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、…、RmWherein 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、…、RmThe 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:
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、…、RmWherein the number m of the cutting heads is a positive integer, and m is more than or equal to 2;
step three: calculating the cutting tool path R1、R2、…、RmRespective operating times t1、t2、…、tm;
Step four: from run time t1、t2、…、tmIn the method, the maximum value t of the running time is foundmaxAnd corresponding serial number imaxAnd finding the minimum value t of the running timeminAnd corresponding serial number imin;
Step five: if the cutting tool path R1、R2、…、RmThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reducedimaxLength of (2) and increase of cutting path R with shortest running timeiminLength of (d);
step six: repeating the flow from the second step to the fifth step until the cutting tool path R1、R2、…、RmThe maximum running time difference is less than or equal to a preset time value;
step seven: outputting the cutting tool path R1、R2、…、RmThe motion path of (a).
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 coordinateQ;
From the node FQStarting from the original tool path R along the X-axis direction0Find out two corresponding nodes F with the same X-axis coordinatesAnd Fs'' until node FsAnd node Fs'' the difference in the Y-axis coordinate is greater than or equal to the minimum spacing of adjacent cutting heads;
the node FsSet 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 FsTo node Fs' profile slave node Fs' moving to node FsWherein the node FsNode Fs' and node Fs'' have the same X-axis coordinate, and the node Fs' and the node FsAnd the node Fs'' with the nodeFsAre 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 Fe' to node FeProfile slave node FeMove to node Fe'' of the path, wherein the node FeAs a destination, the node FeNode Fe' and node Fe'' have the same X-axis coordinate, and the node Fe' and the node FeIs equal to the minimum spacing of the first cutting head and the second cutting head, the node Fe'' with the node FeIs 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 FsSetting the cutting starting point of the first cutting head to be Fs’;
Bringing the second cutting head along the original tool path R0Slave node FsTo node Fs'' 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 Fs'' the first cutting head is moved to the node FsAnd 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 FeWhile the first cutting head is moved to the node Fe’;
The first cutting head is made to follow the original tool path R0Slave node Fe' to node FeCutting 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 jointPoint FeWhile the second cutting head is moved to the node Fe’’;
Having the first cutting head pass from the node FeStraight line returns to the node Fs', with said second cutting head from said node Fe'' straight line returns to the node Fs. The cutting paths of the remaining cutting heads and so on.
Optionally, the longest-running cutter path RimaxIs reduced to (L)imax*tmin)/tmaxThe cutting path R with the shortest running timeiminIncreased in length of (L)imin*tmax)/tminWherein L isimaxFor the longest-running cutting path RimaxLength of (L)iminFor the cutting path R with the shortest running timeiminLength of (d).
Optionally, the longest-running cutter path RimaxIs reduced to Limax*(tmax+tmin)/2tmaxThe cutting path R with the shortest running timeiminIncreased in length of Limin*(tmax+tmin)/2tminWherein L isimaxFor the longest-running cutting path RimaxLength of (L)iminFor the cutting path R with the shortest running timeiminLength of (d).
Optionally, the longest-running cutter path RimaxIs reduced to Limax*(t1+t2+…+tm)/(m*tmax) The cutting path R with the shortest running timeimaxIncreased in length of Limin*(t1+t2+…+tm)/(m*tmin) Wherein L isimaxFor the longest-running cutting path RimaxLength of (L)iminFor the cutting path R with the shortest running timeiminLength 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 headsOriginal tool path R0Divided into a plurality of cutter paths R of equal length1、R2、…、RmWherein m is a positive integer;
step two: calculating the cutting tool path R1、R2、…、RmRespective operating times t1、t2、…、tm;
Step three: from run time t1、t2、…、tmIn the method, the maximum value t of the running time is foundmaxAnd corresponding serial number imaxAnd finding the minimum value t of the running timeminAnd corresponding serial number imin;
Step four: if the cutting tool path R1、R2、…、RmThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reducedimaxLength of (2) and increase of cutting path R with shortest running timeiminLength of (d);
step five: repeating the flow from the second step to the fourth step until the cutting tool path R1、R2、…、RmThe maximum running time difference is less than or equal to a preset time value;
step six: outputting the cutting tool path R1、R2、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmPlanning a path.
Optionally, the multi-cutter head tool path generating method further comprises the following steps:
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 headsminAnd Vi is made to be larger than or equal to Dmin。
Optionally, the longest-running cutter path RimaxIs reduced by Limax*(1-tmin/tmax) The cutting path R with the shortest running timeiminIncrease in length of Limax*(1-tmin/tmax) Wherein L isimaxFor the longest-running cutting path RimaxLength 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、…、RmDetermining the cutting path R1、R2、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmThe motion planning path of (2);
according to the cutting path R1、R2、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmDetermining 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、…、RmWherein m is a positive integer;
a calculation module: calculating the cutting tool path R1、R2、…、RmRespective operating times t1、t2、…、tm;
A searching module: from run time t1、t2、…、tmIn the method, the maximum value t of the running time is foundmaxAnd corresponding serial number imaxAnd finding the minimum value t of the running timeminAnd corresponding serial number imin;
A comparison module: if the cutting tool path R1、R2、…、RmThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reducedimaxLength of (2) and increase of cutting path R with shortest running timeiminUp to the cutting path R1、R2、…、RmThe maximum running time difference is less than or equal to a preset time value;
an output module: outputting the cutting tool path R1、R2、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmPlanning 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、…、RmWherein m is a positive integer; calculating the cutting tool path R1、R2、…、RmRespective operating times t1、t2、…、tm(ii) a From run time t1、t2、…、tmIn the method, the maximum value t of the running time is foundmaxAnd corresponding serial number imaxAnd finding the minimum value t of the running timeminAnd corresponding serial number imin(ii) a If the cutting tool path R1、R2、…、RmThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reducedimaxLength of (2) and increase of cutting path R with shortest running timeiminLength 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、…、RmThe maximum running time difference is less than or equal to a preset time value; outputting the cutting tool path R1、R2、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmPlanning 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.
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 DminAnd ensure that the distance D between adjacent cutting heads is more than or equal to Dmin。
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 pathiIs composed of
Qi = ( 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' ≧ Dmin> (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 DminAnd 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,…,Tn,T1},
wherein T is1As a starting point, T since the contour is closed1Also the end point of the profile. Contour node TiExpressed in its coordinates as:
Ti = (xi,yi),
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,…,Cm },
wherein P represents a pitch, C1 - CmRepresenting 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. Fs' is R1Starting point of (1), FsIs 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,…,Fn,F1 },
wherein, FiThe ith tool path node is shown,
Fi = (xi,yi,zi),
where i =1, 2, 3, …, n, (xi, yi) is the contour node, ziIs the height coordinate of the cutting head,
zi= 0 represents that the cutting head is at the original height and in a standby state, and the front is a lost motion path;
zi<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,…,RM },
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’、…、Rm', 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 nodei = ( xi,yi) Conversion to tool path node Fi = ( xi,yi,zC) Wherein z isC<0, indicating a forward cut. Last node T of each contourL = ( xL,yL) Converting into a tool path node: fL = ( xL,yL,zP) Wherein z isPAnd = 0, indicating that the front is a lost motion 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.
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,…,LM )
= { R1’,R2’,R3’,…,RM’ }
wherein the Divide function is a segmentation algorithm, L1,L2,L3,…,LMThe length of each cutting tool path after segmentation is represented, and the following requirements are satisfied: l is1 + L2 + L3 + … + LML, 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、…、RmWherein m is a positive integer.
Step three: calculating the cutting tool path R1、R2、…、RmRespective operating times t1、t2、…、tm. In this embodiment, the cutting path R1、R2、…、RmRespective operating times t1、t2、…、tmAnd 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~RM. Setting each segment length to L1 = L2 = L3 = … = LM= L/M, to yield R1,R2,R3,…,RM. 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、…、tmIn the method, the maximum value t of the running time is foundmaxAnd corresponding serial number imaxAnd finding the minimum value t of the running timeminAnd corresponding serial number imin。
Step five: if the cutting tool path R1、R2、…、RmThe 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 reducedimaxLength of (2) and increase of cutting path R with shortest running timeiminLength 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、…、RmThe 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、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmPlanning 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、…、RmWherein m is a positive integer; calculating the cutting tool path R1、R2、…、RmRespective operating times t1、t2、…、tm(ii) a From run time t1、t2、…、tmIn the method, the maximum value t of the running time is foundmaxAnd corresponding serial number imaxAnd finding the minimum value t of the running timeminAnd corresponding serial number imin(ii) a If the cutting tool path R1、R2、…、RmThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reducedimaxLength of and increase the shortest cutting path of operation timeRiminLength 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、…、RmThe maximum running time difference is less than or equal to a preset time value; outputting the cutting tool path R1、R2、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmPlanning 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:
at the original tool path R0Finding the node F with the smallest X-axis coordinateQ;
From the node FQStarting from the original tool path R along the X-axis direction0Find out two corresponding nodes F with the same X-axis coordinatesAnd Fs'' until node FsAnd nodeFs'' 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 FsSet 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 FsTo node Fs' profile slave node Fs' moving to node FsWherein the node FsNode Fs' and node Fs'' have the same X-axis coordinate, and the node Fs' and the node FsAnd the node Fs'' with the node FsAre equal in difference between the Y-axis coordinates of (a). The second avoidance path of the second cutting head 220 is: according to node Fe' to node FeProfile slave node FeMove to node Fe'' of the path, wherein the node FeAs a destination, the node FeNode Fe' and node Fe'' have the same X-axis coordinate, and the node Fe' and the node FeIs equal to the minimum separation of the first cutting head 210 and the second cutting head 220, the node Fe'' with the node FeIs 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 FsSetting the cutting start point of the first cutting head 210 as Fs’;
The second cutting head 220 is made to follow the original tool path R0Slave node FsTo node Fs'' 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 Fs'' the first cutting head 210 is moved to the node FsAnd 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 FeThe first cutting head 210 moves to the node Fe’;
The first cutting head 210 is made to follow the original tool path R0Slave node Fe' to node FeCutting 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 FeWhen the second cutting head 220 is moved to the node Fe’’;
The first cutting head 210 is driven from the node FeStraight line returns to the node Fs', with said second cutting head 220 from said node Fe'' straight line returns to the node Fs。
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 fiveimaxThe length of (d) is specifically:
obtaining the cutting tool path RimaxTwo adjacent cutting tool paths Rimax-1And Rimax+1If the cutting path R is runningimax-1Has a running time greater than that of the cutting tool path Rimax+1The running time of (2), then the cutting tool path R is reducedimaxLength of (2), increase cutCutter path Rimax+1If the length of the cutting path Rimax-1Is less than the cutting path Rimax+1The running time of (2), then the cutting tool path R is reducedimaxLength of (2), increase of cutting path Rimax-1Length of (d). That is, when it is desired to reduce the cutter path RimaxAt a length of (a) which correspondingly affects two adjacent cutting paths Rimax-1And Rimax+1. Or a cutting path Rimax-1Is increased in length, or the cutting path Rimax+1Is increased. In order to reduce the adjacent two cutting tool paths Rimax-1And Rimax+1The cutting path R is preferably selected because of the influence of the increase in lengthimax-1And Rimax+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 fiveiminThe length of (d) is specifically:
obtaining the cutting tool path RiminTwo adjacent cutting tool paths Rimin-1And Rimin+1If the cutting path R is runningimin-1Has a running time greater than that of the cutting tool path Rimin+1The running time of (2) is increased, the cutting tool path R is increasediminLength of cutting path R is reducedimin-1If the length of the cutting path Rimin-1Is less than the cutting path Rimin+1The running time of (2) is increased, the cutting tool path R is increasediminLength of (2), increase of cutting path Rimin+1Length of (d). That is, when the cutter path R needs to be enlargediminAt a length of (a) which correspondingly affects two adjacent cutting paths Rimin-1And Rimin+1. Or a cutting path Rimin-1Is reduced in length, or is the cutting path Rimin+1Is reduced. In order to reduce the adjacent two cutting tool paths Rimin-1And Rimin+1Preference is given to the cutting path R because of the influence of the reduced lengthimin-1And Rimin+1The length reduction is performed by a cutting path with a long medium operation time.
Understandably, the runtimeLongest cutting path RimaxIs reduced to (L)imax*tmin)/tmaxThe cutting path R with the shortest running timeiminIncreased in length of (L)imin*tmax)/tminWherein L isimaxFor the longest-running cutting path RimaxLength of (L)iminFor the cutting path R with the shortest running timeiminLength of (d).
Understandably, the longest-running cutter path RimaxIs reduced to Limax*(tmax+tmin)/2tmaxThe cutting path R with the shortest running timeiminIncreased in length of Limin*(tmax+tmin)/2tminWherein L isimaxFor the longest-running cutting path RimaxLength of (L)iminFor the cutting path R with the shortest running timeiminLength of (d).
Understandably, the longest-running cutter path RimaxIs reduced to Limax*(t1+t2+…+tm)/(m*tmax) The cutting path R with the shortest running timeimaxIncreased in length of Limin*(t1+t2+…+tm)/(m*tmin) Wherein L isimaxFor the longest-running cutting path RimaxLength of (L)iminFor the cutting path R with the shortest running timeiminLength 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、…、RmWherein 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.
The original tool path R0According to the number of cutting heads, the cutting machine is divided into M sections of cutting tool paths,
Divide ( R
0,M,L
1,L
2,L
3,…,L
M ) = { R
1,R
2,R
3,…,R
M } =
wherein the Divide function is a segmentation algorithm, L1,L2,L3,…,LMThe length of each cutting tool path after segmentation is represented, and the following requirements are satisfied: l is1 + L2 + L3 + … + LML, 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: calculating the cutting tool path R1、R2、…、RmRespective operating times t1、t2、…、tm. In the present embodiment, the cutting is performedCutter path R1、R2、…、RmRespective operating times t1、t2、…、tmAnd 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~RM. The lengths of the sections are set to be L1 = L2 = L3 = … = LM = L/M, and R is obtained1,R2,R3,…,RM. 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、…、tmIn the method, the maximum value t of the running time is foundmaxAnd corresponding serial number imaxAnd finding the minimum value t of the running timeminAnd corresponding serial number imin。
Step four: if the cutting tool path R1、R2、…、RmThe 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 reducedimaxLength of (2) and increase of cutting path R with shortest running timeiminLength of (d). In this embodiment, 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、…、RmThe maximum running time difference is less than or equal to the preset time value delta t.
Step six: outputting the cutting tool path R1、R2、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmPlanning a path.
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、…、RmCalculating the cutting path R1、R2、…、RmRespective operating times t1、t2、…、tmAnd from the running time t1、t2、…、tmIn the method, the maximum value t of the running time is foundmaxAnd corresponding serial number imaxAnd finding the minimum value t of the running timeminAnd corresponding serial number imin. If the cutting tool path R1、R2、…、RmThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reducedimaxLength of (2) and increase of cutting path R with shortest running timeiminLength 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、…、RmThe 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 timeimaxIs reduced by Limax*(1-tmin/tmax) The cutting path R with the shortest running timeiminIncrease in length of Limax*(1-tmin/tmax) Wherein L isimaxFor the longest-running cutting path RimaxLength 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 requirementimaxThe length of (b) may also be in other ways, specifically:
obtaining the cutting tool path RimaxTwo adjacent cutting tool paths Rimax-1And Rimax+1If the cutting path R is runningimax-1Has a running time greater than that of the cutting tool path Rimax+1The running time of (2), then the cutting tool path R is reducedimaxLength of (2), increase of cutting path Rimax+1If the length of the cutting path Rimax-1Is less than the cutting path Rimax+1The running time of (2), then the cutting tool path R is reducedimaxLength of (2), increase of cutting path Rimax-1Length of (d). That is, when it is desired to reduce the cutter path RimaxAt a length of (a) which correspondingly affects two adjacent cutting paths Rimax-1And Rimax+1. Or a cutting path Rimax-1Is increased in length, or the cutting path Rimax+1Is increased. In order to reduce the adjacent two cutting tool paths Rimax-1And Rimax+1The cutting path R is preferably selected because of the influence of the increase in lengthimax-1And Rimax+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 requirediminThe length of (b) may also be in other ways, specifically:
obtaining the cutting tool path RiminTwo adjacent cutting tool paths Rimin-1And Rimin+1If the cutting path R is runningimin-1Has a running time greater than that of the cutting tool path Rimin+1The running time of (2) is increased, the cutting tool path R is increasediminLength of cutting path R is reducedimin-1If the length of the cutting path Rimin-1Is less than the cutting path Rimin+1The running time of (2) is increased, the cutting tool path R is increasediminLength of (2), increase of cutting path Rimin+1Length of (d). That is, when the cutter path R needs to be enlargediminAt a length of (a) which correspondingly affects two adjacent cutting paths Rimin-1And Rimin+1. Or a cutting path Rimin-1Is reduced in length, or is the cutting path Rimin+1Is reduced. In order to reduce the adjacent two cutting tool paths Rimin-1And Rimin+1Preference is given to the cutting path R because of the influence of the reduced lengthimin-1And Rimin+1Long medium operation timeOne cutting lane makes the reduction in length.
Referring to fig. 13, the method for generating a multiple cutting head tool path further includes the following steps, as required:
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 headsminAnd Vi is made to be larger than or equal to Dmin。
Understandably, the longest-running cutter path RimaxIs reduced to (L)imax*tmin)/tmaxThe cutting path R with the shortest running timeiminIncreased in length of (L)imin*tmax)/tminWherein L isimaxFor the longest-running cutting path RimaxLength of (L)iminFor the cutting path R with the shortest running timeiminLength of (d).
Understandably, the longest-running cutter path RimaxIs reduced to Limax*(tmax+tmin)/2tmaxThe cutting path R with the shortest running timeiminIncreased in length of Limin*(tmax+tmin)/2tminWherein L isimaxFor the longest-running cutting path RimaxLength of (L)iminFor the cutting path R with the shortest running timeiminLength of (d).
Understandably, the longest-running cutter path RimaxIs reduced to Limax*(t1+t2+…+tm)/(m*tmax) The cutting path R with the shortest running timeimaxIncreased in length of Limin*(t1+t2+…+tm)/(m*tmin) Wherein L isimaxFor the longest-running cutting path RimaxLength of (L)iminFor the cutting path R with the shortest running timeiminLength 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;
acquiring the contour information of a workpiece, and determining the original tool paths R of the plurality of cutting heads0;
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、…、RmDetermining the cutting path R1、R2、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmThe motion planning path of (2);
according to the cutting path R1、R2、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmDetermining machining control parameters of the plurality of cutting heads; and
and processing the workpiece according to the processing control parameters of the cutting heads.
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、…、RmWherein m is a positive integer;
the calculation module 120: calculating the cutting tool path R1、R2、…、RmRespective operating times t1、t2、…、tm;
The lookup module 130: from run time t1、t2、…、tmIn the method, the maximum value t of the running time is foundmaxAnd corresponding serial number imaxAnd finding the minimum value t of the running timeminAnd corresponding serial number imin;
The comparison module 140: if the cutting tool path R1、R2、…、RmThe maximum operation time difference is larger than the preset time value, and the cutting tool path R with the longest operation time is reducedimaxLength of (2) and increase of cutting path R with shortest running timeiminUp to the cutting path R1、R2、…、RmThe 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、…、RmAnd a start point coordinate value and an end point coordinate value of the cutting path R1、R2、…、RmPlanning 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.
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.
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.