CN114063556B - Self-adaptive corner rounding method for laser cutting - Google Patents
Self-adaptive corner rounding method for laser cutting Download PDFInfo
- Publication number
- CN114063556B CN114063556B CN202010783366.6A CN202010783366A CN114063556B CN 114063556 B CN114063556 B CN 114063556B CN 202010783366 A CN202010783366 A CN 202010783366A CN 114063556 B CN114063556 B CN 114063556B
- Authority
- CN
- China
- Prior art keywords
- arc
- interpolation
- track
- line segment
- radius
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000003698 laser cutting Methods 0.000 title abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 83
- 230000007704 transition Effects 0.000 claims abstract description 22
- 238000004364 calculation method Methods 0.000 claims abstract description 10
- 238000003780 insertion Methods 0.000 claims description 46
- 230000037431 insertion Effects 0.000 claims description 46
- 238000010586 diagram Methods 0.000 description 11
- 238000003754 machining Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/182—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Numerical Control (AREA)
Abstract
The invention relates to a corner self-adaptive rounding method for laser cutting, which comprises the steps of firstly reading track data of two adjacent sections of processing tracks, judging whether the adjacent tracks have rounding conditions, intercepting corners between the tracks when the rounding conditions are provided, interpolating one interpolation track at a place with the corners by using a mathematical geometric algorithm so as to ensure that the interpolation track is tangential with front and rear tracks of the corners, enabling a starting point of the interpolation track to be positioned on a previous section of track of the corners, enabling an end point of the interpolation track to be positioned on a later section of track of the corners, then bringing the radius of the interpolation arc into the data of the two adjacent sections of processing tracks, and calculating to obtain the interpolation track data according to whether the interpolation arc track is positioned on the two adjacent sections of processing tracks to generate a new processing track. According to the method, corner fitting calculation can be performed after the track parameters of the interpolation track are calculated, and more accurate smooth transition processing can be performed on the corner positions among different tracks, so that the processing efficiency is further improved.
Description
Technical Field
The invention belongs to the technical field of industrial automation control, and particularly relates to a corner self-adaptive chamfering method for laser cutting.
Background
In the traditional laser cutting, in order to ensure the machining precision and the stability of movement, the corner of a workpiece to be machined is generally subjected to deceleration treatment, so that when the load of a machine tool is overlarge, the corner cutting is severely vibrated, and the machining precision and the machining efficiency of a plate are seriously affected. Particularly, when the thick plate (about 10 mm) is subjected to sharp angle cutting, the burnt material cannot be discharged in time due to the fact that the airflow cannot follow the light beam in time, the section cutting effect after turning is finally affected, even the phenomenon of blue light reflection and cutting impermeability occurs, and lenses are damaged easily. To reduce this, a circular arc path is interpolated at the corners, a process called rounding. The rounding belongs to one condition in the process, and is used for ensuring smooth transition of the front section and the rear section of processing track in the processing process and improving the laser cutting efficiency.
The traditional chamfering method is to designate the chamfering radius and then to process the corresponding track. Major drawbacks: (1) severely dependent on the set rounding radius: if the radius of the rounding is too large, so that the starting and ending points of the rounding are not on the track to be processed, corners of the situation cannot be processed; (2) the rounding function involving circular arc trajectories was not developed: the rounding can be divided into a straight line and a straight line, a straight line and an arc, an arc and a straight line and an arc according to the types of two connected processing tracks, wherein the rounding related to the arc is complex, and the tangent relation between the interpolation track and the input arc track needs to be considered, namely, the input arc track and the interpolation rounding belong to internal cutting or external cutting. Under such conditions, in order to further improve the machining accuracy and efficiency of the machine tool, a new method needs to be developed to solve the problem.
Disclosure of Invention
Aiming at the technical problems, the invention provides a self-adaptive corner rounding method for laser cutting, which can carry out smooth transition treatment on corner data.
The invention discloses a self-adaptive corner rounding method for laser cutting, which comprises the following steps:
track data of two adjacent sections of processing tracks are read, and whether smooth transition is achieved between the two adjacent sections of processing tracks is judged according to the track data;
if the two adjacent sections of processing tracks are not in smooth transition, carrying out rounding calculation to obtain interpolation tracks, wherein the interpolation tracks comprise setting rounding radii;
calculating insertion trajectory data based on the set fillet radius;
and inserting the insertion track data into the original queue to generate a new processing track.
Preferably, when the two adjacent processing tracks are a first line segment and a second line segment, the calculating the insertion track data according to the set rounding radius includes:
calculating the maximum interpolation arc radius according to the track data of the first line segment and the second line segment;
judging the size relation between the set rounding radius and the maximum interpolation circular arc radius;
if the set radius of the rounding is larger than the maximum interpolation arc radius, calculating insertion track data according to the set radius of the rounding;
and if the set rounding radius is smaller than the maximum interpolation arc radius, calculating insertion track data according to the maximum interpolation arc radius.
Preferably, the track data of the first line segment and the second line segment includes a start point coordinate of the first line segment, an end point coordinate of the first line segment, a start point coordinate of the second line segment, and an end point coordinate of the second line segment, wherein the end point coordinate of the first line segment and the start point coordinate of the second line segment are the same point; the calculating the maximum interpolation arc radius according to the track data of the first line segment and the second line segment includes:
calculating to obtain a first rounding radius by taking the starting point coordinates of the first line segment as the starting point of the rounding;
calculating to obtain a second rounding radius by taking the endpoint coordinates of the second line segment as the endpoint of the rounding;
and selecting a smaller value of the first rounding radius and the second rounding radius as a maximum interpolation arc radius.
Preferably, when the two adjacent processing tracks are the third line segment and the first arc, the calculating the insertion track data according to the set rounding radius includes:
calculating track data of an interpolation track according to track data of the set rounding radius, the third line segment and the first arc, wherein the track data of the interpolation track comprises interpolation starting point coordinates and interpolation end point coordinates;
judging whether the interpolation track simultaneously meets that the interpolation starting point coordinate is positioned on the third line segment and the interpolation ending point coordinate is positioned on a first circular arc or not;
if yes, taking the track data of the interpolation track as the insertion track data;
if not, the track data of the third line segment and the first arc are taken as the insertion track data.
Preferably, the trajectory data of the third line segment and the first arc includes a start point coordinate of the third line segment, an end point coordinate of the third line segment, a radius of the first arc, a start point coordinate of the first arc, and an end point coordinate of the first arc, wherein the end point coordinate of the third line segment and the start point coordinate of the first arc are the same point, and the calculating the trajectory data of the interpolation trajectory according to the trajectory data of the set radius, the third line segment, and the first arc includes:
selecting a first auxiliary point on a third line segment, wherein the distance from the first auxiliary point to the end point of the third line segment is a first length;
comparing the distance from the first auxiliary point to the center of the first circular arc with the radius of the first circular arc to judge the tangent relation between the interpolation track and the first circular arc;
and determining the interpolation starting point coordinates and the interpolation ending point coordinates of the interpolation track by the tangential relation between the interpolation track and the first circular arc and setting the radius of the rounding. In the following
Preferably, when the two adjacent processing tracks are the second arc and the fourth line segment, the calculating the insertion track data according to the set rounding radius includes:
calculating track data of an interpolation track according to the track data of the set rounding radius, the second arc and the fourth line segment, wherein the track data of the interpolation track comprises interpolation starting point coordinates and interpolation end point coordinates;
judging whether the interpolation track simultaneously meets that the interpolation starting point coordinate is positioned on the second arc and the interpolation ending point coordinate is positioned on a fourth line segment;
if yes, taking the track data of the interpolation track as the insertion track data;
if the track data does not meet the requirement, the track data of the second circular arc and the fourth line segment are taken as the insertion track data.
Preferably, the trajectory data of the second arc and the fourth line segment includes a start point coordinate of the second arc, an end point coordinate of the second arc, a radius of the second arc, a start point coordinate of the fourth line segment, and an end point coordinate of the fourth line segment, wherein the end point coordinate of the second arc and the start point coordinate of the fourth line segment are the same point, and the calculating the trajectory data of the interpolation trajectory according to the trajectory data of the set radius, the second arc, and the fourth line segment includes:
selecting a second auxiliary point on the fourth line segment, wherein the distance from the second auxiliary point to the starting point of the fourth line segment is a second length;
comparing the distance from the second auxiliary point to the center of the second circular arc with the radius of the second circular arc to judge the tangent relation between the interpolation track and the second circular arc;
and determining the interpolation starting point coordinates and the interpolation ending point coordinates of the interpolation track by the tangential relation between the interpolation track and the second circular arc and setting the radius of the rounding.
Preferably, when the two adjacent sections of processing tracks are the third arc and the fourth arc, the calculating the insertion track data according to the set rounding radius includes:
calculating track data of an interpolation track according to track data of the set rounding radius, the third arc and the fourth arc, wherein the track data of the interpolation track comprises interpolation starting point coordinates and interpolation end point coordinates;
judging whether the interpolation track simultaneously meets that the interpolation starting point coordinate is positioned on the third circular arc and the interpolation ending point coordinate is positioned on the fourth circular arc;
if yes, taking the track data of the interpolation track as the insertion track data;
if the track data does not meet the requirement, the track data of the third arc and the fourth arc are taken as the insertion track data.
Preferably, the trajectory data of the third arc and the fourth arc includes a start point coordinate of the third arc, an end point coordinate of the third arc, a third arc radius, a start point coordinate of the fourth arc, an end point coordinate of the fourth arc, and a fourth arc radius, wherein the end point coordinate of the third arc and the start point coordinate of the fourth arc are the same point, and the calculating the trajectory data of the interpolation trajectory according to the trajectory data of the set rounding radius, the third arc, and the fourth arc includes:
selecting a third auxiliary point on the third circular arc, and selecting a fourth auxiliary point on the fourth circular arc, wherein the circle center angle corresponding to the chord length between the third auxiliary point and the third circular arc end point and the chord length between the fourth circular arc starting point and the fourth auxiliary point is a preset radian;
comparing the circle center distance from the third auxiliary point to the third arc with the radius of the third arc, and comparing the circle center distance from the fourth auxiliary point to the fourth arc with the radius of the fourth arc to judge the tangent relation between the interpolation track and the third arc and the fourth arc respectively;
and determining the interpolation starting point coordinates and the interpolation ending point coordinates of the interpolation track by the tangential relation between the interpolation track and the third arc, the tangential relation between the interpolation track and the fourth arc and the set rounding radius.
Preferably, the reading the track data of the two adjacent sections of processing tracks, and judging whether the two adjacent sections of processing tracks can be smoothly transited according to the track data includes:
when two adjacent sections of processing tracks are respectively read to be a first line segment and a second line segment, judging whether the first line segment and the second line segment are collinear, if so, determining that smooth transition between the first line segment and the second line segment is possible, and if not, determining that smooth transition between the first line segment and the second line segment is not possible;
when two adjacent sections of processing tracks are respectively a third line segment and a first circular arc, judging whether the third line segment is tangent to the first circular arc, if so, determining that the third line segment and the first circular arc can be smoothly transited, and if not, determining that the third line segment and the first circular arc cannot be transited smoothly;
when two adjacent sections of processing tracks are respectively a second arc and a fourth line section, judging whether the second arc is tangent to the fourth line section, if so, determining that the second arc and the fourth line section can be smoothly transited, and if not, determining that the second arc and the fourth line section cannot be smoothly transited;
and when the two adjacent sections of processing tracks are respectively a third arc and a fourth arc, judging whether the third arc and the fourth arc are tangent, if so, determining that the third arc and the fourth arc can be smoothly transited, and if not, determining that the third arc and the fourth arc cannot be transited smoothly.
According to the embodiment of the invention, the self-adaptive corner chamfering method for laser cutting reads track data of two adjacent sections of processing tracks, judges whether the adjacent tracks have chamfering conditions, firstly intercepts a corner between the tracks when the adjacent tracks have chamfering conditions, interpolates an interpolation track at a place with the corner by using a mathematical geometric algorithm so as to ensure that the interpolation track is tangential with the front-back track of the corner, ensures that the starting point of the interpolation track is positioned on the front-section track of the corner, ensures that the end point of the interpolation track is positioned on the rear-section track of the corner, and then brings the interpolation arc radius into the adjacent two sections of processing track data, calculates whether the interpolation arc track is positioned on the two adjacent sections of processing tracks or not to obtain the interpolation track data, and inserts the interpolation track data into an original queue to generate a new processing track. The self-adaptive rounding method can calculate the track parameters of the interpolation track and then calculate corner fitting, so that the corner positions among different tracks are subjected to more accurate smooth transition treatment, and the processing efficiency is further improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flow chart of the corner adaptive rounding method of the laser cutting of the present invention;
FIG. 2 is a schematic diagram of a rounded trajectory between a first line segment and a second line segment according to the present invention;
FIG. 3 is a schematic diagram of a second embodiment of the present invention;
FIG. 4 is a third schematic diagram of a rounded trajectory between a first segment and a second segment according to the present invention;
FIG. 5 is a schematic diagram of a rounded trajectory between a first segment and a second segment according to the present invention;
FIG. 6 is a schematic diagram of a rounded trajectory between a third segment and a first arc according to the present invention;
FIG. 7 is a second schematic diagram of a rounded trajectory between a third segment and a first arc according to the present invention;
FIG. 8 is a schematic diagram of a rounded trajectory between a second arc and a fourth line segment in accordance with the present invention;
FIG. 9 is a schematic diagram II of the rounded trajectory between the second arc and the fourth line segment of the present invention;
FIG. 10 is a schematic diagram of a rounded trajectory between a third arc and a fourth arc according to the present invention;
FIG. 11 is a schematic diagram II of the track of the rounded corner between the third arc and the fourth arc;
FIG. 12 is a third schematic drawing of the trajectory of the rounded corner between the third and fourth arcs of the present invention;
fig. 13 is a schematic diagram of a fourth radius trajectory between a third arc and a fourth arc according to the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention will be clearly described in conjunction with the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention discloses a self-adaptive corner rounding method for laser cutting, which comprises the following steps:
s100, track data of two adjacent sections of processing tracks are read, whether the two sections of processing tracks are on an interpolation plane or not is judged, namely whether the two adjacent sections of processing tracks are on the same plane or not is judged, if the two sections of processing tracks are not on the same plane, chamfering cannot be carried out, the two sections of processing tracks are directly stored according to the original tracks, and track data are written according to the original tracks.
The track data is mainly read and written by arranging and transmitting the data, rounding, compensating and calculating corner fitting and connecting speeds, and the track data running condition is mainly planned. Before the rounding process, the look-ahead needs to judge whether the adjacent tracks have the rounding condition or not. Because in actual processing, a straight line is often broken into a plurality of track data, such as flying cutting, when the track is processed, the rounding processing cannot be performed, in order to increase the speed, only some processing can be performed on the connection speed, but the rounding processing for the normal track is mainly performed, the method is that corners among the tracks are firstly cut out, a circular arc track is interpolated at the places with the corners by using a mathematical geometric algorithm, so that the circular arc track is ensured to be tangent with the tracks before and after the corners, the starting point of the circular arc track is positioned on the track before the corners, and the ending point of the circular arc track is positioned on the track after the corners. The rounded shape is controlled within a set rounding radius, although there is a loss of precision at the sharp corners compared to the actual trajectory. Meanwhile, in the actual interpolation motion, motion decomposition based on the arc track can accelerate or reduce motion on motion axes X and Y in advance, so that stability and fluency of machine tool motion are ensured.
If the two sections of processing tracks are on the same plane, judging whether smooth transition can be realized between the two adjacent sections of processing tracks according to the types of the adjacent tracks. The rounded corners can be divided into: rounding between line segment and line segment (LL), rounding between line segment and circular arc (LC), rounding between circular arc and line segment (CL), rounding between circular arc and circular arc (CC).
When two adjacent sections of processing tracks are read, the processing tracks are respectively a first line segment and a second line segment (LL):
s200, judging whether the first line segment and the second line segment are collinear, if yes, determining that smooth transition between the first line segment and the second line segment is possible, and if not, determining that smooth transition between the first line segment and the second line segment is not possible; if the first line segment and the second line segment can be smoothly transited, the rounding processing is not performed, the first line segment and the second line segment are directly stored according to the original track, and track data are written according to the original track.
S210, if smooth transition between the first line segment and the second line segment is impossible, further rounding calculation is needed to obtain an interpolation track and set rounding radius;
specifically, whether the corner can be formed is judged according to whether the vector product of the two line segments is zero, when the corner can be formed, the starting point coordinates, the end point coordinates, the radius and the circular arc direction of an interpolation track during corner rounding are calculated according to the obtained corresponding linear track data, so that the interpolation track data of the corner rounding is determined, and the set corner rounding radius is obtained.
S220, calculating insertion track data based on the insertion track and the set rounding radius;
in a specific practical process, four situations may occur when the rounding track is processed between the line segments (LL) according to the set rounding radius R, as shown in fig. 2-5.
The track data of the first line segment AB and the second line segment BC comprise a starting point coordinate A of the first line segment, an ending point coordinate B of the first line segment, a starting point coordinate B of the second line segment and an ending point coordinate C of the second line segment, wherein the ending point coordinates of the first line segment and the starting point coordinates of the second line segment are the same point;
as shown in fig. 2, the rounded start point D and the end point E fall on the segment trajectories AB and BC, respectively.
As shown in fig. 3, the rounded start point D coincides with the start point a of the segment track AB, and the end point E falls on the segment track BC.
As shown in fig. 4, the rounded start point D falls on the segment track AB, and the end point E coincides with the segment track BC end point C.
As shown in fig. 5, the rounded start point D and the end point E fall on the extension of the segment trajectories AB and BC.
The rounding can be carried out by means of a set rounding radius R for fig. 2-4, whereas the rounding operation cannot be achieved in the manner described above for fig. 5. Therefore, it is important to design an adaptive rounding radius method. Specifically:
taking the starting point coordinate A of the first line segment AB as the starting point of the rounding, and calculating to obtain a first rounding radius R 1 ；
R 1 ＝l AB *tan(0.5*α)
In the above, l AB Is the track length of the line segment AB, and alpha is the included angle of the angle BAC. Since the coordinates of A, B, C are known, l AB And alpha can be calculated.
Taking the endpoint coordinate C of the second line segment BC as the endpoint of the rounding, and calculating to obtain a second rounding radius R 2 ；
R 2 ＝l BC *tan(0.5*α)
In the above, l AB Is the track length of the line segment BC, and alpha is the included angle of the angle BAC.
Then, a first rounding radius R is selected 1 And a second radius R 2 Is taken as the maximum interpolation circular arc radius R T 。
R T ＝min(R 1 ,R 2 )
Judging and setting the radius R of the rounding and the radius R of the maximum interpolation circular arc T Is a size relationship of (2);
if the radius R of the rounding angle is larger than the radius R of the maximum interpolation circular arc T Calculating insertion track data according to the set rounding radius R;
if the rounding radius R is smaller than the maximum interpolation arc radius R T According to the maximum interpolation arc radius R T Insertion trajectory data is calculated.
S230, inserting the insertion track data into the original queue to generate a new processing track.
When two adjacent sections of processing tracks are read, the processing tracks are respectively a third line segment and a first arc (LC):
300. judging whether the third line segment is tangent to the first circular arc, if so, determining that the third line segment and the first circular arc can be smoothly transited, and if not, determining that the third line segment and the first circular arc can not be smoothly transited; if the third line segment and the first arc can be smoothly transited, the rounding treatment is not performed, the third line segment and the first arc are directly stored according to the original track, and track data are written according to the original track.
S310, if smooth transition between the third line segment and the first circular arc is impossible, further rounding calculation is needed to obtain an interpolation track and set rounding radius;
the specific interpolation track calculation method is the same as that in S210, and will not be described here.
S320, calculating insertion track data based on the insertion track and the set rounding radius;
calculating track data of an interpolation track according to the track data of the set rounding radius, the third line segment and the first arc, wherein the track data of the interpolation track comprises interpolation starting point coordinates and interpolation end point coordinates;
in a specific implementation, when the rounding track is processed between the line segment and the circular arc (LC) according to the set rounding radius R, two situations may occur as shown in fig. 6-7.
The track data of the third line segment AB and the first circular arc BC comprises a starting point coordinate A of the third line segment, an ending point coordinate B of the third line segment and a radius R of the first circular arc BC The first line segment comprises a first arc starting point coordinate B and a first arc ending point coordinate C, wherein the third line segment ending point coordinate B and the first arc starting point coordinate B are the same point.
As shown in fig. 6, the rounded corner DE is inscribed with the circular arc BC;
as shown in fig. 7, the rounded corner DE circumscribes the circular arc BC.
When the arc DE track is solved, a first auxiliary point F is selected on a third line segment AB, so that |FB|=1 mm,1mm is a reference value, different settings can be carried out according to actual processing requirements, the |FB| is smaller than the length of the line segment |AB|, the length of the |FB| can be set or modified according to the actual processing requirements, and the coordinate of the point F is calculated according to the line segment proportion relation;
then calculate the center O of the point F and the arc BC 2 Distance of (2)And with radius R of arc BC BC Comparing;
if it isThe rounded corner DE is inscribed with the circular arc BC as in fig. 6;
otherwise the rounded corner DE circumscribes the circular arc BC as shown in fig. 7;
then, according to the set radius R, the track parameters of the rounding DE, namely the rounding starting point D, the rounding end point E, the radius of the interpolation track circle center O and the length l of the circular arc DE are solved DE And the angles of ++dob=α and ++eob=β, as shown in fig. 6; finally judging whether the calculated rounding starting point D and the end point E meet the processing requirements, namely:
if the above requirement is satisfied, a rounding process is performed with the trajectory parameter of the rounding DE as the insertion trajectory. If the above requirements are not satisfied, the rounding treatment is not performed.
S330, inserting the insertion track data into the original queue to generate a new processing track.
When two adjacent sections of processing tracks are read, the processing tracks are respectively a second arc and a fourth line section (CL):
s400, judging whether the second arc is tangent to the fourth line section, if so, determining that smooth transition can be realized between the second arc and the fourth line section, and if not, determining that smooth transition can be realized between the second arc and the fourth line section; if the second arc and the fourth line section can be smoothly transited, the rounding treatment is not performed, the track is directly stored according to the original track, and track data is written according to the original track.
S410, if smooth transition between the second arc and the fourth line segment is impossible, further rounding calculation is needed to obtain an interpolation track and set rounding radius;
the specific interpolation track calculation method is the same as that in S210, and will not be described here.
S420, calculating insertion track data based on the insertion track and the set rounding radius;
calculating track data of an interpolation track according to the track data of the set rounding radius, the second arc and the fourth line segment, wherein the track data of the interpolation track comprises interpolation starting point coordinates and interpolation end point coordinates;
in a specific practical process, when the rounding track is processed between the line segment and the circular arc (CL) according to the set rounding radius R, two situations may occur as shown in fig. 8-9.
The track data of the second arc AB and the fourth line segment BC comprise a starting point coordinate A of the second arc, an ending point coordinate B of the second arc and a radius R of the second arc AB The starting point coordinate B of the fourth line segment and the ending point coordinate C of the fourth line segment, wherein the ending point coordinate B of the second arc and the starting point coordinate C of the fourth line segment are the same point.
As shown in fig. 8, the rounded corner DE is inscribed with the circular arc AB.
As shown in fig. 9, the rounded corner DE circumscribes the circular arc AB.
When solving the circular arc DE track, the method adopted is similar to LC:
firstly, selecting a point F on a line segment track BC, wherein |FB|=1 mm,1mm is a reference value, different settings can be carried out according to actual processing requirements, the |FB| is smaller than the length of the line segment |BC|, the length of the |FB| can be set or modified according to the actual processing requirements, and the coordinate of the point F is calculated according to the line segment proportional relation;
then calculate the center O of the point F and the arc AB 1 Distance of (2)And with the radius R of the arc AB AB Comparing;
if it isThe rounded corner DE is inscribed with the circular arc AB as shown in fig. 8;
otherwise, the rounding DE is circumscribed with the circular arc AB, as shown in fig. 9;
then, according to the set radius R, the track parameters of the rounding DE, namely the radius of the rounding starting point D, the rounding end point E and the circle center O and the length l of the circular arc DE are solved DE And the angles of ++dob=α and ++eob=β, as shown in fig. 8; finally judging whether the calculated rounding starting point D and the end point E meet the processing requirements, namely:
if the above requirement is satisfied, a rounding process is performed with the trajectory parameter of the rounding DE as the insertion trajectory. If the above requirements are not satisfied, the rounding treatment is not performed.
S430, inserting the insertion track data into the original queue to generate a new processing track.
When two adjacent sections of processing tracks are read, the processing tracks are respectively a third arc and a fourth arc (CC):
s500, judging whether the third arc is tangent to the fourth arc, if so, determining that the third arc and the fourth arc can be smoothly transited, and if not, determining that the third arc and the fourth arc cannot be transited smoothly. If the third arc and the fourth arc can be smoothly transited, the rounding processing is not performed, the track is directly stored according to the original track, and track data is written according to the original track.
S510, if smooth transition between the third arc and the fourth arc is impossible, further rounding calculation is needed to obtain an interpolation track and set rounding radius;
the specific interpolation track calculation method is the same as that in S210, and will not be described here.
S520, calculating insertion track data based on the insertion track and the set rounding radius;
calculating track data of an interpolation track according to track data of the set rounding radius, the third arc and the fourth arc, wherein the track data of the interpolation track comprises interpolation starting point coordinates and interpolation end point coordinates;
in a specific practical process, four situations may occur when the rounding track is processed according to the set rounding radius R between the circular arcs (CC), as shown in fig. 10-13.
The track data of the third arc AB and the fourth arc BC comprise a starting point coordinate A of the third arc, an ending point coordinate B of the third arc and a radius R of the third arc AB A starting point coordinate B of the fourth arc, an ending point coordinate C of the fourth arc and a radius R of the fourth arc BC Wherein the end point coordinate B of the third arc and the start point coordinate B of the fourth arc are the same point.
As shown in fig. 10, the rounded corner DE is inscribed with both the arc AB and the arc BC.
As shown in fig. 11, the rounded corner DE circumscribes both the circular arc AB and the circular arc BC.
As shown in fig. 12, the rounded corner DE is circumscribed with the arc AB and inscribed with the arc BC.
As shown in fig. 13, the rounded corner DE is inscribed with the arc AB and circumscribed with the arc BC.
When solving the circular arc DE track, the method adopted is as follows:
firstly, a point F and a point G are respectively selected on an arc AB and an arc BC, so that the central angle degrees corresponding to chord lengths |FB| and |GB| are 1 degrees, 1 degree is a reference value, different settings can be carried out according to actual processing requirements, and the central angle degrees corresponding to chord lengths |FB| and |GB| can be set or modified according to the actual processing requirements;
respectively calculating the circle centers O of the point F and the arc BC 2 Distance ofCenter O of point G and arc AB 1 Distance->
If L FO2 ≥R BC The rounded corners are circumscribed by the circular arcs BC as shown in figures 10-11, otherwise, the rounded corners are inscribed as shown in figures 12-13;
similarly, if L GO1 ≥R AB The rounded corners are circumscribed with the circular arc AB as in fig. 10 and 12, otherwise inscribed as in fig. 11 and 13.
And (3) carrying out rounding judgment according to the relation between the rounding DE and the circular arc AB and the circular arc BC:
if the above requirement is satisfied, a rounding process is performed with the trajectory parameter of the rounding DE as the insertion trajectory. If the above requirements are not satisfied, the rounding treatment is not performed.
S530, inserting the insertion track data into the original queue to generate a new processing track.
The self-adaptive corner rounding method for laser cutting is used for a numerical control system for laser cutting, and by utilizing the self-adaptive corner rounding treatment method, the phenomenon that a machine tool shakes and the thick plate corner is cut in an impermeable way caused by continuous acceleration and deceleration can be avoided when the corner of a workpiece is machined, and the laser cutting efficiency is further improved. The track corner data is smoothly transited in the kernel of the numerical control system and is subjected to track planning by a subsequent compensation and interpolation device, so that the machine tool can move stably and smoothly at high speed after the speed of each shaft is improved, and the processing efficiency can be further improved under the condition of high-precision cutting.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The foregoing is a description of the embodiments of the present invention, and is not to be construed as limiting the invention, since modifications in the detailed description and the application scope will become apparent to those skilled in the art upon consideration of the teaching of the embodiments of the present invention.
Claims (6)
1. A method for adaptively rounding a corner of a laser cut, comprising:
track data of two adjacent sections of processing tracks are read, and whether the two sections of processing tracks are located on an interpolation plane or not is judged; if the two sections of processing tracks are not on the same plane, directly storing according to the original tracks, and writing track data according to the original tracks; if the two sections of processing tracks are on the same plane, judging whether the two sections of processing tracks are in smooth transition or not according to the type of the adjacent tracks;
if the two adjacent sections of processing tracks are not in smooth transition, performing rounding calculation on the two adjacent sections of processing tracks to obtain interpolation tracks and set rounding radii;
calculating insertion track data according to the insertion track and the set rounding radius;
inserting the insertion track data into the original queue to generate a new processing track;
when the two adjacent processing tracks are a first line segment and a second line segment respectively, the calculating the insertion track data according to the interpolation track and the set rounding radius includes: calculating the maximum interpolation arc radius according to the track data of the first line segment and the second line segment; judging the size relation between the set rounding radius and the maximum interpolation circular arc radius; if the set radius of the rounding is larger than the maximum interpolation arc radius, calculating insertion track data according to the set radius of the rounding; if the set rounding radius is smaller than the maximum interpolation arc radius, calculating insertion track data according to the maximum interpolation arc radius;
or when the two adjacent processing tracks are the third line segment and the first arc, calculating the insertion track data according to the interpolation track and the set rounding radius, including: calculating track data of an interpolation track according to track data of the set rounding radius, the third line segment and the first arc, wherein the track data of the interpolation track comprises interpolation starting point coordinates and interpolation end point coordinates; judging whether the interpolation track simultaneously meets that the interpolation starting point coordinate is positioned on the third line segment and the interpolation ending point coordinate is positioned on a first circular arc or not; if yes, taking the track data of the interpolation track as the insertion track data; if not, taking the track data of the third line segment and the first arc as the insertion track data;
or when the two adjacent sections of processing tracks are the second arc and the fourth line segment respectively, calculating the insertion track data according to the interpolation track and the set rounding radius, including: calculating track data of an interpolation track according to the track data of the set rounding radius, the second arc and the fourth line segment, wherein the track data of the interpolation track comprises interpolation starting point coordinates and interpolation end point coordinates; judging whether the interpolation track simultaneously meets that the interpolation starting point coordinate is positioned on the second arc and the interpolation ending point coordinate is positioned on a fourth line segment; if yes, taking the track data of the interpolation track as the insertion track data; if the track data does not meet the requirement, the track data of the second arc and the fourth line segment are used as the insertion track data;
or when the two adjacent sections of processing tracks are the third arc and the fourth arc respectively, calculating the insertion track data according to the interpolation track and the set rounding radius, including: calculating track data of an interpolation track according to track data of the set rounding radius, the third arc and the fourth arc, wherein the track data of the interpolation track comprises interpolation starting point coordinates and interpolation end point coordinates; judging whether the interpolation track simultaneously meets that the interpolation starting point coordinate is positioned on the third circular arc and the interpolation ending point coordinate is positioned on the fourth circular arc; if yes, taking the track data of the interpolation track as the insertion track data; if the track data does not meet the requirement, the track data of the third arc and the fourth arc are taken as the insertion track data.
2. The method for adaptively chamfering a corner of a laser cut according to claim 1, wherein when the two adjacent processing tracks are a first line segment and a second line segment, respectively, track data of the first line segment and the second line segment includes a start point coordinate of the first line segment, an end point coordinate of the first line segment, a start point coordinate of the second line segment, and an end point coordinate of the second line segment, wherein the end point coordinate of the first line segment and the start point coordinate of the second line segment are the same point; the calculating the maximum interpolation arc radius according to the track data of the first line segment and the second line segment includes:
calculating to obtain a first rounding radius by taking the starting point coordinates of the first line segment as the starting point of the rounding;
calculating to obtain a second rounding radius by taking the endpoint coordinates of the second line segment as the endpoint of the rounding;
and selecting a smaller value of the first rounding radius and the second rounding radius as a maximum interpolation arc radius.
3. The method of claim 1, wherein when the two adjacent processing tracks are a third line segment and a first arc, the track data of the third line segment and the first arc include a start point coordinate of the third line segment, an end point coordinate of the third line segment, a radius of the first arc, a start point coordinate of the first arc, and an end point coordinate of the first arc, wherein the end point coordinate of the third line segment and the start point coordinate of the first arc are the same point, and the calculating the track data of the interpolation track according to the track data of the set rounding radius, the third line segment, and the first arc includes:
selecting a first auxiliary point on a third line segment, wherein the distance from the first auxiliary point to the end point of the third line segment is a first length;
comparing the distance from the first auxiliary point to the center of the first circular arc with the radius of the first circular arc to judge the tangent relation between the interpolation track and the first circular arc;
and determining the interpolation starting point coordinates and the interpolation ending point coordinates of the interpolation track by the tangential relation between the interpolation track and the first circular arc and setting the radius of the rounding.
4. The method of claim 1, wherein when the two adjacent processing tracks are a second arc and a fourth line segment, the track data of the second arc and the fourth line segment include a start point coordinate of the second arc, an end point coordinate of the second arc, a radius of the second arc, a start point coordinate of the fourth line segment, and an end point coordinate of the fourth line segment, wherein the end point coordinate of the second arc and the start point coordinate of the fourth line segment are the same point, and the calculating the track data of the interpolation track according to the track data of the set rounding radius, the second arc, and the fourth line segment includes:
selecting a second auxiliary point on the fourth line segment, wherein the distance from the second auxiliary point to the starting point of the fourth line segment is a second length;
comparing the distance from the second auxiliary point to the center of the second circular arc with the radius of the second circular arc to judge the tangent relation between the interpolation track and the second circular arc;
and determining the interpolation starting point coordinates and the interpolation ending point coordinates of the interpolation track by the tangential relation between the interpolation track and the second circular arc and setting the radius of the rounding.
5. The method according to claim 1, wherein when the adjacent two processing tracks are a third arc and a fourth arc, respectively, track data of the third arc and the fourth arc include a start point coordinate of the third arc, an end point coordinate of the fourth arc, and a fourth arc radius, wherein the end point coordinate of the third arc and the start point coordinate of the fourth arc are the same point, and the calculating track data of the interpolation track according to the track data of the set rounding radius, the third arc, and the fourth arc includes:
selecting a third auxiliary point on the third circular arc, and selecting a fourth auxiliary point on the fourth circular arc, wherein the circle center angle corresponding to the chord length between the third auxiliary point and the third circular arc end point and the chord length between the fourth circular arc starting point and the fourth auxiliary point is a preset radian;
comparing the circle center distance from the third auxiliary point to the third arc with the radius of the third arc, and comparing the circle center distance from the fourth auxiliary point to the fourth arc with the radius of the fourth arc to judge the tangent relation between the interpolation track and the third arc and the fourth arc respectively;
and determining the interpolation starting point coordinates and the interpolation ending point coordinates of the interpolation track by the tangential relation between the interpolation track and the third arc, the tangential relation between the interpolation track and the fourth arc and the set rounding radius.
6. The method for adaptively chamfering a corner of a laser cut according to claim 1, wherein determining whether a smooth transition is present between the two adjacent processing tracks according to the type of the adjacent tracks comprises:
when two adjacent sections of processing tracks are respectively read to be a first line segment and a second line segment, judging whether the first line segment and the second line segment are collinear, if so, determining that smooth transition between the first line segment and the second line segment is possible, and if not, determining that smooth transition between the first line segment and the second line segment is not possible;
when two adjacent sections of processing tracks are respectively a third line segment and a first circular arc, judging whether the third line segment is tangent to the first circular arc, if so, determining that the third line segment and the first circular arc can be smoothly transited, and if not, determining that the third line segment and the first circular arc cannot be transited smoothly;
when two adjacent sections of processing tracks are respectively a second arc and a fourth line section, judging whether the second arc is tangent to the fourth line section, if so, determining that the second arc and the fourth line section can be smoothly transited, and if not, determining that the second arc and the fourth line section cannot be smoothly transited;
and when the two adjacent sections of processing tracks are respectively a third arc and a fourth arc, judging whether the third arc and the fourth arc are tangent, if so, determining that the third arc and the fourth arc can be smoothly transited, and if not, determining that the third arc and the fourth arc cannot be transited smoothly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010783366.6A CN114063556B (en) | 2020-08-06 | 2020-08-06 | Self-adaptive corner rounding method for laser cutting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010783366.6A CN114063556B (en) | 2020-08-06 | 2020-08-06 | Self-adaptive corner rounding method for laser cutting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114063556A CN114063556A (en) | 2022-02-18 |
| CN114063556B true CN114063556B (en) | 2024-01-19 |
Family
ID=80232384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010783366.6A Active CN114063556B (en) | 2020-08-06 | 2020-08-06 | Self-adaptive corner rounding method for laser cutting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114063556B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114535792B (en) * | 2022-03-24 | 2023-11-07 | 大族激光科技产业集团股份有限公司 | Construction method of processing track corner transition arc, processing equipment and storage medium |
| CN117270461B (en) * | 2023-11-23 | 2024-02-13 | 深圳市杰美康机电有限公司 | Processing track control method and device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006015661A (en) * | 2004-07-02 | 2006-01-19 | Shoei Insatsu Kk | Method for cutting edge part of booklet and booklet manufactured by this method |
| CN102393678A (en) * | 2011-08-25 | 2012-03-28 | 沈阳高精数控技术有限公司 | Track smoothing method suitable for five-axis numerical control device |
| CN104678894A (en) * | 2015-02-11 | 2015-06-03 | 北京配天技术有限公司 | Numerical control machining path planning method, and numerical control machining system and method |
| CN106227152A (en) * | 2016-10-17 | 2016-12-14 | 合肥工业大学 | A kind of CNC processing smooth transient method and seamlessly transit device |
| CN109623166A (en) * | 2018-11-13 | 2019-04-16 | 大族激光科技产业集团股份有限公司 | A kind of turning processing method and system of laser cutting |
| CN109732219A (en) * | 2018-12-05 | 2019-05-10 | 大族激光科技产业集团股份有限公司 | A kind of rounded corner method and system of laser cutting |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITPD20030102A1 (en) * | 2003-05-15 | 2004-11-16 | Norberto Berna | FORM OF SHAPE AND DEPTH FOR ENGRAVINGS WITH LASER POINTS |
-
2020
- 2020-08-06 CN CN202010783366.6A patent/CN114063556B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006015661A (en) * | 2004-07-02 | 2006-01-19 | Shoei Insatsu Kk | Method for cutting edge part of booklet and booklet manufactured by this method |
| CN102393678A (en) * | 2011-08-25 | 2012-03-28 | 沈阳高精数控技术有限公司 | Track smoothing method suitable for five-axis numerical control device |
| CN104678894A (en) * | 2015-02-11 | 2015-06-03 | 北京配天技术有限公司 | Numerical control machining path planning method, and numerical control machining system and method |
| CN106227152A (en) * | 2016-10-17 | 2016-12-14 | 合肥工业大学 | A kind of CNC processing smooth transient method and seamlessly transit device |
| CN109623166A (en) * | 2018-11-13 | 2019-04-16 | 大族激光科技产业集团股份有限公司 | A kind of turning processing method and system of laser cutting |
| CN109732219A (en) * | 2018-12-05 | 2019-05-10 | 大族激光科技产业集团股份有限公司 | A kind of rounded corner method and system of laser cutting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114063556A (en) | 2022-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101556472B (en) | Small straight-line section interpolation method of numerical control system on basis of multicycle optimal corner | |
| CN109623166B (en) | Corner processing method and system for laser cutting | |
| Pateloup et al. | Corner optimization for pocket machining | |
| CN114063556B (en) | Self-adaptive corner rounding method for laser cutting | |
| EP0841606B1 (en) | Three-dimensional machining method and recording medium stored with a three-dimensional machining control program | |
| US10599126B2 (en) | Tool-path correcting apparatus and tool-path correcting method | |
| US20200159187A1 (en) | Method, apparatus, and device for generating ruled surface machining path and medium | |
| JP2003108210A (en) | Method for setting machining speed for machine tool and machine tool | |
| JP4480869B2 (en) | Numerical controller | |
| CN109732219B (en) | Laser cutting rounding method and system | |
| US20170343982A1 (en) | Method for machining a workpiece by means of a chip-removing tool on a numerically-controlled machine tool | |
| CN108196511B (en) | Error prediction method for turning track of spiral cutter | |
| EP4075216A1 (en) | Tool path generation method, tool path generation device, and machine tool control device | |
| JP2011123777A (en) | Method for creating numerical control data | |
| JP2010023138A (en) | Machining route preparation device for wire electric discharge machining machine | |
| KR100880734B1 (en) | Step length optimization method of NC data for enhancing 5-axis milling speed based on machine dynamics | |
| WO2022138843A1 (en) | Numerical control device | |
| JP2008186046A (en) | Cutting path producing method, program, and apparatus | |
| JP2003223208A (en) | Numerical control system | |
| CN112835328A (en) | Track optimization method for improving processing speed of leather cutting machine | |
| JPH0825145A (en) | Machining method in wire cut electric discharge machine | |
| CN114625004B (en) | Self-adaptive look-ahead control algorithm based on mixed angle segmentation | |
| JPH0442133B2 (en) | ||
| CN116795044B (en) | Speed planning method, device, machine tool control system and storage medium | |
| CN114769898B (en) | Laser processing control method, device and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |