CN115519267A - Method and device for cutting circle - Google Patents
Method and device for cutting circle Download PDFInfo
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- CN115519267A CN115519267A CN202211019447.4A CN202211019447A CN115519267A CN 115519267 A CN115519267 A CN 115519267A CN 202211019447 A CN202211019447 A CN 202211019447A CN 115519267 A CN115519267 A CN 115519267A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K28/00—Welding or cutting not covered by any of the preceding groups, e.g. electrolytic welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K10/00—Welding or cutting by means of a plasma
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
- B23K7/10—Auxiliary devices, e.g. for guiding or supporting the torch
- B23K7/105—Auxiliary devices, e.g. for guiding or supporting the torch specially adapted for particular geometric forms
- B23K7/107—Auxiliary devices, e.g. for guiding or supporting the torch specially adapted for particular geometric forms for cutting circles
Abstract
The present disclosure relates to cutting, and more particularly, to a method and apparatus for cutting a circle. The method comprises the following steps: establishing a cutting coordinate system; acquiring the circle center position and the diameter of a cutting circle; determining a cutting track of the cutting circle based on the circle center position and the diameter of the cutting circle; determining a rotation angle at the time of cutting based on the diameter of the cutting circle; based on the rotation angle, rotating the cutting device by a compensation angle in a target rotation direction around a Z axis of the cutting coordinate system; the target rotating direction is the reverse direction of the cutting direction; and cutting the cutting circle along the cutting track based on the cutting equipment. According to the method and the device for cutting the circle, the cutting coordinate system is created, the cutting equipment rotates by the compensation angle around the Z axis of the cutting coordinate system according to the target rotation direction, the cutting equipment rotates around the same direction all the time in the cutting process, and the problem of cutting defects caused by vibration generated by forward and reverse rotation of the cutting equipment is solved.
Description
Technical Field
The present disclosure relates to cutting, and more particularly, to a method and apparatus for cutting a circle.
Background
The cutting technology is widely applied to the industrial fields of automobiles, electronics, electrical appliances, aviation, metallurgy, mechanical manufacturing and the like as an advanced processing technology, and plays an increasingly important role in improving the product quality, improving the labor productivity, reducing the processing cost and reducing the material consumption.
However, the cutting quality in the existing cutting technology is always a difficult problem to break, such as the cutting circular hole size does not meet the requirement, and the cutting defect exists. When cutting equipment cuts a whole circle with same gesture, can have the cutting defect because there is gear clearance in the cutting equipment reduction gear, cutting equipment's rotation axis is from corotation to reversal, perhaps can lead to the slight vibration of cutting equipment body when reversing to corotation to lead to the skew theoretical cutting orbit of actual cutting orbit, produce cutting quality defect.
Disclosure of Invention
The technical problem that this application will be solved is how to avoid cutting equipment when operation the cutting defect that the slight vibration that the rotation axis just reverse produced arouses.
In order to solve the above technical problem, in a first aspect, an embodiment of the present application discloses a method for cutting a circle, including:
establishing a cutting coordinate system by taking the position of a cutting head focus of cutting equipment as a coordinate origin and the target direction of the cutting equipment as a coordinate axis;
acquiring the circle center position and the diameter of a cutting circle;
determining a cutting track of the cutting circle based on the circle center position and the diameter of the cutting circle;
determining a rotation angle at the time of cutting based on the diameter of the cutting circle;
based on the rotation angle, rotating the cutting device by a compensation angle in a target rotation direction around a Z axis of the cutting coordinate system; the target rotating direction is the reverse direction of the cutting direction;
and cutting the cutting circle along the cutting track based on the cutting equipment.
Further, the cutting circle along the cutting track based on the cutting device includes,
moving a focus of a cutting head of the cutting device to a circle center position of the cutting circle;
and cutting the cutting circle along the cutting track based on the moved cutting equipment.
Further, the method further comprises:
determining a cutting starting point, a cutting auxiliary point and a cutting end point of the cutting track based on the circle center position and the diameter of the cutting circle;
and determining coordinates corresponding to the cutting starting point, the cutting auxiliary point and the cutting end point respectively based on the cutting coordinate system.
Further, the determining the cutting track of the cutting circle based on the circle center position and the diameter of the cutting circle comprises,
determining a transition circle by taking one half of the diameter of the cutting circle as the diameter; the circular arc of the transition circle passes through the circle center position of the cutting circle;
decomposing the transition circle into a preset number of circular arcs based on the coordinates corresponding to the cutting starting point, the cutting auxiliary point and the cutting end point respectively;
taking the circle center position of the cutting circle as the cutting starting point;
and constructing the cutting track according to the cutting starting point and the preset number of arcs.
Further, the cutting device is a robot, and the rotation angle during cutting is determined based on the diameter of the cutting circle, including,
determining a forward rotation angle and a reverse rotation angle of a target shaft of the robot based on the diameter of the cutting circle;
determining the rotation angle of the target axis of the robot based on the forward rotation angle and the reverse rotation angle.
Further, the rotating the cutting device by a compensation angle in a target rotation direction around the Z axis of the cutting coordinate system based on the rotation angle includes,
determining a cutting angle of each track point corresponding to each rotation angle in the rotation process of the target shaft of the robot based on the rotation angle, wherein the cutting angle is the rotation angle of the cutting equipment around the Z shaft of the cutting coordinate system;
and based on the cutting angle of each track point, rotating the cutting equipment by a compensation angle according to the target direction around the Z axis of the cutting coordinate system.
Further, the determining the cutting angle of each track point corresponding to each rotation angle in the rotation process of the target axis of the robot based on the rotation angle includes,
determining the target number of each track point;
calculating the ratio of the rotation angle to the target number;
and taking the ratio as the cutting angle corresponding to each track point.
Further, the method further comprises the step of,
and determining the compensation angle based on the cutting angle of each track point, wherein the size of the compensation angle is equal to that of the cutting angle, and the direction of the compensation angle is opposite to that of the cutting angle.
In a second aspect, an embodiment of the present application discloses an apparatus for cutting a circle, including:
the coordinate system establishing module is used for establishing a cutting coordinate system by taking the position of a cutting head focus of cutting equipment as a coordinate origin and the target direction of the cutting equipment as a coordinate axis;
the acquisition module is used for acquiring the circle center position and the diameter of the cutting circle;
the first determining module is used for determining the cutting track of the cutting circle based on the circle center position and the diameter of the cutting circle;
the second determination module is used for determining the rotation angle during cutting based on the diameter of the cutting circle;
the rotation compensation module is used for rotating the cutting equipment by a compensation angle in a target rotation direction around the Z axis of the cutting coordinate system based on the rotation angle; the target rotating direction is the reverse direction of the cutting direction;
and the cutting module is used for cutting the cutting circle along the cutting track based on the cutting equipment.
Further, the cutting module further comprises:
the adjusting module is used for moving a cutting head focus of the cutting equipment to the position of the circle center of the cutting circle;
and the execution module is used for cutting the cutting circle along the cutting track based on the moved cutting equipment.
By adopting the technical scheme, the method and the device for cutting the circle have the following beneficial effects:
according to the method, a cutting coordinate system is established by taking the focal point position of a cutting head of cutting equipment as a coordinate origin and the target direction of the cutting equipment as a coordinate axis; acquiring the circle center position and the diameter of a cutting circle; determining a cutting track of the cutting circle based on the circle center position and the diameter of the cutting circle; determining a rotation angle at the time of cutting based on the diameter of the cutting circle; based on the rotation angle, rotating the cutting equipment by a compensation angle in a target rotation direction around a Z axis of the cutting coordinate system; the target rotating direction is the reverse direction of the cutting direction; cutting the cutting circle along the cutting track based on the cutting device; through establishing the cutting coordinate system, the cutting equipment rotates around the Z axis of the cutting coordinate system according to the target rotating direction and the compensation angle, so that the cutting equipment rotates around the same direction all the time in the cutting process, slight vibration of the cutting equipment caused by forward and reverse rotation of the cutting equipment is avoided, the track of a cutting circle is smoother, the cutting quality defect is avoided, and the cutting quality is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method of cutting a circle according to one embodiment of the present application;
FIG. 2-1 is a first diagram of a cutting coordinate system according to an embodiment of the present disclosure;
FIG. 2-2 is a second schematic diagram of a cutting coordinate system according to an embodiment of the present disclosure;
2-3 are schematic diagrams of a cutting coordinate system of an embodiment of the present application;
FIG. 3 is a schematic illustration of a cutting trajectory according to an embodiment of the present application;
FIG. 4 is a schematic view of a target axis of a robot according to an embodiment of the present application;
FIG. 5 is a schematic view of the attitude of a cutting tool according to one embodiment of the present application;
fig. 6 is a schematic structural diagram of an apparatus for cutting a circle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the present application. In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
In one aspect, an embodiment of the present application provides a method for cutting a circle, as shown in fig. 1, including:
s101: establishing a cutting coordinate system by taking the cutting head focus position of cutting equipment as a coordinate origin and taking the target direction of the cutting equipment as a coordinate axis;
in the embodiment of the application, optionally, the cutting device may be a numerical control cutting machine or a manual cutting machine, the cutting mode may be flame cutting, plasma cutting, laser cutting, water jet cutting, etc., and the method for cutting a circle of the application is further described below by taking the laser cutting of an industrial robot as an example.
In the application of an industrial robot, the track point coordinate, the tool coordinate system and the workpiece coordinate system which mainly affect the change of the robot track are generally realized by modifying the coordinate value of the track point under the common condition of modifying the motion track of the robot.
Different tools are often installed on the flange face at the tail end of the robot to meet the actual production requirements in the use process of the industrial robot, and in order to accurately control the position and the posture of the tool movement, a coordinate system where the tool is located needs to be calibrated. According to the method, a cutting coordinate system is established, the original point of the cutting coordinate system is established on the focus of a laser cutting head, and when the laser cutting machine is used for cutting plates of different materials and different thicknesses, in order to achieve a better cutting effect, the focuses of laser beams are arranged at different places; during cutting, only the laser focus needs to be moved to the circle center position of the cutting circle, and the cutting circle is cut along the cutting track based on the moved position.
Optionally, a method for establishing a cutting coordinate system includes:
the cutting coordinate system is established by taking the focus of the laser beam as the origin of the cutting coordinate system and the spraying direction of the laser beam as the positive direction of the Z axis of the cutting coordinate system, as shown in the attached figures 2-1, 2-2 and 2-3, the direction of the cutting coordinate system can change along with the movement of the spraying direction of the laser beam, and the movement of the cutting coordinate system takes the spraying direction of the laser beam as the reference. After a cutting coordinate system is established, the control point of the robot can be transferred to the focus of a laser beam, the posture of a cutting tool can be conveniently adjusted by using the unchanged operation of the control point during teaching, and the track of a circular arc is more accurate during interpolation operation.
S102: acquiring the circle center position and the diameter of a cutting circle;
s103: determining a cutting track of the cutting circle based on the circle center position and the diameter of the cutting circle;
in the embodiment of the application, in order to make the cutting track of the cutting circle more accurate and improve the cutting quality, the cutting starting point, the cutting auxiliary point and the cutting end point of the cutting track are determined according to the circle center position and the diameter of the cutting circle before cutting, and then the respective corresponding coordinates of the cutting starting point, the cutting auxiliary point and the cutting end point are determined according to the established cutting coordinate system. As shown in fig. 3:
in fig. 3, the circle with the larger diameter is a cutting circle, and the circle with the smaller diameter is a transition circle. Optionally, the circle center position of the cutting circle coincides with the origin of the cutting coordinate system, and the circle center position of the cutting circle is selected as the cutting starting point, so that coordinates corresponding to the cutting auxiliary point and the cutting end point can be calculated conveniently.
And the cutting coordinate system consists of a focus position (X, Y, Z) of the cutting tool and postures (A, B, C) of the cutting tool, wherein A (the rotation angle of the cutting tool around the Z axis of the cutting coordinate system), B (the rotation angle of the cutting tool around the Y axis of the cutting coordinate system) and C (the rotation angle of the cutting tool around the X axis of the cutting coordinate system) are used for expressing the postures of the cutting tool, and the A, B and C values can be modified by manual operation, simulation software, field calibration and other methods.
Assuming that the diameter of the cutting circle is D, the coordinates (X, Y, Z, a, B, C) of the points P1 to P8 are:
P1＝{-D/4，-D/4，0，0，0，0}
P2＝{0，-D/2，0，0，0，0}
P3＝{D/2，0，0，0，0，0}
P4＝{0，D/2，0，0，0，0}
P5＝{-D/2，0，0，0，0，0}
P6＝{0，-D/2，0，0，0，0}
P7＝{D/4，-D/4，0，0，0，0}
P8＝{0，0，0，0，0，0}
therefore, when only the position and the posture of the circle center of the cutting circle are modified, the coordinate value of the circular arc is always kept unchanged, and the change of the robot track is changed due to the change of the cutting coordinate system. When the size of the cutting circle needs to be modified, the diameter D of the cutting circle only needs to be modified, and the coordinates of the points P1 to P8 automatically calculate the result according to the formula.
In the embodiment of the present application, a feasible method for determining a cutting trajectory of a cutting circle includes: taking one half of the diameter of the cutting circle as the diameter of the transition circle, and enabling the circular arc of the transition circle to pass through the circle center position of the cutting circle in order to calculate the coordinate value of the transition circle conveniently; based on the cutting starting point, the cutting auxiliary point and the cutting end point, the cutting track can be decomposed into a preset number of circular arcs, the circle center position of the cutting circle is used as the cutting starting point when the cutting equipment is used for cutting, and the cutting track is constructed according to the cutting starting point and the preset number of circular arcs. For example, in fig. 3, the cutting start point, the cutting auxiliary point and the cutting end point divide the cutting track into four semicircular arcs, the cutting track takes the circle center position P0 of the cutting circle as the start point and reaches the cutting end point P8 through the four semicircular arcs, and the cutting track is P0-P1-P2-P3-P4-P5-P6-P7-P8.
S104: determining a rotation angle at the time of cutting based on the diameter of the cutting circle;
an industrial robot is generally a six-degree-of-freedom series robot, as shown in fig. 4, during a cutting process, a target shaft of the robot undergoes forward rotation to reverse rotation or reverse rotation to forward rotation, the forward rotation angle and the reverse rotation angle of the target shaft of the robot are related to the diameter of a cutting circle, and the forward rotation angle and the reverse rotation angle of the target shaft of the robot can be determined according to the diameter of the cutting circle, so that the rotation angle of the target shaft of the robot is determined, wherein the target shaft of the robot is 1 shaft (1) in fig. 4, and is used for enabling the robot to rotate in a direction parallel to a chassis of the robot. If a certain cutting circle is cut, the target shaft of the robot firstly rotates forwards by 50 degrees, then rotates backwards by 50 degrees to complete cutting, and the rotating angle of the target shaft of the robot in the cutting process is 100 degrees.
S105: based on the rotation angle, rotating the cutting equipment by a compensation angle in a target rotation direction around a Z axis of the cutting coordinate system; the target rotating direction is the reverse direction of the cutting direction;
according to the rotation angle of the target shaft of the robot in the cutting process, the cutting angle of each track point corresponding to each rotation angle of the target shaft of the robot in the rotation process is determined, the cutting angle is the rotation angle of the cutting tool around the Z shaft of the cutting coordinate system and is used for representing the posture of the cutting tool, the ratio of the rotation angle to the target number of each track point can be calculated, the ratio is used as the cutting angle corresponding to each track point, and the rotation angle is used for determining the cutting angle of each track point according to the average distribution principle.
Because of the corotation and the reversal of the target shaft of the robot in the traditional cutting mode, the posture of the cutting tool is kept unchanged in the cutting process, the cutting quality defect is easy to generate, and in order to reduce the quality defect, different postures of the cutting tool can be changed at different positions in the cutting process in the application, as shown in the attached drawing 5.
And determining a compensation angle according to the cutting angle of each track point, wherein optionally, the compensation angle is equal to the cutting angle, and the direction of the compensation angle is opposite to that of the cutting angle.
The cutting tool rotates by the compensation angle around the Z axis of the cutting coordinate system according to the target rotation direction, so that the target axis of the robot can rotate around the same direction in the cutting process, the cutting tool has operation spaces for changing different postures in the cutting process, the cutting defect caused by positive and negative rotation of the target axis of the robot is avoided, and the cutting quality is improved.
S106: and cutting the cutting circle along the cutting track based on the cutting equipment.
According to the method, a cutting coordinate system is established by taking the focal point position of a cutting head of cutting equipment as a coordinate origin and the target direction of the cutting equipment as a coordinate axis; acquiring the circle center position and the diameter of a cutting circle; determining a cutting track of the cutting circle based on the circle center position and the diameter of the cutting circle; determining a rotation angle at the time of cutting based on the diameter of the cutting circle; based on the rotation angle, rotating the cutting equipment by a compensation angle in a target rotation direction around a Z axis of the cutting coordinate system; the target rotating direction is the reverse direction of the cutting direction; cutting the cutting circle along the cutting track based on the cutting device; through establishing the cutting coordinate system, the cutting equipment rotates around the Z axis of the cutting coordinate system according to the target rotating direction and compensates the angle, so that the cutting equipment rotates around the same direction all the time in the cutting process, slight vibration of the cutting equipment caused by forward and reverse rotation of the cutting equipment is avoided, the track of a cutting circle is smoother, the cutting quality defect is avoided, and the cutting quality is improved.
On the other hand, the embodiment of the present application further provides a device for cutting a circle, as shown in fig. 6, including:
a coordinate system establishing module 601, configured to establish a cutting coordinate system by using a cutting head focus position of the cutting apparatus as a coordinate origin and using a target direction of the cutting apparatus as a coordinate axis;
an obtaining module 602, configured to obtain a circle center position and a diameter of a cutting circle;
a first determining module 603, configured to determine a cutting trajectory of the cutting circle based on a circle center position and a diameter of the cutting circle;
a second determining module 604, configured to determine a rotation angle during cutting based on the diameter of the cutting circle;
a rotation compensation module 605, configured to rotate the cutting apparatus by a compensation angle in a target rotation direction around the Z-axis of the cutting coordinate system based on the rotation angle; the target rotating direction is the reverse direction of the cutting direction;
a cutting module 606 configured to cut the cutting circle along the cutting track based on the cutting device.
In some embodiments, the cutting module 606 further comprises:
the adjusting module is used for moving a cutting head focus of the cutting equipment to the position of the circle center of the cutting circle;
and the execution module is used for cutting the cutting circle along the cutting track based on the moved cutting equipment.
In some embodiments, the means for cutting a circle further comprises:
the third determining module is used for determining a cutting starting point, a cutting auxiliary point and a cutting end point of the cutting track based on the circle center position and the diameter of the cutting circle;
and the fourth determining module is used for determining the coordinates corresponding to the cutting starting point, the cutting auxiliary point and the cutting end point respectively based on the cutting coordinate system.
In some embodiments, the first determining module 603 further comprises:
the transition circle determining module is used for determining a transition circle by taking one half of the diameter of the cutting circle as the diameter; the circular arc of the transition circle passes through the circle center position of the cutting circle;
the decomposition module is used for decomposing the transition circle into a preset number of circular arcs based on the corresponding coordinates of the cutting starting point, the cutting auxiliary point and the cutting end point;
a cutting start point determining module, configured to use a circle center position of the cutting circle as the cutting start point;
and the cutting track determining module is used for constructing the cutting track according to the cutting starting point and the preset number of arcs.
In some embodiments, the second determining module 604 comprises:
a forward and reverse rotation angle determination module for determining a forward rotation angle and a reverse rotation angle of a target shaft of the robot based on the diameter of the cutting circle;
a rotation angle determination module to determine the rotation angle of a target axis of the robot based on the forward rotation angle and the reverse rotation angle.
In some embodiments, the rotation compensation module 605 includes:
the cutting angle determining module is used for determining the cutting angle of each track point corresponding to each rotation angle in the rotation process of the target axis of the robot based on the rotation angle, wherein the cutting angle is the rotation angle of the cutting equipment around the Z axis of the cutting coordinate system;
and the compensation module is used for rotating the cutting equipment around the Z axis of the cutting coordinate system by a compensation angle according to the target direction based on the cutting angle of each track point.
In some embodiments, the cutting angle determination module comprises:
the first calculation module is used for determining the target number of each track point;
the second calculation module is used for calculating the ratio of the rotation angle to the target number;
and the confirming module is used for taking the ratio as the cutting angle corresponding to each track point.
In some embodiments, the means for cutting a circle further comprises:
and the compensation angle determining module is used for determining the compensation angle based on the cutting angle of each track point, the compensation angle is equal to the cutting angle in size, and the direction of the compensation angle is opposite to the direction of the cutting angle.
The device and method embodiments in the embodiments of the present application are based on the same inventive concept.
According to the embodiment of the application, a cutting coordinate system is established by taking the cutting head focus position of cutting equipment as a coordinate origin and taking the target direction of the cutting equipment as a coordinate axis; acquiring the circle center position and the diameter of a cutting circle; determining a cutting track of the cutting circle based on the circle center position and the diameter of the cutting circle; determining a rotation angle at the time of cutting based on the diameter of the cutting circle; based on the rotation angle, rotating the cutting device by a compensation angle in a target rotation direction around a Z axis of the cutting coordinate system; the target rotating direction is the reverse direction of the cutting direction; cutting the cutting circle along the cutting track based on the cutting device; through establishing the cutting coordinate system, the cutting equipment rotates around the Z axis of the cutting coordinate system according to the target rotating direction and the compensation angle, so that the cutting equipment rotates around the same direction all the time in the cutting process, slight vibration of the cutting equipment caused by forward and reverse rotation of the cutting equipment is avoided, the track of a cutting circle is smoother, the cutting quality defect is avoided, and the cutting quality is improved.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A method of cutting a circle, the method comprising:
establishing a cutting coordinate system by taking the position of a cutting head focus of cutting equipment as a coordinate origin and the target direction of the cutting equipment as a coordinate axis;
acquiring the circle center position and the diameter of a cutting circle;
determining a cutting track of the cutting circle based on the circle center position and the diameter of the cutting circle;
determining a rotation angle at the time of cutting based on the diameter of the cutting circle;
based on the rotation angle, rotating the cutting equipment by a compensation angle in a target rotation direction around a Z axis of the cutting coordinate system; the target rotating direction is the reverse direction of the cutting direction;
and cutting the cutting circle along the cutting track based on the cutting equipment.
2. The method of cutting a circle of claim 1, wherein the cutting circle along the cutting trajectory based on the cutting device comprises,
moving a focus of a cutting head of the cutting device to a circle center position of the cutting circle;
and cutting the cutting circle along the cutting track based on the moved cutting equipment.
3. The method of cutting a circle of claim 1, further comprising:
determining a cutting starting point, a cutting auxiliary point and a cutting end point of the cutting track based on the circle center position and the diameter of the cutting circle;
and determining coordinates corresponding to the cutting starting point, the cutting auxiliary point and the cutting end point respectively based on the cutting coordinate system.
4. The method of claim 3, wherein the determining a cutting trajectory of the cutting circle based on a center position and a diameter of the cutting circle comprises,
determining a transition circle by taking one half of the diameter of the cutting circle as the diameter; the circular arc of the transition circle passes through the circle center position of the cutting circle;
decomposing the transition circle into a preset number of circular arcs based on the coordinates corresponding to the cutting starting point, the cutting auxiliary point and the cutting end point respectively;
taking the circle center position of the cutting circle as the cutting starting point;
and constructing the cutting track according to the cutting starting point and the preset number of arcs.
5. The method of cutting a circle according to claim 1, wherein the cutting device is a robot, and the determination of the rotation angle at the time of cutting based on the diameter of the cutting circle comprises,
determining a forward rotation angle and a reverse rotation angle of a target shaft of the robot based on the diameter of the cutting circle;
determining the rotation angle of the target axis of the robot based on the forward rotation angle and the reverse rotation angle.
6. The method of cutting a circle of claim 5, wherein said rotating the cutting device in a target direction about a Z-axis of the cutting coordinate system by a compensation angle based on the rotation angle comprises,
determining a cutting angle of each track point corresponding to each rotation angle in the rotation process of the target shaft of the robot based on the rotation angle, wherein the cutting angle is the rotation angle of the cutting equipment around the Z shaft of the cutting coordinate system;
and based on the cutting angle of each track point, rotating the cutting equipment by a compensation angle around the Z axis of the cutting coordinate system according to the target rotation direction.
7. The method for cutting a circle according to claim 6, wherein the determining the cutting angle of each track point corresponding to each rotation angle during the rotation of the target axis of the robot based on the rotation angle comprises,
determining the target number of each track point;
calculating the ratio of the rotation angle to the target number;
and taking the ratio as the cutting angle corresponding to each track point.
8. The method of cutting a circle of claim 7, further comprising,
based on the cutting angle of each track point, confirm the compensation angle, the size of compensation angle with the size of cutting angle equals, just the direction of compensation angle with the direction of cutting angle is opposite.
9. An apparatus for cutting a circle, comprising:
the coordinate system establishing module is used for establishing a cutting coordinate system by taking the position of a cutting head focus of cutting equipment as a coordinate origin and the target direction of the cutting equipment as a coordinate axis;
the acquisition module is used for acquiring the circle center position and the diameter of the cutting circle;
the first determining module is used for determining the cutting track of the cutting circle based on the circle center position and the diameter of the cutting circle;
the second determination module is used for determining the rotation angle during cutting based on the diameter of the cutting circle;
the rotation compensation module is used for rotating the cutting equipment by a compensation angle in a target rotation direction around the Z axis of the cutting coordinate system based on the rotation angle; the target rotating direction is the reverse direction of the cutting direction;
and the cutting module is used for cutting the cutting circle along the cutting track based on the cutting equipment.
10. The apparatus of claim 9, wherein the cutting module comprises:
the adjusting module is used for moving a focus of a cutting head of the cutting equipment to the position of the center of the cutting circle;
and the execution module is used for cutting the cutting circle along the cutting track based on the moved cutting equipment.
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| CN202211019447.4A CN115519267A (en) | 2022-08-24 | 2022-08-24 | Method and device for cutting circle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115903658A (en) * | 2023-02-24 | 2023-04-04 | 江苏京创先进电子科技有限公司 | Coordinate compensation method, apparatus, electronic device, storage medium, and program product |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115903658A (en) * | 2023-02-24 | 2023-04-04 | 江苏京创先进电子科技有限公司 | Coordinate compensation method, apparatus, electronic device, storage medium, and program product |
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