CN113399849A - Cutting head idle-moving edge-crossing frog-leaping control method, device, processor and storage medium for pipe model of laser pipe cutting system - Google Patents
Cutting head idle-moving edge-crossing frog-leaping control method, device, processor and storage medium for pipe model of laser pipe cutting system Download PDFInfo
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- CN113399849A CN113399849A CN202110753431.5A CN202110753431A CN113399849A CN 113399849 A CN113399849 A CN 113399849A CN 202110753431 A CN202110753431 A CN 202110753431A CN 113399849 A CN113399849 A CN 113399849A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
Abstract
The invention relates to a method for realizing cutting head idle movement and ridge-crossing frog-leaping control on a pipe model in a laser pipe cutting system, wherein the method comprises the following steps: the system obtains the optimal parameter information required to be measured by the pipe model, calculates the maximum height difference between the edge and the surface of the pipe model in the pipe rotation process according to the obtained parameter information, estimates the time required by the pipe model to lift from the horizontal surface to the highest position of the edge by the system, calculates the duration time required by the pipe model to pass through the edge and jump overall according to the limit height preset by the system for carrying out the frog jump lifting, plans the optimal motion path information of the cutting head, and drives the cutting head to move according to the optimal motion path information. The invention also relates to a corresponding device, a processor and a computer readable storage medium thereof. By adopting the method, the device, the processor and the computer readable storage medium thereof, the problem that the cutting head cannot well avoid the obstacle when the lost motion is used in the pipe cutting system can be effectively solved.
Description
Technical Field
The invention relates to the technical field of pipe laser cutting, in particular to the technical field of control over the idle movement of a cutting head across a pipe edge, and specifically relates to a method, a device, a processor and a computer readable storage medium for realizing control over the idle movement and the leap of the cutting head across the edge of a pipe in a laser pipe cutting system.
Background
The laser cutting field, under the prerequisite of guaranteeing security and stability, to machining efficiency's requirement higher and higher, machining efficiency mainly divide into cutting efficiency and idle efficiency again. Therefore, how to improve the idle moving efficiency plays an important role in improving the processing efficiency.
Laser cutting is mainly divided into plate cutting and pipe cutting. The plate cutting refers to cutting a plane plate, and an XY two-dimensional plane coordinate system is used; the tube cutting refers to cutting a three-dimensional tube, and an XYZ three-dimensional space coordinate system is used. Therefore, compared with plate cutting, the pipe cutting needs to consider the problem of obstacle avoidance of the cutting head due to the change of the height difference in the Z direction during the lost motion.
In the field of plate cutting, a frog leap mode is generally used in the idle movement, and in the process that the XY movement is in place, the cutting head undergoes the processes of rising, keeping and falling like frog leap, so that the situation that the cutting head scrapes due to the unevenness of the plate is avoided, and the movement path is shown in figure 1.
The motion of the Z axis in the frog-leaping process is a path planned by the follow-up firmware according to the frog-leaping duration t and the maximum frog-leaping height h.
Frog-leaping duration t: refers to the time required for the XY to move from the starting point to the target position.
The maximum height h of the frog in jumping is as follows: the user specifies the maximum uplift height during the leapfrog.
From the coordinate relation of time and the height from the board, the time required for the Z-axis motion frog to jump up to the maximum height h is known to be t1, and the following two situations exist:
when t > -2 × t1, the cutting head can be raised up to h and held for a while, as shown in fig. 2.
When t <2 × t1, the highest position that the cutting head is lifted up is not reached by h, as shown in fig. 3.
In the field of pipe cutting, during the idle movement, the B axis drives the pipe to rotate, and the highest point position in the Z direction changes along with the rotation. The common frog leaping mode can not ensure that the cutting head safely crosses obstacles.
The conventional air-moving arris-passing mode in the industry at present uses a cutting head to pass arris in a door-shaped path.
1. Before passing the edge, the cutting head is lifted to a safe position;
moving the X axis, the Y axis and the B axis in place;
3. the follow-up system controls the cutting head to follow the surface of the plate.
The path of movement is shown in fig. 4, taking the example of a rectangular tube passing over the rib.
In the mode, the cutting head is always in a static high position in the rotation process of the pipe, so that the safety of the cutting head can be ensured. However, the whole idle movement process takes a long time, and is the sum of the time spent in three processes of lifting on the Z axis, moving on the X axis, the Y axis and the B axis and following the Z axis to the right position.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method, a device, a processor and a computer readable storage medium for realizing cutting head idle movement and edge-crossing frog-leaping control on a pipe model in a laser pipe cutting system, which can effectively improve idle movement efficiency.
In order to achieve the above object, the method, apparatus, processor and computer readable storage medium for controlling the idle movement of the cutting head through the ridge and frog leap in the laser pipe cutting system of the present invention are as follows:
the method for realizing the control of the idle movement of the cutting head to pass through the arris and the frog leap of the pipe model in the laser pipe cutting system is mainly characterized by comprising the following steps:
(1) the method comprises the steps that a laser pipe cutting system obtains optimal parameter information required to be measured by a pipe model;
(2) according to the obtained parameter information of the pipe model, the system calculates the maximum height difference between the edge and the surface of the pipe model in the pipe rotation process;
(3) the system estimates the time required for the pipe model to be lifted from the horizontal surface to the highest position of the edge;
(4) calculating the total duration time required by the pipe model to pass through the edge frog jump according to the limit height preset by the system for carrying out frog jump lifting, and planning the optimal motion path information of the cutting head;
(5) the system drives the cutting head to move according to the optimal motion path information.
Preferably, the optimal parameter information in step (1) specifically includes:
the height and width of the pipe model, the coordinates of the required target edge of the pipe model in the Z direction after the pipe model is moved in place, and the coordinates of the required measurement surface of the pipe model in the Z direction after the pipe model is moved in place.
Preferably, the step (2) is specifically:
setting the width of the pipe model as w and the height as h, and calculating the maximum height difference h1 according to the following formula:
preferably, the step (3) is specifically:
according to the lifting speed v and the acceleration a of the system in the Z-axis direction, calculating the lifting time t1 required by the pipe model to be lifted from the horizontal surface to the highest position of the edge according to the following formula:
preferably, the step (4) specifically includes the following steps:
(4.1) the Z-axis of the system performs an action of taking off early over a rise time t 1;
(4.2) the X axis, the Y axis and the B axis of the system start to move according to the acquired parameter information of the pipe model;
(4.3) the system performs the action of descending from the highest point of the Z axis to the highest edge position of the pipe model so as to complete the in-place operation;
(4.4) calculating the overall elevation h of the pipe model for realizing the leapfrog through the ridge according to the leapfrog elevation limit height h2 preset by the system, wherein the overall elevation h is calculated according to the following formula;
h＝h1+h2；
(4.5) after the X-axis, the Y-axis and the B-axis move in place, calculating the total duration time required by the pipe model for the leapfrogging through the arris according to the following formula:
t＝t2+2×t1。
preferably, the system sets the time required for the Z axis to complete the set position in the step (4.3) to not exceed the rise time t 1.
This a device for realizing in laser pipe cutting system to cutting head idle running of tubular product model through arris leapfrog control, its key feature is, the device include:
a processor configured to execute computer-executable instructions;
and the memory stores one or more computer-executable instructions, and when the computer-executable instructions are executed by the processor, the method realizes the steps of the method for realizing the control of the idle moving and the passing of the cutting head through the ridge frog jump of the pipe model in the laser pipe cutting system.
The processor for realizing the control of the cutting head idle movement passing through the ridge frog-jump in the laser pipe cutting system is mainly characterized in that the processor is configured to execute computer executable instructions, and when the computer executable instructions are executed by the processor, the steps of the method for realizing the control of the cutting head idle movement passing through the ridge frog-jump in the laser pipe cutting system are realized.
The computer readable storage medium is mainly characterized in that a computer program is stored thereon, and the computer program can be executed by a processor to realize the steps of the method for realizing the cutting head idle movement and leap-crossing control on the pipe model in the laser pipe cutting system.
By adopting the method, the device, the processor and the computer-readable storage medium for realizing the cutting head idle-moving and edge-crossing frog-leaping control on the pipe model in the laser pipe cutting system, the problem that the cutting head cannot avoid the obstacle well when the idle-moving motion is used in the pipe cutting system can be effectively solved by designing an optimal edge-crossing frog-leaping mode in the process of idle-moving the pipe, the idle-moving efficiency can be improved while the safety is ensured, and the application effect is more remarkable.
Drawings
Fig. 1 is a schematic diagram of a motion track of a planar frog-jump cutting head in the prior art.
Fig. 2 is a schematic diagram showing a first relationship between the time required for movement and the height of the pipe in the frog leap process in the prior art.
Fig. 3 is a schematic diagram illustrating a second relationship between the time required for moving and the height of the pipe in the frog leap process in the prior art.
Fig. 4 is a schematic diagram of a gate-shaped path idle passing rib in the prior art.
Fig. 5 is a flowchart of a method for controlling the idle movement of the cutting head through the ridge and the frog leap in the laser pipe cutting system according to the present invention.
Fig. 6 is a schematic diagram of the air-moving frog jump.
FIG. 7a is a schematic diagram of a path before optimization of the null shift arrises of the present invention.
FIG. 7b is a schematic diagram of the optimized path of the present invention.
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
Before describing in detail embodiments that are in accordance with the present invention, it should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 5, a method for controlling the cutting head to move past the ridge and frog jump in the laser pipe cutting system is provided, wherein the method includes the following steps:
(1) the method comprises the steps that a laser pipe cutting system obtains optimal parameter information required to be measured by a pipe model;
(2) according to the obtained parameter information of the pipe model, the system calculates the maximum height difference between the edge and the surface of the pipe model in the pipe rotation process;
(3) the system estimates the time required for the pipe model to be lifted from the horizontal surface to the highest position of the edge;
(4) calculating the total duration time required by the pipe model to pass through the edge frog jump according to the limit height preset by the system for carrying out frog jump lifting, and planning the optimal motion path information of the cutting head;
(5) the system drives the cutting head to move according to the optimal motion path information.
As a preferred embodiment of the present invention, the optimal parameter information in step (1) specifically includes:
the height and width of the pipe model, the coordinates of the required target edge of the pipe model in the Z direction after the pipe model is moved in place, and the coordinates of the required measurement surface of the pipe model in the Z direction after the pipe model is moved in place.
As a preferred embodiment of the present invention, the step (2) specifically comprises:
setting the width of the pipe model as w and the height as h, and calculating the maximum height difference h1 according to the following formula:
as a preferred embodiment of the present invention, the step (3) specifically comprises:
according to the lifting speed v and the acceleration a of the system in the Z-axis direction, calculating the lifting time t1 required by the pipe model to be lifted from the horizontal surface to the highest position of the edge according to the following formula:
as a preferred embodiment of the present invention, the step (4) specifically comprises the following steps:
(4.1) the Z-axis of the system performs an action of taking off early over a rise time t 1;
(4.2) the X axis, the Y axis and the B axis of the system start to move according to the acquired parameter information of the pipe model;
(4.3) the system performs the action of descending from the highest point of the Z axis to the highest edge position of the pipe model so as to complete the in-place operation;
(4.4) calculating the overall elevation h of the pipe model for realizing the leapfrog through the ridge according to the leapfrog elevation limit height h2 preset by the system, wherein the overall elevation h is calculated according to the following formula;
h＝h1+h2；
(4.5) after the X-axis, the Y-axis and the B-axis move in place, calculating the total duration time required by the pipe model for the leapfrogging through the arris according to the following formula:
t＝t2+2×t1。
as a preferred embodiment of the present invention, the system sets the time required for the Z-axis to complete the positioning in the step (4.3) to not exceed the rise time t 1.
As a preferred embodiment of the present invention, the device for controlling the idle movement of the cutting head through the ridge frog jump of the pipe model in the laser pipe cutting system comprises:
a processor configured to execute computer-executable instructions;
and the memory stores one or more computer-executable instructions, and when the computer-executable instructions are executed by the processor, the method realizes the steps of the method for realizing the control of the idle moving and the passing of the cutting head through the ridge frog jump of the pipe model in the laser pipe cutting system.
As a preferred embodiment of the present invention, the processor for implementing the cutting head idling-trip-through-ridge control on the pipe model in the laser pipe cutting system is configured to execute computer-executable instructions, and when the computer-executable instructions are executed by the processor, the steps of the method for implementing the cutting head idling-trip-through-ridge control on the pipe model in the laser pipe cutting system are implemented.
The computer readable storage medium has stored thereon a computer program executable by a processor to perform the steps of the method for achieving cutting head idle through prism frog jump control for a pipe model in a laser pipe cutting system as described above.
In a specific embodiment of the present invention, the technical solution is described by taking a rectangular tube as an example, but in the practical application process, the present invention includes but is not limited to the application by taking a rectangular tube as a fixed model, and other similar or applicable models the present invention may also adjust the model after adaptively adjusting the system according to the actual situation.
As an embodiment of the present invention, a rectangular tube with width w and height h is taken as an example below:
step 1: calculating the maximum height difference h1 between the edge and the surface in the rotation process of the pipe according to the pipe model;
step 2: estimating the time t1 required for lifting the surface to the highest position of the edge according to the lifting speed v and the acceleration a on the Z axis;
step 3: the Z axis takes off at a time t1 in advance to ensure that the cutting head is lifted to the edge height position, and the XYB starts to move; after the XYB moves in place, the Z axis is also lowered from the highest position to the edge height position, and the whole process avoids obstacles; subsequently, the Z axis continues to follow down until it is in position, which time does not exceed t 1.
According to the frog jump uplift limit height h2, the uplift height of the frog jump target passing the arris can be obtained:
h=h1+h2
according to the fact that the time required by the XYB to move in place is t2, the total duration time of the leapfrog can be estimated:
t=t2+2×t1
referring to fig. 6, the overall time required for the rectangular tube to complete the idle movement and pass through the edge in the actual application process can be perfectly calculated by using the above calculation method.
Referring to fig. 7a and 7B, comparing the previous ridge-crossing mode with the previous ridge-crossing mode, analyzing the motion track of the cutting head (fig. 7a shows the previous ridge-crossing track, fig. 7B shows the ridge-crossing track), and during the ridge-crossing frog jump, the stroke of the section a-B, the Z-axis, the X-axis, the Y-axis and the B-axis move simultaneously. Compared with the original edge passing mode, two sections of time for lifting A-A1 and descending B1-B can be saved.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by suitable instruction execution devices.
In the description herein, references to the description of the term "an embodiment," "some embodiments," "an example," "a specific example," "an implementation" or "an embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
By adopting the method, the device, the processor and the computer-readable storage medium for realizing the cutting head idle-moving and edge-crossing frog-leaping control on the pipe model in the laser pipe cutting system, the problem that the cutting head cannot avoid the obstacle well when the idle-moving motion is used in the pipe cutting system can be effectively solved by designing an optimal edge-crossing frog-leaping mode in the process of idle-moving the pipe, the idle-moving efficiency can be improved while the safety is ensured, and the application effect is more remarkable.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (9)
1. A method for realizing cutting head idle movement through ridge frog leap control for a pipe model in a laser pipe cutting system is characterized by comprising the following steps:
(1) the method comprises the steps that a laser pipe cutting system obtains optimal parameter information required to be measured by a pipe model;
(2) according to the obtained parameter information of the pipe model, the system calculates the maximum height difference between the edge and the surface of the pipe model in the pipe rotation process;
(3) the system estimates the time required for the pipe model to be lifted from the horizontal surface to the highest position of the edge;
(4) calculating the total duration time required by the pipe model to pass through the edge frog jump according to the limit height preset by the system for carrying out frog jump lifting, and planning the optimal motion path information of the cutting head;
(5) the system drives the cutting head to move according to the optimal motion path information.
2. The method for controlling the idle movement of the cutting head through the ridge and the frog jump in the laser pipe cutting system according to claim 1, wherein the optimal parameter information in the step (1) specifically comprises:
the height and width of the pipe model, the coordinates of the required target edge of the pipe model in the Z direction after the pipe model is moved in place, and the coordinates of the required measurement surface of the pipe model in the Z direction after the pipe model is moved in place.
3. The method for realizing the control of the idle movement of the cutting head over the ridge frog jump in the laser pipe cutting system according to claim 2, wherein the step (2) is specifically as follows:
setting the width of the pipe model as w and the height as h, and calculating the maximum height difference h1 according to the following formula:
4. the method for realizing the control of the idle movement of the cutting head over the ridge frog jump in the laser pipe cutting system according to claim 3, wherein the step (3) is specifically as follows:
according to the lifting speed v and the acceleration a of the system in the Z-axis direction, calculating the lifting time t1 required by the pipe model to be lifted from the horizontal surface to the highest position of the edge according to the following formula:
5. the method for realizing the cutting head idle movement through the ridge frog jump control in the laser pipe cutting system according to claim 4, wherein the step (4) specifically comprises the following steps:
(4.1) the Z-axis of the system performs an action of taking off early over a rise time t 1;
(4.2) the X axis, the Y axis and the B axis of the system start to move according to the acquired parameter information of the pipe model;
(4.3) the system performs the action of descending from the highest point of the Z axis to the highest edge position of the pipe model so as to complete the in-place operation;
(4.4) calculating the overall elevation h of the pipe model for realizing the leapfrog through the ridge according to the leapfrog elevation limit height h2 preset by the system, wherein the overall elevation h is calculated according to the following formula;
h＝h1+h2；
(4.5) after the X-axis, the Y-axis and the B-axis move in place, calculating the total duration time required by the pipe model for the leapfrogging through the arris according to the following formula:
t＝t2+2×t1。
6. the method for implementing the cutting head idle-moving through ridge frog jump control in the laser pipe cutting system according to claim 5, characterized in that the system sets the time required for the Z axis to complete the in-place in the step (4.3) to be not more than the rising time t 1.
7. A device for realizing the control of the idle movement of a cutting head for a pipe model in a laser pipe cutting system through a ridge frog leap is characterized by comprising:
a processor configured to execute computer-executable instructions;
a memory storing one or more computer executable instructions that, when executed by the processor, perform the steps of the method of performing cutting head freewheeling rang jump control for a pipe model in a laser pipe cutting system of any of claims 1 to 6.
8. A processor for implementing cutting head idling past ridge frog-jump control for a pipe model in a laser pipe cutting system, wherein the processor is configured to execute computer-executable instructions which, when executed by the processor, implement the steps of the method for implementing cutting head idling past ridge frog-jump control for a pipe model in a laser pipe cutting system according to any of claims 1 to 6.
9. A computer readable storage medium having stored thereon a computer program executable by a processor to perform the steps of a method of implementing a head space pass through ridge frog jump control for a pipe model in a laser pipe cutting system as claimed in any one of claims 1 to 4.
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