cutting process of the first cutting head and the second cutting head is:

Having the first cutting head pass from the node F_eStraight line returns to the node F_s', with said second cutting head from said node F_e'' straight line returns to the node F_s。

8. The method for generating multiple cutting head paths according to any one of claims 2 to 6, wherein the cutting head path R with the longest running time_imaxIs reduced to (L)_imax*t_min）/t_maxThe cutting path R with the shortest running time_iminIncreased in length of (L)_imin*t_max）/t_minWherein L is_imaxFor the longest-running cutting path R_imaxLength of (L)_iminFor the cutting path R with the shortest running time_iminLength of (d).

9. The method of any one of claims 2 to 7, wherein the longest-running cutter path R is the cutter path R_imaxIs reduced to L_imax*（t_max+t_min）/2t_maxThe cutting path R with the shortest running time_iminIncreased in length of L_imin*（t_max+t_min）/2t_minWherein L is_imaxFor the longest-running cutting path R_imaxLength of (L)_iminFor the cutting path R with the shortest running time_iminLength of (d).

10. The method of any one of claims 2 to 7, wherein the longest-running cutter path R is the cutter path R_imaxIs reduced to L_imax*（t1+t2+…+tm）/（m*t_max) The cutting path R with the shortest running time_imaxIncreased in length of L_imin*（t1+t2+…+tm）/（m*t_min) Wherein L is_imaxFor the longest-running cutting path R_imaxLength of (L)_iminFor the cutting path R with the shortest running time_iminLength of (d).

11. A multi-cutting-head tool path generation method is characterized by comprising the following steps:

12. The method of generating multiple cutter paths of claim 11, further comprising the steps of:

13. The method of generating multiple cutter paths of claim 11, wherein the longest-running cutter path R is the cutter path R_imaxIs reduced by L_imax*（1-t_min/t_max) The cutting path R with the shortest running time_iminIncrease in length of L_imax*（1-t_min/t_max) Wherein L is_imaxFor the longest-running cutting path R_imaxLength of (d).

14. The method of generating multiple cutting head tool paths of claim 11, wherein the predetermined time value is in a range of 10ms to 100 ms.

15. A method of machining a workpiece, comprising the steps of:

providing a plurality of cutting heads;

The multiple cutting head tool path generating method of any one of claims 1 to 14, generating tool paths R of the plurality of cutting heads₁、R₂、…、R_mDetermining the cutting path R₁、R₂、…、R_mAnd a start point coordinate value and an end point coordinate value of the cutting path R₁、R₂、…、R_mThe motion planning path of (2);

16. A multi-cutting-head tool path generation device is characterized by comprising the following modules:

17. A laser cutting apparatus, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the workpiece processing method of claim 15.

18. A computer-readable storage medium, characterized in that a workpiece processing control program is stored thereon, which when executed by a processor implements the steps of the workpiece processing method according to claim 15.