CN115808900A - Tool motion data processing method and device, machining equipment and storage medium - Google Patents
Tool motion data processing method and device, machining equipment and storage medium Download PDFInfo
- Publication number
- CN115808900A CN115808900A CN202211489039.5A CN202211489039A CN115808900A CN 115808900 A CN115808900 A CN 115808900A CN 202211489039 A CN202211489039 A CN 202211489039A CN 115808900 A CN115808900 A CN 115808900A
- Authority
- CN
- China
- Prior art keywords
- line segment
- bezier curve
- corner
- tool motion
- curvature
- 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
Links
Images
Landscapes
- Numerical Control (AREA)
Abstract
The application is suitable for the technical field of automatic control, and provides a tool motion data processing method, a device, processing equipment and a storage medium, wherein the tool motion data processing method comprises the following steps: acquiring data of a first line segment and data of a second line segment, wherein the first line segment and the second line segment are intersected to form a first corner; according to the data of the first line segment and the data of the second line segment, the first line segment is connected with the second line segment in a transition mode through a first Bezier curve, corner smooth transition is achieved, the machining error of the first corner meets a preset condition, and a first processed cutter motion track is obtained; the curvature of the first bezier curve is continuous. The cutter motion data processing method provided by the embodiment of the application can improve the processing precision.
Description
Technical Field
The application belongs to the technical field of automation control, and particularly relates to a tool motion data processing method and device, processing equipment and a storage medium.
Background
In the laser cutting process, the tool path of a continuous line segment (i.e., the G01 code) is its most widespread manifestation. However, first order discontinuities at the corners of the linear tool path are prone to speed fluctuations and sudden changes in acceleration during actual machining. In order to solve the technical problem, it is common practice to perform a speed reduction treatment on the corner to ensure stable processing. However, for the machine tool with a very large load, in the case of sensitive speed change, the machining vibration (such as cutting vibration) at the corner is still large, and the machining precision is reduced.
Disclosure of Invention
Embodiments of the present application provide a method and an apparatus for processing tool motion data, a processing device, and a storage medium, which can improve processing accuracy.
In a first aspect, an embodiment of the present application provides a tool motion data processing method, including:
acquiring data of a first line segment and data of a second line segment, wherein the first line segment and the second line segment are intersected to form a first corner;
according to the data of the first line segment and the data of the second line segment, the first line segment is connected with the second line segment in a transition mode through a first Bezier curve, corner smooth transition is achieved, the machining error of the first corner meets a preset condition, and a first processed tool motion track is obtained;
the curvature of the first bezier curve is continuous.
In a possible implementation manner of the first aspect, the transitionally connecting the first line segment to the second line segment by a first bezier curve includes:
the first Bezier curve comprises a first section of Bezier curve and a second section of Bezier curve;
transitionally connecting the first line segment to a second bezier curve by a first bezier curve such that the first and second bezier curves are connected at an engagement point;
transitionally connecting the second Bezier curve segment to the second line segment;
the curvature of the first Bezier curve is continuous, the curvature of the second Bezier curve is continuous, the first Bezier curve and the second Bezier curve are symmetrical about a connecting line of a first inflection point and the junction point, and the first inflection point is an inflection point of a first corner.
In a possible implementation manner of the first aspect, the method further includes:
and determining the movement speed of the cutter according to the movement track of the cutter after the first processing.
In a possible implementation manner of the first aspect, the determining a tool motion speed according to the first processed tool motion trajectory includes:
determining a curvature of the junction;
and determining the engagement speed of the cutter at the engagement point according to the curvature of the engagement point.
In a possible implementation manner of the first aspect, the determining a joining speed of the tool at the joining point according to the curvature of the joining point includes:
determining a maximum engagement speed of the engagement point from the curvature of the engagement point such that an actual speed of movement of the cutter at the engagement point is less than or equal to the maximum engagement speed.
In a possible implementation manner of the first aspect, the determining a tool movement speed according to the first processed tool movement trajectory further includes:
changing a distance ratio between control points of the first bezier curve and changing a distance ratio between control points of the second bezier curve to change a curvature of the junction;
and re-determining the engagement speed of the cutter at the engagement point according to the changed curvature of the engagement point.
In a possible implementation manner of the first aspect, the determining a tool movement speed according to the first processed tool movement trajectory further includes:
and planning the movement speed of the cutter along the movement track of the cutter after the first processing according to the connection speed.
In a possible implementation manner of the first aspect, a distance from an end point of the first bezier curve to an inflection point of the first corner is smaller than or equal to a first minimum length, and the first minimum length is a minimum of half a length of the first line segment and half a length of the second line segment.
In a possible implementation manner of the first aspect, the method further includes:
acquiring data of a third line segment, wherein the second line segment is intersected with the third line segment to form a second corner;
according to the data of the second line segment and the data of the third line segment, the second line segment is connected to the third line segment in a transition mode through a second Bezier curve, corner smooth transition is achieved, the machining error of the second corner meets the preset condition, and the motion track of the cutter after second processing is obtained;
a distance from an end point of the second bezier curve to an inflection point of the second corner is less than or equal to a second minimum length, the second minimum length being the minimum of half the length of the second line segment and half the length of the third line segment;
the curvature of the second bezier curve is continuous.
In a second aspect, an embodiment of the present application provides a tool motion data processing apparatus, including:
a data acquisition module to: acquiring data of a first line segment and data of a second line segment, wherein the first line segment and the second line segment are intersected to form a first corner;
a corner transition module to: according to the data of the first line segment and the data of the second line segment, the first line segment is connected with the second line segment in a transition mode through a first Bezier curve, corner smooth transition is achieved, the machining error of the first corner meets a preset condition, and a first processed cutter motion track is obtained;
the curvature of the first bezier curve is continuous.
In a third aspect, an embodiment of the present application provides a processing apparatus, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method of any one of the above first aspects when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program, which when executed by a processor implements the method of any one of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a terminal device, causes the terminal device to perform the method of any one of the above first aspects.
Compared with the prior art, the embodiment of the application has the beneficial effects that:
according to the data of the first line segment and the data of the second line segment, through first Bezier curve with first line segment transitional coupling in the second line segment, realize corner smooth transition, the Bezier curve has a plurality of control points, make the machining error and the maximum of camber of corner can analytic expression, can make the machining error at corner satisfy the predetermined condition and can realize retraining the maximum velocity of motion of cutter at the corner, and the camber of first Bezier curve is continuous, make the cutter along the speed that first processing back cutter motion track moved continuous and acceleration continuous, can prevent that the processing vibrations from appearing in the corner, thereby can improve the machining precision.
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 embodiments or the prior art descriptions will be briefly described 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 tool motion data processing method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a transition corner using a tool motion data processing method provided by an embodiment of the present application;
FIG. 3 is a schematic flow chart diagram illustrating a tool motion data processing method according to another embodiment of the present application;
FIG. 4 is a schematic flowchart of step A2 of a tool motion data processing method according to an embodiment of the present application;
FIG. 5 is a schematic diagram of control points of a cubic Bezier curve according to an embodiment of the present application;
FIG. 6 is a schematic flowchart of step A3 of a tool motion data processing method according to an embodiment of the present application;
FIG. 7 (a) is a graph of a fitted curvature of a first section of a Bezier curve provided by an embodiment of the present application;
FIG. 7 (b) is a curvature of a second Bezier curve fit provided by an embodiment of the present application;
FIG. 7 (c) is a fitted curvature map of a first corner provided by an embodiment of the present application;
FIG. 8 is a schematic flowchart of step A3 of a tool motion data processing method according to another embodiment of the present application;
FIG. 9 is a schematic flowchart of step A3 of a tool motion data processing method according to another embodiment of the present application;
FIG. 10 is a schematic view of a corner of a transitional continuous segment using a tool motion data processing method provided in an embodiment of the present application;
FIG. 11 is a schematic flow chart diagram illustrating a tool motion data processing method according to another embodiment of the present application;
fig. 12 is a schematic structural diagram of a tool motion data processing apparatus according to an embodiment of the present application;
FIG. 13 is a schematic structural diagram of a tool motion data processing apparatus according to another embodiment of the present application;
FIG. 14 is a schematic structural diagram of a speed determination module of the tool motion data processing apparatus according to an embodiment of the present application;
FIG. 15 is a schematic structural diagram of a speed determination module of a tool motion data processing apparatus according to another embodiment of the present application;
FIG. 16 is a schematic structural diagram of a speed determination module of a tool motion data processing apparatus according to yet another embodiment of the present application;
fig. 17 is a schematic structural diagram of a processing apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application more clearly apparent, the present application is further described in detail below with reference to fig. 1 to 17 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Embodiments of the present application provide a tool motion data processing method that may be applied to a machining device (such as a laser cutting device or a laser marking device)
Fig. 1 is a schematic flow chart of a tool motion data processing method according to an embodiment of the present application. Referring to fig. 1, a tool motion data processing method provided in an embodiment of the present application includes steps A1 to A2.
A1, acquiring data of a first line segment and data of a second line segment, wherein the first line segment and the second line segment are intersected to form a first corner.
Fig. 2 is a schematic diagram of a transition corner of a tool motion data processing method according to an embodiment of the present application. Referring to FIG. 2, an original tool path of a machining apparatus (e.g., a laser cutting apparatus) includes a first lineSegment P 0 P 1 And a second line segment P 1 P 2 . Wherein, for the laser cutting equipment, the laser cutting head is a cutter.
Referring to fig. 2, a first line segment P 0 P 1 And a second line segment P 1 P 2 Intersecting to form a continuous line segment and forming a first corner & lt P 0 P 1 P 2 . First corner angle P 0 P 1 P 2 Is a corner formed by connecting two straight line segments.
First line segment P 0 P 1 And a second line segment P 1 P 2 Is a first inflection point P 1 . First inflection point P 1 Is a first line segment P 0 P 1 And a second line segment P 1 P 2 Is connected to the common endpoint of (1).
First line segment P 0 P 1 May comprise a first line segment P 0 P 1 And the first line segment P 0 P 1 In the direction of (a).
Second line segment P 1 P 2 May comprise a second line segment P 1 P 2 And the second line segment P 1 P 2 In the direction of (a).
First line segment P 0 P 1 Data and second line segment P of 1 P 2 May be received from the outside or may be read from the memory. The data of the first line segment and the data of the second line segment may be collated and transmitted before the data of the first line segment and the data of the second line segment are acquired.
And A2, according to the data of the first line segment and the data of the second line segment, the first line segment is connected to the second line segment in a transition mode through the first Bezier curve, corner smooth transition is achieved, the machining error of the first corner meets a preset condition, and the motion trail of the first processed cutter is obtained.
Referring to fig. 2, upon retrieval of the first segment P 0 P 1 Data and second line segment P of 1 P 2 After the data of (3), the first line segment P is divided by a first Bezier curve BC1 0 P 1 And a second line segment P 1 P 2 Smooth transition connection is carried out to realize the first turning angle P 0 P 1 P 2 The first corner & lt P & gt is smoothly transited by a first Bessel curve BC1 0 P 1 P 2 . Wherein the curvature of the first bezier curve BC1 is continuous.
A bezier curve is a special B-spline curve.
The first bezier curve BC1 may be an nth power bezier curve. To realize the first line segment P 0 P 1 And a second line segment P 1 P 2 N is an integer greater than 1; that is, the first bezier curve BC1 may be a quadratic bezier curve, a cubic bezier curve, a quartic bezier curve, or a quintic bezier curve.
Smoothly transiting a first corner P by using a first Bessel curve BC1 0 P 1 P 2 A first line segment P 0 P 1 And a second line segment P 1 P 2 Smooth transition joints can produce machining errors. The machining error should be within an allowable error range for corner machining, that is, the machining error of the first corner should satisfy a preset condition. In general, the allowable error range for corner machining is determined by equipment or products.
Referring to fig. 2, the bezier curve has a plurality of control points (e.g., two, three, or four control points) that determine the shape and parameters of the bezier curve. After determining the allowable error range for corner machining, control points are added to create a first bezier curve BC1. By controlling the control point (for example, changing the position of the control point), the machining error of the first corner can meet the preset condition (that is, the machining error of the first corner is within the tolerance range allowed by corner machining), so as to obtain the first post-processing tool motion trajectory.
The first post-processing tool motion profile is used for the tool to process an object, such as a sheet material. In practical application, the cutter processes the object along the motion track of the cutter after the first processing.
According to the aboveAs can be seen, the first line segment P 0 P 1 Data and second line segment P of 1 P 2 By a first Bezier curve BC1, a first line segment P 0 P 1 Is transitionally connected with the second line segment P 1 P 2 The corner smooth transition is realized, the Bezier curve has a plurality of control points, make the machining error and the maximum value of curvature at the corner can be analytic expression, can make the machining error at the corner satisfy preset condition and can realize the biggest velocity of motion of restraint cutter at the corner, and the curvature of first Bezier curve BC1 is continuous, make the speed that the cutter moved along the first processing back cutter motion trail continuous and acceleration continuous, can prevent that the processing vibrations from appearing at the corner, thereby can improve the machining precision, and can be applicable to the corner smooth transition of space (three-dimensional) line segment.
In some embodiments, the first bezier curve BC1 is a cubic bezier curve, and the cubic bezier curve is a free curve with a monotonous curvature and a continuous G2 (i.e. continuous curvature: continuous curve or continuous curve points, and continuous curvature analysis results), so that the corner precision (such as machining error of the first corner) and the curvature maximum value are easy to be analytically expressed, the subsequent speed planning is easy, and the tool can move more smoothly.
Compared with the common B-spline and NURBS (Non-Uniform Rational B-Splines), the cubic Bessel curve is simpler, can effectively inhibit curvature fluctuation and realizes real-time interpolation. By adopting a fitting mode of a cubic Bessel curve, curvature G2 continuous processing and precision control can be carried out on the corner of the tool path.
Fig. 3 is a schematic flow chart of a tool motion data processing method according to another embodiment of the present application. Referring to fig. 3, in some embodiments, the tool motion data processing method further includes step A3.
And A3, determining the movement speed of the cutter according to the movement track of the cutter after the first processing.
After the motion trail of the tool after the first processing is obtained, speed planning can be performed to determine the motion speed of the tool along the motion trail of the tool after the first processing, so as to realize processing.
Fig. 4 is a schematic flowchart of step A2 of a tool motion data processing method according to an embodiment of the present application. Referring to fig. 4, in some embodiments, the step A2 is to connect the first line segment to the second line segment by a first bezier curve, including step a21 and step a22.
Step A21, a first line segment P is divided by a first Bezier curve segment BC11 0 P 1 The transition is connected to the second bezier curve BC12, so that the first bezier curve BC11 and the second bezier curve BC12 are connected to the junction point.
Referring to fig. 2, the first bezier curve BC1 includes a first section of bezier curve BC11 and a second section of bezier curve BC12. The first and second segments of the bezier curve BC11 and BC12 are about the first inflection point P 1 Symmetrical to the connecting line of the connecting point.
Since the curvatures of the first bezier curve BC1 are continuous, the curvatures of the first bezier curve BC11 are continuous, and the curvatures of the second bezier curve BC12 are continuous.
Step A22, transitionally connecting the second Bezier curve BC12 to the second line segment P 1 P 2 。
Referring to fig. 2, the first and second bezier curves BC11 and BC12 will be described as cubic bezier curves as an example.
For example, referring to fig. 2, the number of control points of the first bezier curve BC11 is four; the number of control points of the second bezier curve BC12 is also four.
Illustratively, referring to FIG. 2, the original tool path is a meander line segment P 0 P 1 P 2 The first and second bezier curves BC11 and BC12 divide the first line segment P 0 P 1 And a second line segment P 1 P 2 After the smooth transition connection, the original tool path becomes the first processed tool motion trajectory. The motion track of the tool after the first processing is composed of line segments
First stage Bezier curve BC11, second stageTwo-segment Bezier curve BC12 and line segment
And connecting to form the product.
Wherein, point B 1，0 Point B 1，1 Point B 1，2 And point B 1，3 Is four control points of a first segment of bezier curve BC 11; point B 2，0 Point B 2，1 Point B 2，2 And point B 2，3 Are the four control points of the second bezier curve BC12. Point B 1，3 And point B 2，0 The same point is a junction point of the first bezier curve BC11 and the second bezier curve BC12.
Referring to fig. 2, a first and a second bezier curve BC11 and BC12 are about a first angle ≧ P 0 P 1 P 2 Angle bisector P of 1 B 13 And (4) symmetry. The aforesaid bisector P 1 B 13 Is a first inflection point P 1 And junction B 13 The connecting line of (2). Wherein, the angle is P 0 P 1 P 2 ＝π-θ；||P 1 B 1，3 And | = epsilon, and the corner fitting precision is the machining error of the corner.
The cubic Bezier curve expression is:
C(t)＝(1-t) 3 B 1,0 +3t(1-t) 2 B 1,1 +3t 2 (1-t)B 1,2 +t 3 B 1,3 0≤t≤1。
in the expression of the cubic Bessel curve, point B 1，0 Point B 1，1 Point B 1，2 And point B 1，3 Four control points of a cubic bezier curve C (t), such as the first-segment bezier curve BC 11.
From a parametric curve curvature formula
The curvatures of the cubic bezier curve at t =0 and t =1 are determined as:
fig. 5 is a schematic diagram of control points of a cubic bezier curve according to an embodiment of the present application. Referring to fig. 5, the distance g = | | | B 1,0 B 1,1 | |, distance h = | | | B 1,1 B 1，2 I, distance k =ib 1,2 B 1,3 | l, angle α = pi-P 0 P 1 P 2 Angle β = pi-angle P 1 P 2 P 3 。
Referring to fig. 2 and 5, a first bezier curve BC11 is constructed as an example. Because of the line segment
In order to control the point B to be 0 1，0 Where the curvature is 0 (i.e. the curvature of the cubic bezier curve at t =0 is 0), it is required to make α =0 according to the curve curvature formula, i.e. to ensure the control point B of the first bezier curve BC11 1，0 Point B 1，1 And point B 1，2 Three points are collinear.
Similarly, for the second bezier curve BC12, which is symmetrical to the first bezier curve BC11, because the line segment
In order to control point B to be 0 2，3 The curvature of (B) is 0, so the control point B of the second Bezier curve BC12 2，1 Point B 2，2 And point B 2，3 The three points are also collinear.
Referring to fig. 2 and 5, the first and second bezier curves BC11 and BC12 are symmetrical, and the junction point B is ensured 1，3 And point B 2，0 Is equal, satisfies that G2 is continuous, then the curvature
Meanwhile, the angle P can be known according to a cubic Bessel endpoint curvature formula 1 B 1，2 B 1，3 ＝∠P 1 B 2，1 B 1，3 = β =0.5 θ, and
at Δ B 1,2 P 1 B 2,1 In, | | B 1，2 B 1，3 ||＝||B 2，0 B 2，1 ||，∠P 1 B 1，2 B 1，3 ＝∠P 1 B 2，1 B 1，3 Is = beta, so 1,2 P 1 B 1,3 ＝∠B 2,1 P 1 B 1,3 ，
Is less than P 0 P 1 P 2 Angle bisector of (C), so as to control point B 1，3 (B 2，0 ) The coordinates of (a) are:
B 1，3 ＝P 1 +ε(T 2 -T 1 )。
in the above formula, T 1 Is a line segment
Unit vector of (1), direction is from P 0 Point of direction P 1 ；T 2 Is a line segment
Unit vector of (1), direction is from P 1 Point of direction P 2 。
The other three control points of the first bezier curve BC11 are:
B 1,1 ＝B 1,2 -hT 1
B 1,0 ＝B 1,1 -gT 1 。
the four control points of the second bezier curve BC12 are:
B 2,0 ＝B 1，3
B 2,2 ＝B 2,1 +hT 2
B 2,3 ＝B 2,2 +gT 2 。
fig. 6 is a flowchart illustrating step A3 of a tool movement data processing method according to an embodiment of the present application. Referring to fig. 6, in some embodiments, step A3 (i.e., determining a tool motion velocity based on the first post-processing tool motion profile) includes steps a31 and a32.
Step A31, determining the curvature of the junction.
Referring to fig. 2, based on the above description, the junction point of the first and second bezier curves BC11 and BC12 is B 1，3 (B 2，0 )。
Referring to FIG. 2, the curvatures of the first and second segments of the Bezier curves BC11 and BC12 are at the junction B 1，3 (B 2，0 ) Where there is a maximum curvature K max 。
Let the distance ratio
And distance ratio
According to the related research, the condition that the cubic bezier curve satisfies monotonicity is as follows:
using the aforementioned cubic bezier curve monotonicity condition, let λ =1 and μ =1.2 × cos β, in this case, g = h,
junction B 1，3 (B 2，0 ) Curvature K of max Comprises the following steps:
it should be understood that the initial values of the distance ratios λ and μmay be randomly selected within a range satisfying monotonicity, and then adjusted.
And step A32, determining the engagement speed of the cutter at the engagement point according to the curvature of the engagement point.
Junction B 1，3 (B 2，0 ) Curvature K of max Can be used for restraining the cutter at a joint point B in the speed planning process of the Bezier curve 1，3 (B 2，0 ) The splice speed (also referred to as corner speed).
At the determined ligation point B 1，3 (B 2，0 ) After the curvature of (c), the point of contact with the junction B can be determined 1，3 (B 2，0 ) Corresponding engagement speed. Junction point B 1，3 (B 2，0 ) The larger the curvature of (3), the smaller the corresponding tool movement speed; junction B 1，3 (B 2，0 ) The smaller the curvature of (a), the greater the corresponding tool movement speed.
Junction B 1，3 (B 2，0 ) The curvature of (a) corresponds to the maximum engagement speed beyond which the actual speed of movement of the tool at the engagement point will oscillate, reducing the quality of the machining. In order to ensure the processing quality, the actual moving speed of the cutter at the joint point is less than or equal to the maximum joint speed.
According to the above, determining the joining speed of the joining point according to the curvature of the joining point can restrict the actual moving speed of the tool at the joining point from exceeding (i.e., being less than or equal to) the maximum joining speed, prevent the tool from vibrating at the joining point, and improve the processing quality. In addition, under the condition that the machining error epsilon of the constrained corner is less than or equal to the allowable error allowerer of the tool machining corner, the control point of the first-stage Bezier curve BC11 and the control point of the second-stage Bezier curve BC12 are respectively determined, so that the curvature of each constructed Bezier curve satisfies monotonic change, and the curvature extreme point K is max The machining error epsilon with the corner can be analytically expressed, so thatThe machining precision is controlled.
Fig. 7 (a) is a curvature diagram of a first bezier curve according to an embodiment of the present application. Fig. 7 (b) is a curvature graph of a second bezier curve according to an embodiment of the present disclosure. Fig. 7 (c) is a fitted curvature diagram of a first corner provided by an embodiment of the present application. Referring to fig. 7 (a) and 7 (b), the curvature of the first bezier curve BC11 (i.e., the cubic bezier curve) monotonically increases from the curvature 0, and the curvature of the second bezier curve BC12 (i.e., the cubic bezier curve) monotonically decreases to 0; referring to fig. 7 (c), the curvature of the smooth transition curve BC11 is symmetrical to the curvature of the smooth transition curve BC12, and the curvature of the junction is continuous.
Fig. 8 is a schematic flowchart of step A3 of a tool motion data processing method according to another embodiment of the present application. Referring to FIG. 8, in some embodiments, step A3 (i.e., determining the tool motion velocity based on the first processed tool motion trajectory) further comprises step A33 and step A34.
Step a33, changing the distance ratio between the control points of the first bezier curve and changing the distance ratio between the control points of the second bezier curve to change the curvature of the junction.
Based on the foregoing, the distance ratio between the control points of the bezier curve (i.e. the first and second bezier curves) includes the distance ratio
And distance ratio
The distance ratio is changed according to the connection point B 1，3 (B 2，0 ) Curvature K of max According to the calculation formula, the junction point B 1，3 (B 2，0 ) The curvature of (a) changes accordingly.
For example, referring to fig. 2 and 5, the curvature of the splice point may be varied by varying the magnitude of g, h, or k to vary the aforementioned distance ratio.
And step A34, re-determining the engagement speed of the cutter at the engagement point according to the changed curvature of the engagement point.
At the change of the junction B 1，3 (B 2，0 ) After the curvature of (2), the engagement speed of the tool at the engagement point is re-determined based on the curvature. It should be understood that different curvatures correspond to different maximum engagement speeds.
According to the above, the machining error of the corner is controlled within the allowable machining error range, and the distance ratio λ and μ between the control points of the bezier curve (i.e. the first and second bezier curves) are controlled to stretch the length of the bezier curve, so that the curvature extreme value of the joining point of the bezier curve can be reduced, the moving speed of the tool at the joining point can be increased, and the corner machining efficiency can be improved while ensuring smooth machining of the tool.
Fig. 9 is a schematic flowchart of step A3 of a tool motion data processing method according to yet another embodiment of the present application. Referring to FIG. 9, in some embodiments, step A3 (i.e., determining the tool motion velocity based on the first processed tool motion trajectory) further comprises step A35.
And A35, planning the movement speed of the cutter along the movement track of the cutter after the first processing according to the joining speed.
As mentioned above, the engagement speed is the maximum movement speed of the tool at the engagement point, and for other positions of the movement track of the tool after the first processing, the movement speed of the tool can be planned to be greater than the engagement speed, so that the tool can be stably processed, and the overall processing efficiency can be improved.
FIG. 10 is a schematic diagram of a corner of a transitional continuous segment using a tool motion data processing method provided in an embodiment of the present application. Referring to fig. 10, in some embodiments, the endpoint of the first bezier curve BC1 is to the first corner ═ P 0 P 1 P 2 Inflection point P of 1 Is less than or equal to the first minimum length l min The first minimum length l min Is a first line segment P 0 P 1 And a second line segment P 1 P 2 The smallest of half the length of (c).
By way of example, with reference to figure 10,the original tool path includes a first line segment P 0 P 1 A second line segment P 1 P 2 A third segment P 2 P 3 And a fourth line segment P 3 P 4 (ii) a First line segment P 0 P 1 A second line segment P 1 P 2 A third segment P 2 P 3 And a fourth line segment P 3 P 4 Connected to form a continuous zigzag line to form three corners which are respectively a first corner & lt P & gt 0 P 1 P 2 And the second corner & lt P 1 P 2 P 3 And third corner & lt P 2 P 3 P 4 (ii) a That is, the original tool path is formed by connecting at least three continuous line segments, and a corner exists between two adjacent line segments.
Referring to fig. 10, first angle ≈ P 0 P 1 P 2 A smooth transition is achieved by the first bezier curve BC1. Second angle P 1 P 2 P 3 And third corner & lt P 2 P 3 P 4 A smooth transition through a bezier curve is also required.
Specifically, referring to fig. 10, the second line segment P 1 P 2 Both by passing the Bezier curve and the first line segment P 0 P 1 The smooth transition connection is also required to pass through the Bezier curve and the third line segment P 2 P 3 And (4) connecting in a smooth transition way. In order to make a continuous line segment (such as the first line segment P) 0 P 1 A second line segment P 1 P 2 And a third line segment P 2 P 3 ) Real-time fairing transition can be achieved, and the distance l needs to be constrained specifically as follows.
Take the first bezier curve BC1 including the first and second bezier curves BC11 and BC12 as an example.
Referring to fig. 10, since the first and second segments of bezier curves BC11 and BC12 are about the first corner ≈ P 0 P 1 P 2 Angle bisector P of 1 B 13 Symmetry, therefore, | | P exists 1 B 1,0 ||＝||P 1 B 2,3 L | = l. Wherein, the endpoint of the first bezier curve BC1 may be the point B 10 Or point B 23 。
In the case of ensuring that the machining error of the corner is within the error range allowed by the corner machining (i.e. let ∈ = allowererror), it can be known through geometric calculation that:
then, take the first line segment P 0 P 1 And a second line segment P 1 P 2 Is the smallest of the half of the length of (l) min ：
Mixing l and l min A comparison is made. If l is less than or equal to l min The first corner & lt P & gt appearing in continuous line segment in the allowable error range of corner processing is explained 0 P 1 P 2 The first bezier curve BC1, i.e., the pair of bezier curves BC11 and BC12, can be directly constructed, and the bezier curves corresponding to the adjacent corners can be allowed to be constructed. Otherwise, it needs to let l = l min And e is re-determined. Before determining ε, h is determined:
as previously described, k = μ h, g = λ h, then ∈:
ε＝ktanβ。
thus, a continuous line segment (such as the first line segment P) can be formed 0 P 1 Second line segment P 1 P 2 And a third line segment P 2 P 3 ) Real-time fairing transition can be realized.
After the re-determination of epsilon, the curvature extreme point K also needs to be re-determined accordingly max (i.e., the curvature of the ligation site):
because the curvature of the joint point is determined again, the joint speed of the joint point is determined again, the cutter can be prevented from vibrating at each joint point, more complex products can be processed, and the applicability is improved.
Fig. 11 is a schematic flowchart of a tool motion data processing method according to another embodiment of the present application. Referring to fig. 11, in some embodiments, the tool motion data processing method further includes step B1 and step B2.
And B1, acquiring data of a third line segment, wherein the second line segment is intersected with the third line segment to form a second corner.
Referring to FIG. 10, the original tool path includes a first line segment P 0 P 1 A second line segment P 1 P 2 And a third line segment P 2 P 3 First line segment P 0 P 1 A second line segment P 1 P 2 And a third line segment P 2 P 3 Connected to form a continuous zigzag line to form a first corner & lt P & gt 0 P 1 P 2 And second angle P 1 P 2 P 3 。
First corner angle P 0 P 1 P 2 A smooth transition is achieved by the first bezier curve BC1. For smoothly transiting a second corner angle P through a Bessel curve 1 P 2 P 3 The third line segment P is acquired 2 P 3 The data of (1).
Third line segment P 2 P 3 May comprise a third line segment P 2 P 3 And the third line segment P 2 P 3 In the direction of (a).
Third line segment P 2 P 3 The data of (2) can be received from the outside or read from the memory.
And B2, according to the data of the second line segment and the data of the third line segment, the second line segment is connected to the third line segment in a transition mode through a second Bezier curve, corner smooth transition is achieved, the machining error of the second corner meets a preset condition, and the motion trail of the cutter after second processing is obtained.
Referring to fig. 10, upon acquisition of the third segment P 2 P 3 After the data of (3), the second line segment P is divided by a second Bezier curve BC2 1 P 2 And a third line segment P 2 P 3 Smooth transition connection is carried out to realize the first turning angle P 0 P 1 P 2 The corner of the first curve is smoothly transited, namely a second Bessel curve BC2 is used for smoothly transiting a second corner & lt & gt P 1 P 2 P 3 . Wherein the curvature of the second bezier curve BC2 is continuous.
Thus, the first segment P can be realized 0 P 1 A second line segment P 1 P 2 And a third line segment P 2 P 3 To smooth transitions.
In some embodiments, the endpoint of the second Bessel curve BC2 is to the second corner & lt, P 1 P 2 P 3 Inflection point P of 2 A distance l of 2 Less than or equal to the second minimum length l min2 Wherein the second minimum length l min2 Is a second line segment P 1 P 2 And a third line segment P 2 P 3 Is the smallest of half the length of (a).
By constraining the distance l to be less than or equal to the first minimum length l min And by constraining the distance l 2 Less than or equal to the second minimum length l min2 The corner smooth transition of the continuous line segment is realized, the first Bezier curve BC1 and the second Bezier curve BC2 can be prevented from being crossed, and the processing quality of the product can be guaranteed.
Similarly, referring to FIG. 10, the second Bezier curve BC2 has an endpoint B 3，0 And endpoint B 4，3 . The second bezier curve BC2 includes a third and a fourth bezier curve BC21 and BC22.
The second segment P is divided by a third segment Bezier curve BC21 1 P 2 The transition connection is made to the fourth Bezier curve BC22, so that the third and fourth Bezier curves BC21 and BC22 are connected to the junction point B 3，3 (B 4，0 )。
Then, the fourth bezier curve segment BC22 is transitionally connected to the third line segment P 2 P 3 。
Similarly, referring to FIG. 10, the third Bezier curve BC3 has an endpoint B 5，0 And endpoint B 6，3 Wherein, the endpoint B 5，0 And endpoint B 4，3 And (6) overlapping. The third bezier curve BC3 includes a fifth-segment bezier curve BC31 and a sixth-segment bezier curve BC32.
The third segment P is divided by a fifth segment Bezier curve BC31 2 P 3 The transition is connected to the sixth Bezier curve BC32, so that the fifth Bezier curve BC31 and the sixth Bezier curve BC32 are connected to the junction point B 5，3 (B 6，0 )。
Then, the sixth bezier curve BC32 is transited to the fourth line segment P 3 P 4 。
It should be understood that before the step A2 of constructing the corner transition curve is executed, it may be determined whether the corner requires constructing the transition curve, that is, it is determined whether the adjacent tool paths (such as the adjacent line segments, the first line segment P) are adjacent 0 P 1 And a second line segment P 1 P 2 ) Whether collinear; if the adjacent tool paths are collinear, the two adjacent tool paths do not need to construct a transition curve; to increase the machining speed, two tool paths that are collinear can be merged into one tool path. If adjacent tool paths (such as the first line segment P) 0 P 1 And a second line segment P 1 P 2 ) And if the corner fitting is not collinear, executing the step A2 and the subsequent steps, namely performing corner fitting according to an allowererror allowed by corner machining.
By way of example, and with reference to FIG. 2, the lines may be broken
And line segment
Determining line segments by vector product
And line segment
Whether collinear, i.e.:
in the above formula, the range of the inverse cosine function is [0, π]. If theta =0, the corner & lt P is illustrated 0 P 1 P 2 Line segment of = pi
And line segment
The same direction and the same line are collinear, and the line segments can be arranged in order to improve the processing efficiency of the cutter
And line segment
Integrated into one line segment
If theta = pi, indicating the corner P 0 P 1 P 2 =0, line segment
And line segment
Reverse collineation, and line segment can be used for improving the processing efficiency of the cutter
And line segment
Integrated into one line segment
For the case of theta epsilon (0, pi), the embodiment of the application constructs a Bezier curve (such as a pair of symmetrical first-segment Bezier curve BC11 and second-segment Bezier curve BC 12) at the corner to smooth the transition corner, so that the smoothness degree of the corner can be improved to the maximum extent under the condition of ensuring the corner precision epsilon, and the movement speed of the tool at the joint point is optimized.
In practical applications, the tool motion data processing method provided by the embodiment of the present application may be completed in a path processing module of a compiler of a processing device (such as a laser cutting device), where a first processed tool motion trajectory and a second processed tool motion trajectory obtained are written into a kernel.
As can be seen from the above, in the embodiments of the present application, a pair of symmetrical cubic bezier curves is constructed for the corner of the tool path to implement the transition, and the transition curves are subjected to analytic expressions of approximation error and curvature extremum, so as to constrain the maximum speed of the corner transition, thereby ensuring that the tool path can move smoothly even after the acceleration of each axis of the machine tool is increased during the actual cutting, and further improving the precision and the processing efficiency of high-speed processing (such as cutting).
As can be seen from the above, in the embodiment of the present application, two symmetrical cubic bezier curves having continuous curvature G2 are used to perform smooth transition on the corner of the tool path of a continuous segment, so that the corner accuracy and the maximum curvature value can be analytically expressed, the machining accuracy control for controlling a complex tool path can be realized, and the method can be applied to the corner smooth transition of a spatial (i.e., three-dimensional) tool path.
The tool motion data processing method provided by the embodiment of the application can be used as a corner curvature continuous high-precision smoothing method for laser cutting, and can enable the cutting vector and the curvature of each point on a tool machining path to be continuous, so that the motion of a laser cutting head is stable, and the machining precision and the machining efficiency of a machine tool can be improved.
Fig. 12 is a block diagram of a tool motion data processing apparatus provided in an embodiment of the present application, which corresponds to the method described in the foregoing embodiment.
Referring to fig. 12, an embodiment of the present application provides a tool motion data processing apparatus including a data acquisition module and a corner transition module 2A.
A data acquisition module 1A configured to: data of a first line segment and data of a second line segment are acquired, wherein the first line segment intersects the second line segment to form a first corner.
A corner transition module 2A for: according to the data of the first line segment and the data of the second line segment, the first line segment is connected to the second line segment in a transition mode through the first Bezier curve, corner smooth transition is achieved, the machining error of the first corner meets a preset condition, and the motion trail of the first processed cutter is obtained. Wherein the curvature of the first bezier curve is continuous.
Fig. 13 is a schematic structural diagram of a tool motion data processing apparatus according to another embodiment of the present application. Referring to fig. 13, in some embodiments, the tool motion data processing apparatus further comprises a speed determination module 3A.
A speed determination module 3A for: and determining the movement speed of the cutter according to the movement track of the cutter after the first processing.
In some embodiments, the corner transition module 2A is specifically configured to: the first line segment is transitionally connected to the second line segment by the first line segment and the second line segment, so that the first line segment and the second line segment are connected to the junction point.
Fig. 14 is a schematic structural diagram of a speed determination module of a tool motion data processing apparatus according to an embodiment of the present application. Referring to fig. 14, in some embodiments, the velocity determination module 3A includes a curvature determination submodule 31A and an engagement velocity determination submodule 32A.
A curvature determination submodule 31A for: the curvature of the junction is determined.
A engagement speed determination submodule 32A for: the engagement speed of the tool at the engagement point is determined based on the curvature of the engagement point.
In some embodiments, the engagement speed determination submodule 32A is specifically configured to: the maximum joining speed of the joining point is determined on the basis of the curvature of the joining point, so that the actual movement speed of the tool at the joining point is less than or equal to the maximum joining speed.
Fig. 15 is a schematic structural diagram of a speed determination module of a tool motion data processing apparatus according to another embodiment of the present application. Referring to fig. 15, in some embodiments, the speed determination module 3A further includes a control point adjustment submodule 33A and an engagement speed adjustment submodule 34A.
A control point adjusting sub-module 33A for: the curvature of the junction is varied by varying the ratio of the distances between the control points of the first and second segments of the bezier curves.
An engagement speed adjustment submodule 34A for: and re-determining the engagement speed of the cutter at the engagement point according to the changed curvature of the engagement point.
Fig. 16 is a schematic structural diagram of a speed determination module of a tool motion data processing apparatus according to still another embodiment of the present application. Referring to fig. 16, in some embodiments, the speed determination module 3A further includes a speed planning sub-module 35A.
A speed planning submodule 35A for: and planning the movement speed of the cutter along the movement track of the cutter after the first processing according to the joining speed.
In some embodiments, the data acquisition module 1A is further configured to: and acquiring data of a third line segment, wherein the second line segment is intersected with the third line segment to form a second corner.
In some embodiments, the corner transition module 2A is further configured to: and according to the data of the second line segment and the data of the third line segment, the second line segment is connected to the third line segment in a transition mode through a second Bezier curve, corner smooth transition is achieved, the machining error of the second corner meets a preset condition, and the motion trail of the cutter after second processing is obtained.
It should be noted that, for the information interaction, execution process, and other contents between the above devices/units, the specific functions and technical effects thereof based on the same concept as those of the method embodiment of the present application can be specifically referred to the method embodiment portion, and are not described herein again.
Fig. 17 is a schematic structural diagram of a processing apparatus according to an embodiment of the present application. As shown in fig. 17, the processing apparatus 17 of this embodiment includes: at least one processor 170 (only one shown in fig. 17), a memory 171, and a computer program 172 stored in the memory 171 and executable on the at least one processor 170; the steps in any of the various method embodiments described above are implemented when the computer program 172 is executed by the processor 170.
The processing device 17 may be a laser cutting device, a laser marking device, or a laser welding device, etc. The processing device may include, but is not limited to, a processor 170 and a memory 171. Those skilled in the art will appreciate that fig. 17 is merely an example of a processing device and is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or different components may include, for example, input and output devices, network access devices, buses, etc.
The Processor 170 may be a Central Processing Unit (CPU), and the Processor 170 may also be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 171 may in some embodiments be an internal storage unit of the processing device 17, such as a hard disk or a memory of the processing device. The memory 171 may also be an external storage device of the processing equipment in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the processing equipment. Further, the memory 171 may also include both an internal storage unit of the processing device and an external storage device. The memory 171 is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of a computer program. The memory 171 may also be used to temporarily store data that has been output or is to be output.
Illustratively, the computer program 172 may be divided into one or more modules/units, which are stored in the memory 171 and executed by the processor 170 to accomplish the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions that describe the execution of the computer program 172 in the processing tool 17.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules, so as to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The aforementioned integrated unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above may be implemented by a computer program, which may be stored in a computer-readable storage medium, to instruct related hardware; the computer program may, when being executed by a processor, realize the steps of the respective method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium includes: any entity or device capable of carrying computer program code to an apparatus/terminal device, recording medium, computer Memory, read-Only Memory (ROM), random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-drive, a removable hard drive, a magnetic or optical disk, etc. In some jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and proprietary practices.
Embodiments of the present application also provide a computer-readable storage medium, which stores a computer program, and the computer program is implemented to realize the steps of the above method embodiments when executed by a processor.
Embodiments of the present application provide a computer program product, which when executed on a terminal device (e.g., a processing device), enables the terminal device to implement the steps of the above-described method embodiments.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/device and method may be implemented in other ways. For example, the above-described apparatus/device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.
Claims (12)
1. A method of processing tool motion data, comprising:
acquiring data of a first line segment and data of a second line segment, wherein the first line segment and the second line segment are intersected to form a first corner;
according to the data of the first line segment and the data of the second line segment, the first line segment is connected with the second line segment in a transition mode through a first Bezier curve, corner smooth transition is achieved, the machining error of the first corner meets a preset condition, and a first processed tool motion track is obtained;
the curvature of the first bezier curve is continuous.
2. The tool motion data processing method of claim 1, wherein said transitionally connecting the first line segment to the second line segment by a first bezier curve comprises:
the first Bezier curve comprises a first section of Bezier curve and a second section of Bezier curve;
transitionally connecting the first line segment to the second line segment by the first segment of the bezier curve such that the first and second line segments are connected at an engagement point;
transitionally connecting the second section of the Bezier curve to the second line section;
the curvature of the first Bezier curve is continuous, the curvature of the second Bezier curve is continuous, the first Bezier curve and the second Bezier curve are symmetrical about a connecting line of a first inflection point and the junction, and the first inflection point is the inflection point of the first corner.
3. The tool motion data processing method of claim 2, wherein the method further comprises:
and determining the movement speed of the cutter according to the movement track of the cutter after the first processing.
4. The tool motion data processing method of claim 3, wherein said determining a tool motion velocity based on said first processed tool motion trajectory comprises:
determining a curvature of the junction;
and determining the engagement speed of the cutter at the engagement point according to the curvature of the engagement point.
5. The tool motion data processing method of claim 4, wherein determining the engagement speed of the tool at the engagement point based on the curvature of the engagement point comprises:
determining a maximum engagement speed of the engagement point from the curvature of the engagement point such that an actual speed of movement of the cutter at the engagement point is less than or equal to the maximum engagement speed.
6. The tool motion data processing method of claim 4, wherein determining a tool motion velocity based on the first processed tool motion trajectory further comprises:
changing a distance ratio between control points of the first segment of the bezier curve and changing a distance ratio between control points of the second segment of the bezier curve to change a curvature of the engagement point;
and re-determining the engagement speed of the cutter at the engagement point according to the changed curvature of the engagement point.
7. The tool motion data processing method according to any one of claims 3 to 6, wherein determining a tool motion speed based on the first processed tool motion trajectory further comprises:
and planning the movement speed of the cutter along the movement track of the cutter after the first processing according to the connection speed.
8. The tool motion data processing method according to any one of claims 1 to 6, wherein a distance from an end point of the first Bezier curve to an inflection point of the first corner is less than or equal to a first minimum length, the first minimum length being the minimum of half the length of the first line segment and half the length of the second line segment.
9. The tool motion data processing method of claim 8, wherein the method further comprises:
acquiring data of a third line segment, wherein the second line segment is intersected with the third line segment to form a second corner;
according to the data of the second line segment and the data of the third line segment, the second line segment is connected to the third line segment in a transition mode through a second Bezier curve, corner smooth transition is achieved, the machining error of the second corner meets the preset condition, and the motion track of the cutter after second processing is obtained;
a distance from an end point of the second bezier curve to an inflection point of the second corner is less than or equal to a second minimum length, the second minimum length being the minimum of half the length of the second line segment and half the length of the third line segment;
the curvature of the second bezier curve is continuous.
10. A tool motion data processing apparatus, comprising:
a data acquisition module to: acquiring data of a first line segment and data of a second line segment, wherein the first line segment and the second line segment are intersected to form a first corner;
a corner transition module to: according to the data of the first line segment and the data of the second line segment, the first line segment is connected with the second line segment in a transition mode through a first Bezier curve, corner smooth transition is achieved, the machining error of the first corner meets a preset condition, and a first processed tool motion track is obtained;
the curvature of the first bezier curve is continuous.
11. A machining apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the tool motion data processing method according to any one of claims 1 to 9 when executing the computer program.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements a tool motion data processing method according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211489039.5A CN115808900A (en) | 2022-11-25 | 2022-11-25 | Tool motion data processing method and device, machining equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211489039.5A CN115808900A (en) | 2022-11-25 | 2022-11-25 | Tool motion data processing method and device, machining equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115808900A true CN115808900A (en) | 2023-03-17 |
Family
ID=85484136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211489039.5A Pending CN115808900A (en) | 2022-11-25 | 2022-11-25 | Tool motion data processing method and device, machining equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115808900A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116755391A (en) * | 2023-08-22 | 2023-09-15 | 济南邦德激光股份有限公司 | Cutter movement data processing method based on Bezier curve |
-
2022
- 2022-11-25 CN CN202211489039.5A patent/CN115808900A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116755391A (en) * | 2023-08-22 | 2023-09-15 | 济南邦德激光股份有限公司 | Cutter movement data processing method based on Bezier curve |
| CN116755391B (en) * | 2023-08-22 | 2023-12-29 | 济南邦德激光股份有限公司 | Cutter movement data processing method based on Bezier curve |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Fan et al. | A realtime curvature-smooth interpolation scheme and motion planning for CNC machining of short line segments | |
| Wang et al. | NURBS interpolator with adaptive smooth feedrate scheduling and minimal feedrate fluctuation | |
| CN109648560B (en) | Space trajectory transition method and system of industrial robot and robot | |
| Affouard et al. | Avoiding 5-axis singularities using tool path deformation | |
| CN113467384B (en) | Corner transition method applied to five-axis numerical control machine tool | |
| Xiao et al. | Space corner smoothing of CNC machine tools through developing 3D general clothoid | |
| CN115808900A (en) | Tool motion data processing method and device, machining equipment and storage medium | |
| CN113433889B (en) | Tool path planning method for five-axis machine tool machining based on three-section type claw curve | |
| CN111857037B (en) | Transition track generation method, robot and computer readable storage medium | |
| Zhang et al. | An analytical G3 continuous corner smoothing method with adaptive constraints adjustments for five-axis machine tool | |
| Li et al. | A real-time and look-ahead interpolation algorithm with axial jerk-smooth transition scheme for computer numerical control machining of micro-line segments | |
| CN114755975B (en) | Method, apparatus and storage medium for controlling trajectory error generated by velocity filtering | |
| Wang et al. | Global smoothing for five-axis linear paths based on an adaptive NURBS interpolation algorithm | |
| Jiang et al. | Asymmetrical pythagorean-hodograph spline-based C 4 continuous local corner smoothing method with jerk-continuous feedrate scheduling along linear toolpath | |
| Jin et al. | Dual-Bezier path smoothing and interpolation for five-axis linear tool path in workpiece coordinate system | |
| Sun | A G3 continuous five-axis tool path corner smoothing method with improved machining efficiency and accurately controlled deviation of tool axis orientation | |
| US5586232A (en) | Projection view creation method with vector discrimination onto plane-represented curved surfaces | |
| Hua et al. | Global toolpath smoothing for CNC machining based on B-spline approximation with tool tip position adjustment | |
| Fang et al. | Real-time smooth trajectory generation for 3-axis blending tool-paths based on FIR filtering | |
| CN116339243A (en) | Involute-based numerical control system interpolation curve fitting system and equipment | |
| CN114019911B (en) | Curve fitting method based on speed planning | |
| Song et al. | Research on CNC simulation system with instruction interpretations possessed of wireless communication | |
| Park | A solution for NURBS modelling in aspheric lens manufacture | |
| Zhao et al. | Smooth trajectory generation for linear paths with optimal polygonal approximation | |
| Zhang et al. | A real-time look-ahead trajectory planning methodology for multi small line segments path |
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 |