CN114595422A - Machining head frog leap calculation method, machining equipment and storage medium - Google Patents

Machining head frog leap calculation method, machining equipment and storage medium Download PDF

Info

Publication number
CN114595422A
CN114595422A CN202210174256.9A CN202210174256A CN114595422A CN 114595422 A CN114595422 A CN 114595422A CN 202210174256 A CN202210174256 A CN 202210174256A CN 114595422 A CN114595422 A CN 114595422A
Authority
CN
China
Prior art keywords
frog
time
maximum speed
speed
maximum
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.)
Pending
Application number
CN202210174256.9A
Other languages
Chinese (zh)
Inventor
王家恒
封雨鑫
高云峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Han's Smart Control Technology Co ltd
Han s Laser Technology Industry Group Co Ltd
Original Assignee
Shenzhen Han's Smart Control Technology Co ltd
Han s Laser Technology Industry Group Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Han's Smart Control Technology Co ltd, Han s Laser Technology Industry Group Co Ltd filed Critical Shenzhen Han's Smart Control Technology Co ltd
Priority to CN202210174256.9A priority Critical patent/CN114595422A/en
Publication of CN114595422A publication Critical patent/CN114595422A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G06F17/12—Simultaneous equations, e.g. systems of linear equations
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Data Mining & Analysis (AREA)
  • Theoretical Computer Science (AREA)
  • Operations Research (AREA)
  • Algebra (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Numerical Control (AREA)

Abstract

The application discloses a processing head frog leap calculation method, processing equipment and a storage medium. The method comprises the following steps: the frog jump ascending and descending processes comprise an accelerating section, a uniform speed section and a decelerating section; setting the first maximum speed V in the process of raising the frog jumpmThe displacement is LuAssuming that the maximum speed that can be reached is VmWhether the total displacement of the acceleration section and the deceleration section is less than or equal to L during the computationuIf it is less than the first maximum speed V, the first maximum speed is actually reachedm(ii) a If so, the first maximum speed V is not actually reachedmThe second maximum velocity V is obtained by bisection method, so that the total displacement of the acceleration section and the deceleration section in the rising process is equal to Lu(ii) a According to LuAcceleration and first maximum velocity VmOr the second maximum speed V calculates the rising courseThe time of (d); calculating the time of the descending process in the same way; if the total time of rising and falling is more than or equal to the frog jump lost motion time TpThen, a binary method is used to obtain a leapfrog rise height to make Tu+Td＝Tp(ii) a And carrying out safety check. This application can dynamic planning suitable leapfrog and raise the height, promotes the efficiency of leapfrog.

Description

Machining head frog leap calculation method, machining equipment and storage medium
Technical Field
The application relates to the technical field of machining, in particular to a machining head frog leap calculation method, machining equipment and a storage medium.
Background
In a workpiece machining process, for example, a laser cutting process, since a machining profile of a workpiece is sometimes not continuous, after one profile machining is completed, it is necessary to move a machining head such as a cutting head to a head of the next profile for further machining. In order to avoid collision between the cutting head and the surface of the workpiece in the process of idle movement, the cutting head needs to be lifted by a certain height to ensure the safety of the process of idle movement.
In general, after finishing the contour machining, the plane movement is stopped, and the cutting head is raised to a certain height and then moved to above the next contour to be machined. However, in order to improve the processing efficiency, the lost motion can be realized by a leapfrog mode in which the plane motion and the vertical motion of the cutting head are performed simultaneously, and the height of the leapfrog motion needs to be set in advance. In the existing frog-leaping design, the frog-leaping efficiency is low due to the limitation of the frog-leaping speed.
Disclosure of Invention
In order to solve the technical problem, the application provides a processing head frog-leap calculating method, processing equipment and a storage medium capable of improving frog-leap efficiency.
The following technical scheme is adopted in the application:
a machining head leap calculation method comprises the following steps:
A. planning the speed of the frog leap process, wherein the frog leap ascending and descending processes comprise an accelerating section, a constant speed section and a decelerating section; setting the first maximum speed V in the process of leapfrog risingmThe displacement is LuAssuming that a first maximum speed V is reached during ascentmWhether the total displacement of the acceleration section and the deceleration section is less than or equal to L during the computationuIf the speed is less than the first maximum speed V, the first maximum speed V can be actually reached in the rising processm(ii) a If so, the first maximum speed V cannot be actually reached in the rising processmAt this time, one is obtained by the dichotomyA second maximum speed V, which makes the total displacement of the acceleration section and the deceleration section equal to L in the rising processu；
Setting the third maximum speed V in the descending process of the frog jumpm', the displacement during descending is LdAssuming a third maximum speed V is reached during descentm' calculating whether the total displacement of the acceleration section and the deceleration section is less than L when descendingdIf the maximum speed is less than the first maximum speed, the third maximum speed is Vm'; if the maximum speed is larger than the first maximum speed, the third maximum speed V can not be actually reached in the descending processm'when a fourth maximum speed V' is obtained by bisection so that the total displacement of the acceleration section and the deceleration section during descent is equal to Ld；
B. According to LuAcceleration during ascent and first maximum speed VmOr the second maximum speed V calculates the time T of the rise processuAccording to Lu', acceleration during descent and third maximum speed Vm'or fourth maximum speed V' calculating the time T of the descent processd(ii) a If T isu+Td<TpIf the frog jump process has a shaft stopping stage, the rising height of the frog jump is L in the step Au(ii) a If Tu+Td≥TpIf the shaft-stopping time is zero, the rising height of a frog jump is obtained by a dichotomy method to ensure that T is equal tou+Td＝Tp；
C. And carrying out safety check on the frog leaping height.
As an alternative of the processing head frog leap calculating method, in the step a, the frog leap ascending and descending processes at least comprise an acceleration section, a uniform acceleration section, a deceleration section, a uniform velocity section, a deceleration section, a uniform deceleration section and an acceleration and deceleration section which are sequentially arranged, and the time of each section is T1、T2、T3、T4、T5、T6And T7，T5＝T3、T6＝T2、T7＝T1。
As an alternative to the processing head leap calculating method described above, in the step a, a leap maximum is setAcceleration of AmThe jerk is J; when the speed is accelerated from zero speed to speed V in the step A:
if it is
Figure BDA0003518426970000031
The maximum acceleration a is reached during accelerationmAnd the three-section planning time in the acceleration process is as follows:
Figure BDA0003518426970000032
if it is
Figure BDA0003518426970000033
The maximum acceleration a is not reached during accelerationmAnd the three-section planning time in the acceleration process is as follows:
Figure BDA0003518426970000034
as an alternative to the foregoing method for calculating the frog-leap of the machining head, in the step a, the interpolation time during the movement is set to t, and the acceleration, the speed, and the displacement during the interpolation are respectively set to ai、vi、si；
When T is less than or equal to T1The method comprises the following steps:
Figure BDA0003518426970000035
when T is1<t≤T2The method comprises the following steps:
Figure BDA0003518426970000041
when T is2<t≤T3The method comprises the following steps:
Figure BDA0003518426970000042
wherein, VsIs T1、T2And T3The programmed starting speed of each of the three segments.
As an alternative to the above processing head leap calculation method, the distances required by the three-stage planning of T1, T2 and T3 are as follows:
Figure BDA0003518426970000043
time command V-V for speed planning calculationmThe distance L obtained by the equations (1), (2) and (6) is LmIf ascending or descending, total distance LsSatisfy Ls≥2LmThen the first maximum speed V can be reachedmAt a constant speed of
Figure BDA0003518426970000044
If ascending or descendingsSatisfy Ls<2LmThen the first maximum speed V cannot be reachedmAt constant speed time T4When the second maximum speed V is 0, the second maximum speed V is obtained by the bisection method, and the distance calculated in the formula (6) satisfies 2L-Ls。
As an alternative to the above-mentioned processing head leap calculating method, in the step B, the maximum leap height is set to HmThe offset of the tail height of the frog jump relative to the current takeoff height is set as h, and the displacement in the ascending and descending processes of the frog jump are respectively Lu、LdThen there is Lu＝Ld+ h, total idle movement time in frog leaping process is TpMaximum speed of idle movement is VPThe rise time of frog jump is TuThe fall time of frog jump is TdThe high-altitude shaft stopping time of the frog jump is Tm；
If the maximum height is reached in the process of frog leaping, let Lu＝HmCalculating the time T for the leapfrog to rise and fall through the step Au、TdIf T isu+Td<TpIf there is a shaft-stopping stage in the course of frog-leaping, the shaft-stopping time is Tm＝Tp-(Tu+Td) The maximum height can be reached in the course of raising frog jump; if T isu+Td≥TpIf the maximum height can not be reached in the course of raising frog jump, then using dichotomy to obtain a frog jump raising height to make Tu+Td＝TpTime to stop the shaft Tm＝0。
As an alternative of the processing head frog-leap calculating method, the step C specifically includes:
c1, performing safety check on the rising height of the specific check position, and setting the height H of the machining head required to rise at the specific check positionlThe actual rising height of the frog jump trajectory at a specific verification position is HsThe actual maximum rising height in the frog-leaping process is LuThen H iss≤Lu(ii) a Setting a security threshold to epsilon;
c2 according to HsAnd HlThe magnitude relationship between the difference and ε, and according to LuAnd HlThe difference and the size relation between epsilon are used for judging whether the frog leaping process conforms to the safety setting or not, and when the frog leaping process does not conform to the safety setting, the maximum speed V of the lost motion is determinedp' adjustment, or maximum speed V of displacementp' actual maximum rising height L during leaping and frogginguAnd (6) adjusting.
As an alternative to the processing head leap calculating method, the step C2 specifically includes:
c21, if Hs-HlIf the frog jump process is more than or equal to epsilon, the frog jump process accords with the safety setting;
c22, if Hs-Hl<ε, and Lu-HlNot less than epsilon, the height L in the course of frog leapinguIf the safety setting is not met, the idle speed V is reducedpSo that the upper elevation degree corresponding to the specific checking position meets the safety setting Hs-HlNot less than epsilon, using dichotomy to obtain a maximum speed V of idle movementp' the time required to reach a specific verification position point during the idle movement is increased, and the elevation at that position point is raised Hs' satisfy Hs′-Hl＝ε；
C23, if Hs-Hl<ε, and Lu-Hl<Epsilon, height L in the course of frog-leapinguThe maximum height L of the frog jump is not in accordance with the safety settinguThe safety requirement can not be met, and the maximum height L of the frog leaping is carried out again at the momentuCalculating the current time order Lu＝Hl+ epsilon, returning to the step B for calculation to obtain TuAnd TdUsing a dichotomy to obtain a maximum speed V of the lost motionp' making the dead time satisfy Tp＝Tu+TdTime to stop the shaft T m0; recalculating the elevation H of the specific verification location pointsIf H iss-HlIf the value is more than or equal to epsilon, the safety setting is met; if H iss-Hl<E, the calculation process of step C22 is entered.
A processing apparatus, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a processing head frog-jump calculation method as described above.
A computer-readable storage medium on which a computer program is stored which, when executed by a processor, implements a processing head frog-jump calculation method as described above.
The embodiment of the application has the advantages that: the appropriate frog leap uplifting height and speed are dynamically planned through the lost motion time, the frog leap efficiency can be improved to the maximum extent, the frog leap lifting height of the machining head does not need to be set in advance to perform fitting calculation of a space track, the upward uplifting degree can be dynamically planned, and the frog leap calculation method is suitable for frog leap planning in the flat plate cutting process and pipe cutting frog leap planning with a rotating shaft.
Drawings
Fig. 1 is a schematic flow chart of a processing head frog-jump calculation method in an embodiment of the present application;
FIG. 2 is a schematic diagram of a velocity profile during a leapfrog in an embodiment of the present application;
FIG. 3 is a schematic diagram of the leapfrog displacement increment before the security check is not performed in an embodiment of the present application;
FIG. 4 is a schematic diagram of the leapfrog displacement increment after the security check is performed in an embodiment of the present application;
fig. 5 is a schematic diagram of a frog kick in cutting a tube according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Referring to fig. 1, the processing head-frog leap calculation method in the present application includes:
s100, planning the speed of the frog leaping process, wherein the frog leaping process comprises an accelerating section, a constant speed section and a decelerating section; setting the first maximum speed V in the process of leapfrog risingmThe displacement is LuAssuming that a first maximum speed V is reached during ascentmThe total displacement of the acceleration section and the deceleration section during the computation is less than or equal to LuIf the speed is less than the first maximum speed V, the first maximum speed V can be actually reached in the rising processm(ii) a If so, the first maximum speed V cannot be actually reached in the rising processmAt this time, a second maximum speed V is obtained by bisection so that the total displacement of the acceleration section and the deceleration section during the rising process is equal to Lu(ii) a Planning the maximum speed of the descending process in the same way;
setting the third maximum speed V in the descending process of the frog jumpm', the displacement during descending is LdAssuming a third maximum speed V is reached during descentm' calculating whether the total displacement of the acceleration section and the deceleration section is less than L when descendingdIf the maximum speed is less than the first maximum speed, the third maximum speed is Vm'; if the maximum speed is larger than the first maximum speed, the third maximum speed V can not be actually reached in the descending processm', at this time, the average value is obtained by the dichotomyA fourth maximum speed V' for making the total displacement of the acceleration and deceleration sections in the descending process equal to Ld；
S200, according to LuAcceleration during ascent and first maximum speed VmOr the second maximum speed V calculates the time T of the rise processuAccording to Lu', acceleration during descent and third maximum speed Vm'or fourth maximum speed V' calculating the time T of the descent processd(ii) a If T isu+Td<TpIf the frog jump process has a shaft stopping stage, the frog jump rising height is L in step S100u(ii) a If Tu+Td≥TpIf the shaft-stopping time is zero, the rising height of a frog jump is obtained by a dichotomy method to ensure that T is equal tou+Td＝Tp；
S300, safety verification is conducted on the frog leaping height.
Specifically, the frog jump process comprises an ascending section and a descending section. The ascending section is first planned, and the descending section is planned similarly to the ascending section. The planning ascending comprises an accelerating section, a uniform speed section and a decelerating section. In an embodiment, referring to fig. 2, the ascending segment includes an acceleration segment, a uniform acceleration segment, a deceleration segment, a uniform velocity segment, a deceleration segment, a uniform deceleration segment, and an acceleration/deceleration segment, which are sequentially arranged, and the time of each segment is T1、T2、T3、T4、T5、T6And T7，T5＝T3、T6＝T2、T7＝T1. The acceleration section, the uniform acceleration section, and the deceleration section are the acceleration section in step S100, and the deceleration section, the uniform deceleration section, and the acceleration/deceleration section are the deceleration section in step S100. The first maximum speed in the process of frog jump is set as VmThe maximum acceleration is set to AmThe jerk (acceleration jerk) is J.
As shown in FIG. 2, T is set1、T2、T3、T4、T5、T6And T7The section makes the acceleration curve in S shape, the acceleration is continuously conducted, the acceleration curve is smooth and continuous, and the pairThe lathe flexibility is better to avoided setting up among the prior art too big impact to the lathe production of speed, thereby made in this application leapfrog speed can set up to a great value, promoted leapfrog efficiency. In other embodiments, it is understood that the velocity planning may also use a uniform acceleration planning method instead of setting the jerk J.
The raising process and the lowering process need to be planned separately during the whole leapfrog process, and the raising process is planned as described above. Similarly, the descending process is also planned to be 7 segments, corresponding to T of the ascending process1、T2、T3、T4、T5、T6And T7These 7 segments correspond one to one. Fig. 2 illustrates the speed planning in the positive direction, which is the ascending control, and the descending control only needs to take the speed increment obtained by calculation in fig. 2 as a negative value.
When the acceleration from zero speed to the speed V in the ascending process in step S100 is performed, the jerk, uniform acceleration, and jerk times planned in the first three segments in fig. 2 are respectively T1、T2、T3：
If it is
Figure BDA0003518426970000091
The maximum acceleration a is reached during accelerationmAnd the three-section planning time in the acceleration process is as follows:
Figure BDA0003518426970000092
if it is
Figure BDA0003518426970000093
The maximum acceleration a is not reached during accelerationmAnd the three-section planning time in the acceleration process is as follows:
Figure BDA0003518426970000094
in step S100, let the interpolation time during motion be t, whereExplaining interpolation, the machine tool drives a motor to perform motion control through a servo system, the servo system inputs corresponding pulse number in fixed time to enable the motor to rotate, the input of the corresponding pulse number in the fixed time is interpolation, and the fixed time is an interpolation period or a numerical value increment process for enabling the machine tool to move is understood as interpolation. When planning the rise process, the interpolation time can be understood as the rise time. The acceleration, velocity and displacement during interpolation are respectively ai、vi、si；
When T is less than or equal to T1The method comprises the following steps:
Figure BDA0003518426970000101
when T is1<t≤T2The method comprises the following steps:
Figure BDA0003518426970000102
when T is2<t≤T3The method comprises the following steps:
Figure BDA0003518426970000103
wherein, VsIs T1、T2And T3Starting speed of each of three sections, V, as speed risess0, V when the speed drops from V to zerosAnd V is the maximum speed which can be actually achieved in the frog leaping process. The maximum speed V actually achieved during the leapfrog described herein is only the rising speed, not the horizontal movement.
When the speed rises from 0 to V, the distances required for the three-stage planning of T1, T2 and T3 are as follows:
Figure BDA0003518426970000104
adding or subtracting according to S-shaped curveThe symmetry of the speed plan, the deceleration speed, the uniform deceleration speed and the acceleration and deceleration time of the last three sections of the deceleration stage are respectively T5＝T3、T6＝T2、T7＝T1。
Assuming that the first maximum speed V can be reachedmUp to a first maximum speed VmIs T4When the speed planning calculation is carried out, V is equal to VmThe distance L obtained by the formulas (1), (2) and (6) is Lm，LmSimply change the boundary condition V to VmSubstituting the value of L obtained in equation (6). Total distance L if ascending or descendingsSatisfy Ls≥2LmThen the set maximum speed V can be actually reachedmAt a constant speed of
Figure BDA0003518426970000111
If ascending or descendingsSatisfy Ls<2LmThen the first maximum speed V set cannot be actually reachedmAt constant speed time T4When the second maximum speed V is 0, an appropriate second maximum speed V is determined by the dichotomy, and the distance calculated in equation (6) satisfies 2Ls。
Seven time periods of the S-shaped speed plan are obtained through calculation, and the total planned distance is enabled to be equal to the actual distance L to be interpolatedsEqual, total movement planning time of ascending process is Ts＝T1+T2+T3+T4+T5+T6+T7. The time of the descent process can be determined in the same way.
In step S200, the maximum height of the frog jump is set to be HmAs shown in fig. 3, the offset of the tail height of the frog jump relative to the current takeoff height is set as h, and the displacement amounts during the ascending and descending processes of the frog jump are respectively Lu、LdThen there is Lu＝Ld+ h. The total idle movement time in the process of frog leaping is TpMaximum speed of idle movement is VPThe rising time of the lost motion frog jump is TuThe fall time of frog jump is TdThe high-altitude shaft stopping time of the frog jump is Tm. As used hereinThe idle movement of (1) is horizontal movement, the idle movement time is the time of the horizontal movement, and the maximum speed of the idle movement is the speed of the horizontal movement. If a rotating pipe is cut, the idle time refers to the time of rotation. The lost motion time is calculated so that when translated into position, the fall is just in position.
If the maximum height is reached in the process of frog leaping, let Lu＝Hm. The time T for the leapfrog to rise and fall is calculated in step S100u、TdIf T isu+Td<TpIf there is a shaft-stopping stage in the course of frog-leaping, the shaft-stopping time is Tm＝Tp-(Tu+Td) The maximum height can be reached in the course of raising frog. If Tu+Td≥TpIf the height of the frog jump is not the maximum height in the frog jump raising process, a proper frog jump raising height is obtained by a dichotomy, so that T is enabled to be equal to Tu+Td＝TpTime to shaft stop T m0. The term "stop" as used herein means a speed of 0. The shaft stopping time is set because if the total time of rising and falling is shorter than the time of horizontal movement, the shaft is stopped to wait for the proper falling time, so that when the translation is in place, the falling is just in place.
Step S300 specifically includes:
s310, carrying out safety verification on the rising height of the specific verification position, wherein as shown in fig. 3, the height H of the machining head required to rise at the specific verification position is setlThe actual rising height of the frog-leaping trajectory at the specific verification position calculated according to step S200 is HsThe actual maximum rising height in the frog-leaping process is LuThen H iss≤Lu(ii) a Setting a security threshold to epsilon;
s320, according to HsAnd HlThe magnitude relationship between the difference and ε, and according to LuAnd HlThe difference and the size relation between epsilon are used for judging whether the frog leaping process conforms to the safety setting or not, and when the frog leaping process does not conform to the safety setting, the maximum speed V of the lost motion is determinedp' adjustment, or maximum speed V of displacementp' actual maximum rising height L during leaping and frogginguAnd (6) adjusting.
Specifically, step S320 specifically includes:
s321, if Hs-HlIf the frog jump process is more than or equal to epsilon, the frog jump process accords with the safety setting;
s322, if Hs-Hl<ε, and Lu-HlNot less than epsilon, the height L in the course of frog leapinguDoes not conform to the safety setting, at which time the idle speed V needs to be reducedp(i.e., the speed of horizontal movement, if cutting a rotating pipe, the speed of rotation of the pipe) such that the upper elevation corresponding to the particular verification location satisfies the safety setting Hs-HlNot less than epsilon, using dichotomy to obtain a suitable maximum speed V of idle movementp' the time to reach a specific verification position point during the idle movement is made longer, so that the upper elevation degree at the position point is raised, and the upper elevation degree is raised Hs' satisfy Hs′-Hlε. After the change of the idle movement speed, the total idle movement time in step S200 becomes TP', the shaft-stopping time is updated to Tm＝Tp′-(Tu+Td)。
S323, if Hs-Hl<ε, and Lu-Hl<Epsilon, height L in the course of frog-leapinguThe maximum height L of the frog jump is not in accordance with the safety settinguThe safety requirement can not be met, and the maximum height L of the frog leaping is carried out again at the momentuCalculating the current time order Lu＝Hl+ epsilon, return to step S200 to calculate to get TuAnd TdBy using a dichotomy method to obtain a suitable maximum speed V for idle movementp' making the dead time satisfy Tp＝Tu+TdTime to stop the shaft T m0; recalculating the elevation H of the specific verification location pointsIf H iss-HlIf the value is more than or equal to epsilon, the safety setting is met; if Hs-Hl<ε, the process proceeds to step S322.
Referring to fig. 1, in an embodiment of the present application, a processing head frog-jump calculation method includes:
step 1, calculating speed planning in the frog leaping process.
An S-shaped curve is used for acceleration and deceleration planning in the process of leapfrog, as shown in figure 2, the first maximum speed of the machine tool in the process of leapfrog is VmMaximum acceleration of AmThe jerk is J.
When the acceleration is from zero speed to V speed, the acceleration, uniform acceleration and deceleration time planned in the first three sections of the S-shaped curve are respectively T1、T2、T3。
If it is
Figure BDA0003518426970000131
The maximum acceleration a is reached during accelerationmThe three-stage planning time in the acceleration process is as follows:
Figure BDA0003518426970000132
if it is
Figure BDA0003518426970000133
The maximum acceleration a is not reached during accelerationmThe three-stage planning time in the acceleration process is as follows:
Figure BDA0003518426970000134
let the interpolation time in motion be t. The acceleration, velocity and displacement during interpolation are respectively ai、vi、si。
When T is less than or equal to T1When the method is used:
Figure BDA0003518426970000141
when T is1<t≤T2The method comprises the following steps:
Figure BDA0003518426970000142
when T is2<t≤T3The method comprises the following steps:
Figure BDA0003518426970000143
wherein, VsIs T1、T2And T3Starting speed of each of three sections, V, as speed risess0, V when the speed drops from V to zerosAnd V is the maximum speed which can be actually achieved in the frog leaping process. The distance required for three-stage planning when the speed rises from 0 to V is as follows:
Figure BDA0003518426970000144
according to the symmetry of S-shaped curve acceleration and deceleration plan, the deceleration, uniform deceleration and acceleration and deceleration time of the last three sections of the deceleration stage are respectively T5＝T3、T6＝T2、T7＝T1。
Assuming that the first maximum speed V can be reachedmUp to a first maximum speed VmIs T4When the speed planning calculation is carried out, V is equal to VmThe distance L obtained by the formulas (1), (2) and (6) is Lm. If ascending or descendingsSatisfy Ls≥2LmThen the set first maximum speed V can be reachedmAt a constant speed of
Figure BDA0003518426970000151
If ascending or descendingsSatisfy Ls<2LmThen the set first maximum speed V cannot be reachedmAt constant speed time T4When the second maximum speed V is 0, an appropriate second maximum speed V is determined by the dichotomy, and the distance calculated in equation (6) satisfies 2Ls。
Seven time periods of the S-shaped speed plan are obtained through calculation, so that the total planning distance and the actual required interpolation are ensuredComplementary distance LsEqual, total exercise planning time Ts＝T1+T2+T3+T4+T5+T6+T7。
And 2, calculating the maximum height in the frog leaping process.
The maximum height of frog jump set by the machine tool is HmAs shown in fig. 3, the offset of the tail height of the frog jump relative to the current takeoff height is set as h, and the displacement amounts during the ascending and descending processes of the frog jump are respectively Lu、LdThen there is Lu＝Ld+ h. The total idle movement time in the process of frog leaping is TpMaximum speed of idle movement is VPThe rising time of the lost motion frog jump is TuThe fall time of frog jump is TdThe high-altitude shaft stopping time of the frog jump is Tm。
If the maximum height is reached in the process of frog leaping, let Lu＝Hm. Calculating the rising and falling time T of the frog leap through the step 1u、TdIf T isu+Td<TpIf there is a shaft-stopping stage in the course of frog-leaping, the shaft-stopping time is Tm＝Tp-(Tu+Td). If T isu+Td≥TpIf the maximum height can not be reached in the frog jump raising process, a proper frog jump raising height L is obtained by using a dichotomyuLet T beu+Td＝TpTime to stop the shaft Tm＝0。
And 3, checking the safety height of the frog leaping process.
In the process of leapfrog rising, the rising height of a specific position is safely checked, as shown in fig. 3, the height of the processing head required to rise at the specific checking position is set as HlAnd calculating according to the step 2 to obtain the actual rising height of the frog jump track at the specific verification position as HsThe actual maximum rising height in the frog-leaping process is LuThen H iss≤Lu(ii) a The security domain value is set to epsilon.
Case 1: if H iss-HlIf the frog jump process is more than or equal to epsilon, the frog jump process accords with the safety setting;
situation(s)2: if H iss-Hl<ε, and Lu-HlNot less than epsilon, the height L in the course of frog leapinguDoes not conform to the safety setting, at which time the idle speed V needs to be reducedpSo that the upper elevation degree corresponding to the specific checking position meets the safety setting Hs-HlNot less than epsilon, using dichotomy to obtain a suitable maximum speed V of idle movementp' the time to reach a specific verification position point during the idle movement is made longer, so that the upper elevation degree at the position point is raised, and the upper elevation degree is raised Hs' satisfy Hs′-Hlε. After the change of the idle movement speed, the total idle movement time in step 2 becomes TP', the shaft-stopping time is updated to Tm＝Tp′-(Tu+Td)。
Case 3: if H iss-Hl<ε, and Lu-Hl<Epsilon, height L in the course of frog-leapinguThe maximum height L of the frog jump is not in accordance with the safety settinguThe safety requirement can not be met, and the frog leaping is carried out again at the moment with the maximum height LuCalculating the current time order Lu＝Hl+ epsilon, returning to the step 2 for calculation to obtain TuAnd TdBy using a dichotomy method to obtain a suitable maximum speed V for idle movementp' making the dead time satisfy Tp＝Tu+TdTime to stop the shaft T m0. Recalculating the elevation H of the specific verification location pointsIf H iss-HlIf the value is more than or equal to epsilon, the safety setting is met; if H iss-Hl<E, then the calculation process of case 2 is entered.
In one example, simulation testing is used to verify the method provided by the present embodiment. Referring to fig. 5, the workpiece to be processed is a pipe, and the pipe is rotated in the arrow direction shown in fig. 5 during the leapfrog process. The machine tool parameters in the numerical control system are set as follows: interpolation period Ts1ms, maximum frog-leaping speed V m120 μm/ms, maximum acceleration Am＝1μm/ms2Jerk J of 0.02 μm/ms3. Verifying the calculating process of frog leap with a rotating shaft in the laser pipe cutting process, as shown in FIG. 5, the pipe to be processedIs of the type of side length LwThe pipe is 20mm square, the jump point is located at the center of the pipe, the frog-leaping target point is the center of the left side of the pipe, the pipe needs to rotate 90 degrees during frog-leaping, and the tail offset h is 2 mm.
Maximum speed V of rotating shaft during rotationPMaximum acceleration A of 0.3 DEG/msmp＝0.008°/ms2Acceleration J of accelerationp＝0.0008°/ms2Maximum height H for raising frog kickm160 mm. Through S-shaped speed planning, the total idle movement and rotation movement time T in the process of frog leapingp347ms, and calculating the frog jump uplift height L from the step 2u4.39mm, drop displacement LdThe displacement increment of the frog jump is shown in fig. 3, which is 2.39 mm.
In the square tube rotating process, the sharp corner position in the middle of the coping is safely checked, the cutting head is prevented from colliding with the tube during the frog leap process, and a safety threshold epsilon is set to be 3 mm. The center time t of the check point in the rotation process is 173.5ms, and the height required to be lifted is obtained by geometric relations
Figure BDA0003518426970000171
The rising height of the frog jump track at the specific checking position in the step 3 is HsWhen the thickness is 4.37mm, H is verifieds-Hl<Epsilon and Lu-Hl<ε, replanning from case 3 in step 3.
The height of the frog jump after the replanning is Lu＝Hl+ ε ═ 7.14mm, drop displacement Ld5.14mm, rise time Tu226ms, time of fall Td202ms, shaft stop time T m0, total idle time Tp428 ms. Likewise, a safety check is carried out at a center time t of 214ms, at which check position the height H risess＝7.13mm。Hs-Hl<Epsilon and Lu-HlChecking whether the condition 2 in the step 3 is satisfied, and calculating the proper idle moving rotation speed V by using a dichotomy methodp' -0.216 °/ms, total time Tp' -452 ms, the shaft stop time is updated to Tm＝Tp′-(Tu+Td)＝24ms。When the center time t is 226ms, Hs＝Lu7.14mm, satisfies Hs-HlEpsilon is more than or equal to epsilon, the condition 1 in the step 3 is met, the leapfrog process is in accordance with the safety setting, and finally, the leapfrog interpolation displacement after safety verification is shown in figure 4.
Through the data result, the application can obtain a more reasonable leapfrog plan, and the impact force on the machine tool is reduced by the S-shaped speed plan. The appropriate frog jump lifting height is dynamically planned through the idle moving time, and the frog jump efficiency is improved to the maximum extent. Through safety verification, the pipe is prevented from colliding in the frog-leaping process. The calculation method does not need to set the frog kick lifting height in advance to perform fitting calculation of the space trajectory, and is suitable for frog kick planning in the flat plate cutting process and pipe cutting frog kick planning with a rotating shaft.
It should be understood that the above examples are merely examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the present application. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims (10)

1. A frog jump calculation method of a processing head is characterized by comprising the following steps:
A. planning the speed of the frog leap process, wherein the frog leap ascending and descending processes comprise an accelerating section, a constant speed section and a decelerating section; setting the first maximum speed V in the process of leapfrog risingmThe displacement is LuAssuming that a first maximum speed V is reached during ascentmWhether the total displacement of the acceleration section and the deceleration section is less than or equal to L during the computationuIf the speed is less than the first maximum speed V, the first maximum speed V can be actually reached in the rising processm(ii) a If so, the first maximum speed V cannot be actually reached in the rising processmAt this time, a first order is obtained by the dichotomyTwo maximum speeds V, the total displacement of the acceleration section and the deceleration section in the rising process is equal to Lu；
Setting the third maximum speed V in the descending process of the frog jumpm', the displacement during descending is LdAssuming a third maximum speed V is reached during descentm' calculating whether the total displacement of the acceleration section and the deceleration section is less than L when descendingdIf the maximum speed is less than the first maximum speed, the third maximum speed is V in the descending processm'; if the maximum speed is larger than the first maximum speed, the third maximum speed is V which can not be actually reached in the descending processm'when a fourth maximum speed V' is obtained by bisection so that the total displacement of the acceleration section and the deceleration section during descent is equal to Ld；
B. According to LuAcceleration during ascent and first maximum speed VmOr the second maximum speed V calculates the time T of the rise processuAccording to Lu', acceleration during descent and third maximum speed Vm'or fourth maximum speed V' calculating the time T of the descent processd(ii) a If Tu+Td<TpIf the frog jump process has a shaft stopping stage, the rising height of the frog jump is L in the step Au(ii) a If Tu+Td≥TpIf the shaft-stopping time is zero, the rising height of a frog jump is obtained by a dichotomy method to ensure that T is equal tou+Td＝Tp；
C. And carrying out safety check on the frog jump height.
2. The processing head frog leap calculation method as claimed in claim 1, wherein in step a, the frog leap ascending and descending processes at least comprise an acceleration section, a uniform acceleration section, a deceleration section, a constant velocity section, a deceleration section, a uniform deceleration section and an acceleration and deceleration section which are arranged in sequence, and the time of each section is T1、T2、T3、T4、T5、T6And T7，T5＝T3、T6＝T2、T7＝T1。
3. A processing head frog-leap calculation method according to claim 2, wherein in said step a, frog-leap maximum acceleration is set to amThe jerk is J; when the speed is accelerated from zero speed to speed V in the step A:
if it is
Figure FDA0003518426960000021
The maximum acceleration a is reached during accelerationmAnd the three-section planning time in the acceleration process is as follows:
Figure FDA0003518426960000022
if it is
Figure FDA0003518426960000023
The maximum acceleration a is not reached during accelerationmAnd the three-section planning time in the acceleration process is as follows:
Figure FDA0003518426960000024
4. a method as claimed in claim 3, wherein in step a, the interpolation time during the movement is t, and the acceleration, velocity and displacement during the interpolation are ai、vi、si；
When T is less than or equal to T1When the method is used:
Figure FDA0003518426960000031
when T is1<t≤T2The method comprises the following steps:
Figure FDA0003518426960000032
when T is2<t≤T3The method comprises the following steps:
Figure FDA0003518426960000033
wherein, VsIs T1、T2And T3The programmed starting speed of each of the three segments.
5. A method of calculating frog jump with a machining head as in claim 4 wherein T is1、T2And T3The distance required for three-stage planning is:
Figure FDA0003518426960000034
time command V-V for speed planning calculationmThe distance L obtained by the formulas (1), (2) and (6) is LmIf ascending or descending, total distance LsSatisfy Ls≥2LmThen the first maximum speed V can be reachedmAt a constant speed of
Figure FDA0003518426960000035
Total distance L if ascending or descendingsSatisfy Ls<2LmThen the first maximum speed V cannot be reachedmAt constant speed time T4When the second maximum speed V is 0, the second maximum speed V is obtained by the bisection method, and the distance calculated in the formula (6) satisfies 2L-Ls。
6. A processing head frog jump calculation method according to claim 5 wherein in step B, the frog jump maximum height is set to HmThe offset of the tail height of the frog jump relative to the current takeoff height is set as h, and the displacement in the ascending and descending processes of the frog jump are respectively Lu、LdThen there is Lu＝Ld+ h, during frog-leapingTotal idle movement time of TpMaximum speed of idle movement is VPThe rise time of frog jump is TuThe fall time of frog jump is TdThe high-altitude shaft stopping time of the frog jump is Tm；
Assuming the maximum height is reached during the frog-leaping process, let L beu＝HmCalculating the time T for the leapfrog to rise and fall through the step Au、TdIf T isu+Td<TpIf there is a shaft-stopping stage in the course of frog-leaping, the shaft-stopping time is Tm＝Tp-(Tu+Td) The maximum height can be reached in the process of raising the frog jump; if Tu+Td≥TpIf the maximum height can not be reached in the course of leaping stroke raising, then using dichotomy to obtain a leaping stroke raising height to make T beu+Td＝TpTime to stop the shaft Tm＝0。
7. The processing head frog jump calculation method according to claim 6, wherein said step C specifically comprises:
c1, performing safety check on the rising height of the specific check position, and setting the height H of the machining head required to rise at the specific check positionlThe actual rising height of the frog jump trajectory at a specific verification position is HsThe actual maximum rising height in the frog-leaping process is LuThen H iss≤Lu(ii) a Setting a security threshold to epsilon;
c2 according to HsAnd HlThe magnitude relationship between the difference and ε, and according to LuAnd HlThe difference and the size relation between epsilon are used for judging whether the frog leaping process conforms to the safety setting or not, and when the frog leaping process does not conform to the safety setting, the maximum speed V of the lost motion is determinedp' adjustment, or maximum speed V of displacementp' actual maximum rising height L during leaping and frogginguAnd (6) adjusting.
8. The processing head frog-leap calculation method according to claim 7, wherein said step C2 specifically comprises:
c21, ifHs-HlIf the frog jump process is more than or equal to epsilon, the frog jump process accords with the safety setting;
c22, if Hs-Hl<ε, and Lu-HlNot less than epsilon, the height L in the course of frog leapinguIf the safety setting is not met, the idle speed V is reducedpSo that the upper elevation degree corresponding to the specific checking position meets the safety setting Hs-HlNot less than epsilon, using dichotomy to obtain a maximum speed V of idle movementp' the time required to reach a specific verification position point during the idle movement is increased, and the elevation at that position point is raised Hs' satisfy Hs′-Hl＝ε；
C23, if Hs-Hl<ε, and Lu-Hl<Epsilon, height L in the course of frog-leapinguThe maximum height L of the frog jump is not in accordance with the safety settinguThe safety requirement can not be met, and the maximum height L of the frog leaping is carried out again at the momentuCalculating the current time order Lu＝Hl+ epsilon, returning to the step B for calculation to obtain TuAnd TdUsing a bisection method to obtain a maximum idle speed Vp' making the dead time satisfy Tp＝Tu+TdTime to stop the shaft Tm0; recalculating the elevation H of the specific verification location pointsIf H iss-HlIf the value is more than or equal to epsilon, the safety setting is met; if Hs-Hl<E, the calculation process of step C22 is entered.
9. A processing apparatus, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a processing head frog-jump calculation method as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium on which a computer program is stored, which program, when executed by a processor, carries out a processing head frog-jump calculation method according to any one of claims 1 to 8.
CN202210174256.9A 2022-02-24 2022-02-24 Machining head frog leap calculation method, machining equipment and storage medium Pending CN114595422A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210174256.9A CN114595422A (en) 2022-02-24 2022-02-24 Machining head frog leap calculation method, machining equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210174256.9A CN114595422A (en) 2022-02-24 2022-02-24 Machining head frog leap calculation method, machining equipment and storage medium

Publications (1)

Publication Number Publication Date
CN114595422A true CN114595422A (en) 2022-06-07

Family

ID=81806768

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210174256.9A Pending CN114595422A (en) 2022-02-24 2022-02-24 Machining head frog leap calculation method, machining equipment and storage medium

Country Status (1)

Country Link
CN (1) CN114595422A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115016559A (en) * 2022-08-04 2022-09-06 深圳市杰美康机电有限公司 Full closed loop multi-path planning line feeding method and device

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020233084A1 (en) * 2019-05-21 2020-11-26 深圳壹账通智能科技有限公司 Image segmentation method and apparatus, and storage medium and terminal device
CN113941783A (en) * 2021-11-23 2022-01-18 深圳软动智能控制有限公司 Laser axis frog leap implementation method and device, laser equipment and storage medium

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020233084A1 (en) * 2019-05-21 2020-11-26 深圳壹账通智能科技有限公司 Image segmentation method and apparatus, and storage medium and terminal device
CN113941783A (en) * 2021-11-23 2022-01-18 深圳软动智能控制有限公司 Laser axis frog leap implementation method and device, laser equipment and storage medium

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
田军锋;林浒;姚壮;李杰;: "数控系统S型曲线加减速快速规划研究", 小型微型计算机系统, no. 01, 15 January 2013 (2013-01-15) *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115016559A (en) * 2022-08-04 2022-09-06 深圳市杰美康机电有限公司 Full closed loop multi-path planning line feeding method and device

Similar Documents

Publication Publication Date Title
KR101928419B1 (en) Tool Path Generation Method and Machine Tool
CN103801981B (en) A kind of quartic polynomial velocity planning algorithm for spline interpolation
WO2017113069A1 (en) S-shaped curve planning method and device, and numerically-controlled machine tool
CN110865610B (en) Tool path interpolation and speed planning method based on machine tool vibration suppression
CN101957611B (en) Spline real-time interpolation method
CN105759725B (en) Speed sensitive section constant speed profile interpolation rate planing method
US8406913B2 (en) Controlling feed operations of a machine tool and work-piece relative to a programmed fixed cycle
CN110286681A (en) A kind of dynamic auto driving lane-change method for planning track of variable curvature bend
EP2738634A1 (en) Numerical control device
CN107505918A (en) A kind of speed planning method of cutting machine
CN111158318B (en) Flexible acceleration and deceleration planning method for asymmetric quartic curve
CN114595422A (en) Machining head frog leap calculation method, machining equipment and storage medium
CN106970589B (en) A kind of feed rate relaxation method reducing Multi-axis Machining profile errors
CN112486101B (en) NURBS curve self-adaptive look-ahead interpolation method
CN109901518B (en) Method for planning acceleration and deceleration speed of numerical control machine tool under constant force constraint condition
JP7012229B2 (en) Numerical control programming device, numerical control work system and numerical control work program
CN114802362B (en) Train energy-saving operation method and device controlled by time division
CN111630461B (en) Numerical control machining method and system and device with storage function
KR102180545B1 (en) Numerical control devices using virtual machine tool to limit machining error
CN114019908B (en) Spiral bevel gear tooth profile cambered surface chamfering control method
CN116009530A (en) Path planning method and system for self-adaptive tangential obstacle avoidance
WO2020213206A1 (en) Slab surface maintenance method
JP2985138B2 (en) Speed control device and numerical control feed speed control method
CN112894822A (en) Robot motion trajectory planning method, robot and computer storage medium
CN114625004B (en) Self-adaptive look-ahead control algorithm based on mixed angle segmentation

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