CN118513678A - Synchronous output method for equidistant laser pulse positions of three-dimensional curved surface - Google Patents
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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
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- 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
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Abstract
本发明公开了一种三维曲面等间隔激光脉冲位置同步输出方法,涉及五轴机床激光切割技术领域,所述输出方法包括步骤:构建激光焦点在工件坐标系下的空间运动模型;在每个函数调用周期,通过编码器得到五轴机床各轴的当前位移;根据编码器得到的轴位置反馈,计算激光器焦点在工件坐标系下的当前坐标,与计算得到的上一坐标位置进行比较,得到这一周期内,激光焦点在工件坐标系下行进的矢量距离;通过小线段拟合,得到激光器当前在三维曲面上的加工总长度;在每个函数调用周期,根据计算得到的激光加工总长度进行比较输出。本发明在不增加成本基础上保证激光切割脆性材料时的光斑均匀性,使光斑重叠率不受激光扫描速度影响,提高了加工质量和效率。
The present invention discloses a method for synchronously outputting equally spaced laser pulse positions on a three-dimensional curved surface, and relates to the technical field of laser cutting of a five-axis machine tool. The output method comprises the steps of: constructing a spatial motion model of the laser focus in a workpiece coordinate system; obtaining the current displacement of each axis of the five-axis machine tool through an encoder in each function call cycle; calculating the current coordinates of the laser focus in the workpiece coordinate system according to the axis position feedback obtained by the encoder, and comparing it with the calculated last coordinate position to obtain the vector distance of the laser focus in the workpiece coordinate system during this cycle; obtaining the total processing length of the laser on the three-dimensional curved surface by fitting a small line segment; and comparing and outputting the calculated total laser processing length in each function call cycle. The present invention ensures the uniformity of the light spot when laser cutting brittle materials without increasing the cost, so that the light spot overlap rate is not affected by the laser scanning speed, and improves the processing quality and efficiency.
Description
技术领域Technical Field
本发明涉及五轴机床激光切割领域,具体涉及一种三维曲面等间隔激光脉冲位置同步输出方法。The invention relates to the field of five-axis machine tool laser cutting, and in particular to a method for synchronously outputting equally spaced laser pulse positions on a three-dimensional curved surface.
背景技术Background Art
激光加工具有无接触、瞬时功率高等优势,因此被逐渐应用到脆性材料的切割领域。利用裂纹控制法切割脆性材料时需要保证切割轨迹上具有稳定的激光能量输入,切割路径上一致的光斑重叠比,可以提高激光能量分布的均匀性,从而提高切割质量。Laser processing has the advantages of non-contact and high instantaneous power, so it is gradually applied to the cutting field of brittle materials. When using the crack control method to cut brittle materials, it is necessary to ensure that there is a stable laser energy input on the cutting path. The consistent spot overlap ratio on the cutting path can improve the uniformity of laser energy distribution, thereby improving the cutting quality.
现有技术当中,一般通过控制扫描速度或重复频率,来保证稳定的光斑重叠比,具体方式是根据光斑间隔s取决于激光器的重复频率f和扫描速度v,即s=v/f,在激光器的重复频率固定时,使激光在切割路径上的扫描速度保持不变;或采用可变频率的激光器,在扫描速度变化时,同时改变激光器输出频率。但是,如果保持扫描速度不变,在实际加工过程中,尤其是切割复杂空间曲面时,机床旋转轴与直线轴的速度约束将大大限制扫描速度的上限,从而降低了加工效率;若采用可调频率激光器,则增加了成本,且导致激光器输出功率变化,影响了加工工艺。In the prior art, a stable spot overlap ratio is generally ensured by controlling the scanning speed or repetition frequency. Specifically, the spot interval s depends on the laser repetition frequency f and the scanning speed v, that is, s = v/f. When the laser repetition frequency is fixed, the laser scanning speed on the cutting path is kept constant; or a variable frequency laser is used to change the laser output frequency at the same time when the scanning speed changes. However, if the scanning speed is kept constant, in the actual processing process, especially when cutting complex spatial surfaces, the speed constraints of the machine tool's rotating axis and linear axis will greatly limit the upper limit of the scanning speed, thereby reducing the processing efficiency; if an adjustable frequency laser is used, the cost is increased, and the laser output power changes, affecting the processing technology.
发明内容Summary of the invention
针对现有技术当中保证光斑均匀性的方案存在加工效率不高、增加加工成本的技术问题,本发明提供了一种三维曲面等间隔激光脉冲位置同步输出方法,能够在不增加成本的基础上,使激光切割时光斑重叠比不受扫描速度的影响,进而提高激光脉冲加工的质量与效率。In view of the technical problems that the solutions for ensuring the uniformity of the light spots in the prior art have low processing efficiency and increased processing costs, the present invention provides a method for synchronously outputting equally spaced laser pulse positions on three-dimensional surfaces, which can ensure that the light spot overlap ratio during laser cutting is not affected by the scanning speed without increasing the cost, thereby improving the quality and efficiency of laser pulse processing.
为解决上述问题,本发明提供一种三维曲面等间隔激光脉冲位置同步输出方法,所述输出方法包括步骤:In order to solve the above problems, the present invention provides a method for synchronously outputting equally spaced laser pulse positions on a three-dimensional curved surface, the output method comprising the steps of:
S100:构建激光焦点在工件坐标系下的运动模型;S 100 : Constructing the motion model of the laser focus in the workpiece coordinate system;
S200:在每个函数调用周期,通过编码器得到五轴机床各轴的当前位移;S 200 : In each function call cycle, the current displacement of each axis of the five-axis machine tool is obtained through the encoder;
S300:计算当前函数周期内,激光焦点在工件坐标系下的移动距离;S 300 : Calculate the moving distance of the laser focus in the workpiece coordinate system during the current function cycle;
S400:通过小线段拟合,得到激光器当前在三维曲面上的加工总距离;S 400 : Get the total processing distance of the laser on the three-dimensional surface through small line segment fitting;
S500:在每个函数调用周期,根据计算得到的激光加工总距离进行比较输出。S 500 : In each function call cycle, a comparison output is performed based on the calculated total laser processing distance.
进一步的,在步骤S100当中,所述构建激光焦点在工件坐标系下的运动模型具体包括:Furthermore, in step S100 , constructing a motion model of the laser focus in the workpiece coordinate system specifically includes:
步骤S110:定义激光器子链,并推导激光焦点在机床坐标系下的坐标位置;Step S110 : define the laser sub-chain and derive the coordinate position of the laser focus in the machine tool coordinate system;
步骤S120:定义工件子链,计算由激光坐标系到工件坐标系的转换矩阵;Step S120 : define the workpiece sub-chain and calculate the transformation matrix from the laser coordinate system to the workpiece coordinate system;
步骤S130:得到激光焦点在工件坐标系下的运动模型。Step S130 : Obtaining a motion model of the laser focus in the workpiece coordinate system.
进一步的,在步骤S110当中,所述定义激光器子链,并推导激光焦点在机床坐标系下的坐标位置具体包括步骤:Furthermore, in step S110 , the step of defining the laser sub-chain and deriving the coordinate position of the laser focus in the machine tool coordinate system specifically includes the following steps:
步骤S111:激光器子链由直线轴Z与激光器组成,激光器固定在直线轴Z上;Step S 111 : The laser sub-chain consists of a linear axis Z and a laser, and the laser is fixed on the linear axis Z;
步骤S112:在激光器的固定点与激光焦点位置分别放置坐标系X3Y3Z3与X4Y4Z4,坐标系的XYZ轴方向均与机床坐标系的三轴方向一致,且不发生旋转变换;Step S112 : Coordinate systems X3Y3Z3 and X4Y4Z4 are placed at the fixed point of the laser and the laser focus position respectively, and the XYZ axis directions of the coordinate systems are consistent with the three-axis directions of the machine tool coordinate system, and no rotation transformation occurs;
步骤S113:确定激光焦点在机床坐标系下的坐标位置的计算表达式如下:Step S113 : The calculation expression for determining the coordinate position of the laser focus in the machine tool coordinate system is as follows:
其中:(dx,dy,-dz)表示坐标系X3Y3Z3的原点与机床坐标系原点分别在X、Y、Z轴方向上的相对偏移量,Pz表示直线轴Z的编码器反馈位移;LLaser表示激光器的固定点到激光焦点的矢量距离,且LLaser的矢量方向与机床坐标系的Z轴方向平行。Wherein: ( dx , dy , -dz ) represents the relative offset between the origin of coordinate system X3Y3Z3 and the origin of machine tool coordinate system in the X, Y, and Z axis directions respectively; Pz represents the encoder feedback displacement of linear axis Z; LLaser represents the vector distance from the fixed point of the laser to the laser focus, and the vector direction of LLaser is parallel to the Z axis direction of the machine tool coordinate system.
进一步的,在步骤S120当中,所述定义工件子链,并计算由激光坐标系到工件坐标系的转换矩阵具体包括:Furthermore, in step S120 , the definition of the workpiece sub-chain and the calculation of the transformation matrix from the laser coordinate system to the workpiece coordinate system specifically include:
步骤S121:工件子链由直线轴Y、直线轴X、旋转轴B、旋转轴C以及放置在旋转轴C上表面的工件依次组成;Step S121 : The workpiece sub-chain is composed of the linear axis Y, the linear axis X, the rotation axis B, the rotation axis C, and the workpiece placed on the upper surface of the rotation axis C in sequence;
步骤S122:在转台上建立基坐标系X0Y0Z0,以基坐标系的运动表示X、Y轴的平移运动,基坐标系不进行旋转变换;Step S122 : Establish a base coordinate system X0Y0Z0 on the turntable , and use the movement of the base coordinate system to represent the translation movement of the X and Y axes. The base coordinate system does not undergo rotation transformation;
步骤S123:为旋转轴B固连坐标系X1Y1Z1,Z1轴与旋转轴B的轴线重合,坐标系X1Y1Z1的原点位于B、C轴轴线的交点处;Step S123 : Fix the coordinate system X1Y1Z1 to the rotation axis B, the Z1 axis coincides with the axis of the rotation axis B, and the origin of the coordinate system X1Y1Z1 is located at the intersection of the axes of the B and C axes;
为旋转轴C固连坐标系X2Y2Z2,Z2轴与旋转轴C的轴线重合,坐标系X2Y2Z2的原点位于转台的上表面中心;The coordinate system X 2 Y 2 Z 2 is fixed to the rotation axis C, the Z 2 axis coincides with the axis of the rotation axis C, and the origin of the coordinate system X 2 Y 2 Z 2 is located at the center of the upper surface of the turntable;
步骤S124:工件坐标系w与坐标系X2Y2Z2完全重合,工件坐标系w随坐标系X2Y2Z2的变换而发生变换;Step S124 : the workpiece coordinate system w completely overlaps with the coordinate system X2Y2Z2 , and the workpiece coordinate system w transforms with the transformation of the coordinate system X2Y2Z2 ;
步骤S125:按机器人运动学,确定相邻连杆位置关系的变换矩阵公式。Step S125 : According to robot kinematics, determine the transformation matrix formula of the position relationship of adjacent links.
进一步的,在步骤S125当中,所述相邻连杆位置关系的变换矩阵公式Ri为:Furthermore, in step S125 , the transformation matrix formula R i of the position relationship of adjacent connecting rods is:
其中,αi-1表示从Zi-1到Zi关于Xi-1方向的偏转角度,ai-1表示从Zi-1到Zi沿Xi-1方向的位移,θi表示从Xi-1到Xi关于Zi方向的偏转角度,di表示从Xi-1到Xi沿Zi方向的位移,θB表示旋转轴B的编码器反馈位移,θC表示旋转轴C的编码器反馈位移,d表示旋转轴B与旋转轴C的轴线交点和工件坐标系的原点的距离。Among them, α i-1 represents the deflection angle from Zi -1 to Zi about the Xi -1 direction, a i-1 represents the displacement from Zi -1 to Zi along the Xi -1 direction, θ i represents the deflection angle from Xi -1 to Xi about the Zi direction, d i represents the displacement from Xi -1 to Xi along the Zi direction, θ B represents the encoder feedback displacement of the rotating axis B, θ C represents the encoder feedback displacement of the rotating axis C, and d represents the distance between the intersection of the axes of rotating axes B and C and the origin of the workpiece coordinate system.
进一步的,在步骤S120当中,根据激光器子链,从机床坐标系到工件坐标系的变换矩阵TStock为:Further, in step S120 , according to the laser sub-chain, the transformation matrix T Stock from the machine tool coordinate system to the workpiece coordinate system is:
TStock=R0×R1×R2 T Stock = R 0 × R 1 × R 2
其中:R0表示机床坐标系到基坐标系的变换矩阵;R1表示从坐标系X1Y1Z1到坐标系X2Y2Z2的变换矩阵;R2表示从坐标系X1Y1Z1到坐标系X2Y2Z2的变换矩阵。Among them: R0 represents the transformation matrix from the machine tool coordinate system to the base coordinate system; R1 represents the transformation matrix from the coordinate system X1Y1Z1 to the coordinate system X2Y2Z2 ; R2 represents the transformation matrix from the coordinate system X1Y1Z1 to the coordinate system X2Y2Z2 .
进一步的,在步骤S130当中,所述得到激光焦点在工件坐标系下的运动模型为:Furthermore, in step S130 , the motion model of the laser focus in the workpiece coordinate system is obtained as follows:
其中,Q′Laser为激光焦点在工件坐标系下的坐标位置。Wherein, Q′ Laser is the coordinate position of the laser focus in the workpiece coordinate system.
进一步的,在步骤S300当中,所述计算当前函数周期内,激光焦点在工件坐标系下的移动距离具体包括:Furthermore, in step S300 , the calculation of the moving distance of the laser focus in the workpiece coordinate system during the current function cycle specifically includes:
步骤S310:比较当前时刻激光焦点在工件坐标系中的位置Q′Laser(x1,y1,z1)与上一时刻激光焦点在工件坐标系中的位置Q′0(x0,y0,z0);Step S310 : Compare the current position Q'Laser ( x1 , y1 , z1 ) of the laser focus in the workpiece coordinate system with the previous position Q'0 ( x0 , y0 , z0 ) of the laser focus in the workpiece coordinate system;
步骤S320:计算得到当前函数周期内激光焦点行进的矢量距离为:Step S320 : Calculate the vector distance of the laser focus in the current function cycle as:
其中:x1代表当前时刻激光焦点在工件坐标系中的x轴坐标,y1代表当前时刻激光焦点在工件坐标系中的y轴坐标,z1代表当前时刻激光焦点在工件坐标系中的z轴坐标;x0代表上一时刻激光焦点在工件坐标系中的x轴坐标,y0代表上一时刻激光焦点在工件坐标系中的y轴坐标,z0代表上一时刻激光焦点在工件坐标系中的z轴坐标。Wherein: x1 represents the x-axis coordinate of the laser focus in the workpiece coordinate system at the current moment, y1 represents the y-axis coordinate of the laser focus in the workpiece coordinate system at the current moment, and z1 represents the z-axis coordinate of the laser focus in the workpiece coordinate system at the current moment; x0 represents the x-axis coordinate of the laser focus in the workpiece coordinate system at the previous moment, y0 represents the y-axis coordinate of the laser focus in the workpiece coordinate system at the previous moment, and z0 represents the z-axis coordinate of the laser focus in the workpiece coordinate system at the previous moment.
进一步的,在步骤S400当中,所述通过小线段拟合得到激光器当前在三维曲面上的加工总距离具体包括:Furthermore, in step S400 , the total processing distance of the laser on the three-dimensional surface currently obtained by fitting the small line segments specifically includes:
步骤S410:在运动控制器中调用激光脉冲输出函数,调用周期为1ms;Step S410 : calling the laser pulse output function in the motion controller, with a calling period of 1 ms;
步骤S420:对每一次函数调用周期得到的加工矢量距离求和,得到当前总加工距离。Step S420 : summing up the processing vector distances obtained in each function call cycle to obtain the current total processing distance.
进一步的,在步骤S500当中,所述在每个函数调用周期,根据计算得到的激光加工总距离进行比较输出具体包括:Further, in step S500 , the comparison output according to the calculated total laser processing distance in each function call cycle specifically includes:
步骤S510:在每个函数调用周期,判断计算得到的激光加工总距离是否为设定间隔值的整数倍;Step S510 : In each function call cycle, determine whether the calculated total laser processing distance is an integer multiple of the set interval value;
步骤S520:若激光加工总距离是设定间隔值的整数倍,则开启定时器,运动控制器输出高电平,使激光器输出脉冲,一段时间后定时器关闭;Step S520 : If the total laser processing distance is an integer multiple of the set interval value, the timer is turned on, the motion controller outputs a high level, the laser outputs pulses, and the timer is turned off after a period of time;
步骤S530:若激光加工总距离不是设定间隔值的整数倍,则运动控制器输出低电平,使激光器停止输出。Step S530 : If the total laser processing distance is not an integer multiple of the set interval value, the motion controller outputs a low level to stop the laser output.
本发明与现有技术相比,具有以下有益效果:Compared with the prior art, the present invention has the following beneficial effects:
1、本申请所述的三维曲面等间隔激光脉冲位置同步输出方法,通过构建激光焦点在工件坐标系下的空间运动模型;在每个函数调用周期,通过编码器得到五轴机床各轴的当前位移;根据编码器得到的轴位置反馈,计算激光器焦点在工件坐标系下的当前坐标,与计算得到的上一坐标位置进行比较,得到这一周期内,激光焦点在工件坐标系下行进的矢量距离;通过小线段拟合,得到激光器当前在三维曲面上的加工总长度;在每个函数调用周期,根据计算得到的激光加工总长度进行比较输出。根据编码器反馈的轴位移参数计算激光器焦点的当前加工总距离,从而控制激光器的开关光,因此激光脉冲的输出位置不受扫描速度的影响。加工复杂轨迹时,在保证光斑间隔一致的情况下,可以根据各轨迹段的情况变换扫描速度,极大地提高了激光加工效率;在实际加工时,一些难以避免的加减速情况,例如在轨迹开始与结束段的加减速,将不再使切割轨迹上的光斑重叠比发生变化,从而提高了加工质量。1. The method for synchronous output of equally spaced laser pulse positions on a three-dimensional curved surface described in the present application is to construct a spatial motion model of the laser focus in the workpiece coordinate system; in each function call cycle, the current displacement of each axis of the five-axis machine tool is obtained through the encoder; according to the axis position feedback obtained by the encoder, the current coordinate of the laser focus in the workpiece coordinate system is calculated, and compared with the calculated previous coordinate position to obtain the vector distance of the laser focus in the workpiece coordinate system during this cycle; through small line segment fitting, the total processing length of the laser on the three-dimensional curved surface is obtained; in each function call cycle, the total processing length of the laser is compared and output. The current total processing distance of the laser focus is calculated according to the axis displacement parameter fed back by the encoder, thereby controlling the switching light of the laser, so that the output position of the laser pulse is not affected by the scanning speed. When processing complex trajectories, the scanning speed can be changed according to the situation of each trajectory segment while ensuring the consistency of the spot interval, which greatly improves the laser processing efficiency; in actual processing, some unavoidable acceleration and deceleration situations, such as acceleration and deceleration at the beginning and end of the trajectory, will no longer change the spot overlap ratio on the cutting trajectory, thereby improving the processing quality.
2、能够在不增加成本的基础上保证激光切割脆性材料时作用于材料表面的光斑均匀性,使轨迹上的光斑重叠率不受激光扫描速度影响,同时提高了加工质量和效率。2. It can ensure the uniformity of the light spot acting on the surface of the material when laser cutting brittle materials without increasing the cost, so that the overlap rate of the light spot on the trajectory is not affected by the laser scanning speed, while improving the processing quality and efficiency.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明实施例中三维曲面等间隔激光脉冲位置同步输出方法的流程示意图;FIG1 is a schematic diagram of a flow chart of a method for synchronously outputting equally spaced laser pulse positions on a three-dimensional curved surface according to an embodiment of the present invention;
图2为本发明实施例中步骤S100的详细流程示意图;FIG2 is a detailed flow chart of step S100 in an embodiment of the present invention;
图3为本发明实施例中步骤S120的详细流程示意图;FIG3 is a detailed flow chart of step S120 in an embodiment of the present invention;
图4为本发明实施例中双转台五轴机床的结构示意图;FIG4 is a schematic structural diagram of a dual-turntable five-axis machine tool according to an embodiment of the present invention;
图5为本发明实施例中激光脉冲输出系统的控制机构示意图;FIG5 is a schematic diagram of a control mechanism of a laser pulse output system according to an embodiment of the present invention;
图6为本发明实施例中机床的两条开链结构图;FIG6 is a structural diagram of two open chains of a machine tool according to an embodiment of the present invention;
图7为本发明实施例中工件子链上的坐标系位置示意图;7 is a schematic diagram of the coordinate system position on the workpiece sub-chain in an embodiment of the present invention;
图8为本发明实施例中激光器子链上的坐标系位置示意图;FIG8 is a schematic diagram of the coordinate system position on the laser sub-chain in an embodiment of the present invention;
图9为本发明实施例中双转台五轴机床的激光程序运行控制示意图。FIG. 9 is a schematic diagram of laser program operation control of a dual-turntable five-axis machine tool in an embodiment of the present invention.
附图标记说明:Description of reference numerals:
1-直线轴Z;2-激光器焦点;3-直线轴Y;4-直线轴X;5-旋转轴B;6-旋转轴C;7-工件;8-X轴编码器;9-Y轴编码器;10-Z轴编码器;11-B轴编码器;12-C轴编码器;13-运动控制器;14-工控机;15-激光器。1-Linear axis Z; 2-Laser focus; 3-Linear axis Y; 4-Linear axis X; 5-Rotation axis B; 6-Rotation axis C; 7-Workpiece; 8-X-axis encoder; 9-Y-axis encoder; 10-Z-axis encoder; 11-B-axis encoder; 12-C-axis encoder; 13-Motion controller; 14-Industrial computer; 15-Laser.
具体实施方式DETAILED DESCRIPTION
下面将结合附图对本发明的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
在本发明的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,还可以是两个元件内部的连通,可以是无线连接,也可以是有线连接。对于本领域的普通技术人员而言,可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
此外,下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
现有技术当中,激光加工广泛应用到脆性材料的切割领域,在使用过程中一般通过控制激光扫描速度或重复频率来保证稳定的光斑重叠比,也即为光斑间隔s取决于激光器15的重复频率f和扫描速度v,即s=v/f,在激光器15的重复频率固定时,使激光在切割路径上的扫描速度保持不变;或采用可变频率的激光器15,在扫描速度变化时,同时改变激光器输出频率。In the prior art, laser processing is widely used in the field of cutting brittle materials. During use, a stable spot overlap ratio is generally ensured by controlling the laser scanning speed or repetition frequency, that is, the spot interval s depends on the repetition frequency f and the scanning speed v of the laser 15, that is, s = v/f. When the repetition frequency of the laser 15 is fixed, the scanning speed of the laser on the cutting path remains unchanged; or a variable frequency laser 15 is used, and when the scanning speed changes, the laser output frequency is changed at the same time.
但是,如果激光器15保持扫描速度不变,在实际加工过程中,尤其是切割复杂空间曲面时,机床旋转轴与直线轴的速度约束,将大大限制扫描速度的上限,从而降低了加工效率;若采用可调频率激光器,则增加了成本,且导致激光器输出功率变化,影响了加工工艺。However, if the laser 15 maintains a constant scanning speed, during the actual processing, especially when cutting complex spatial surfaces, the speed constraints of the machine tool's rotating axis and linear axis will greatly limit the upper limit of the scanning speed, thereby reducing the processing efficiency; if an adjustable frequency laser is used, the cost is increased and the laser output power changes, affecting the processing technology.
为解决以上技术问题,请参阅图1-9所示,本发明实施例提供了一种三维曲面等间隔激光脉冲位置同步输出方法,所述同步输出方法包括步骤:To solve the above technical problems, please refer to Figures 1-9, an embodiment of the present invention provides a method for synchronously outputting equally spaced laser pulse positions on a three-dimensional curved surface, and the synchronous output method comprises the steps of:
S100:构建激光焦点在工件坐标系下的运动模型;S 100 : Constructing the motion model of the laser focus in the workpiece coordinate system;
本步骤当中,在构建激光焦点在工件坐标系下的空间运动模型时,本实施例采用将机床坐标系作为中间量,并分为三步进行。In this step, when constructing the spatial motion model of the laser focus in the workpiece coordinate system, this embodiment uses the machine tool coordinate system as an intermediate quantity and is divided into three steps.
S200:在每个函数调用周期,通过编码器得到五轴机床各轴的当前位移;S 200 : In each function call cycle, the current displacement of each axis of the five-axis machine tool is obtained through the encoder;
本步骤当中,将编码器得到的各轴当前位移代入上述运动模型中,可得到在每个函数调用周期时,激光焦点在工件坐标系下的坐标位置。In this step, the current displacement of each axis obtained by the encoder is substituted into the above motion model to obtain the coordinate position of the laser focus in the workpiece coordinate system during each function call cycle.
S300:计算当前函数周期内,激光焦点在工件坐标系下的移动距离;S 300 : Calculate the moving distance of the laser focus in the workpiece coordinate system during the current function cycle;
S400:通过小线段拟合,得到激光器15当前在三维曲面上的加工总距离;S 400 : Obtaining the total processing distance of the laser 15 on the three-dimensional surface by fitting small line segments;
S500:在每个函数调用周期,根据计算得到的激光加工总距离进行比较输出。S 500 : In each function call cycle, a comparison output is performed based on the calculated total laser processing distance.
本发明实施例根据编码器反馈的轴位移参数,计算激光器焦点2的当前加工总距离,从而控制激光器15的开关,因此激光脉冲的输出位置不受扫描速度的影响。The embodiment of the present invention calculates the current total processing distance of the laser focus 2 according to the axis displacement parameter fed back by the encoder, thereby controlling the switch of the laser 15, so the output position of the laser pulse is not affected by the scanning speed.
在加工复杂轨迹时,在保证光斑间隔一致的情况下,可以根据各轨迹段的情况变换扫描速度,极大地提高了激光加工效率;在实际加工时,一些难以避免的加减速情况,例如在轨迹开始与结束段的加减速,将不再使切割轨迹上的光斑重叠比发生变化,从而提高了加工质量。When processing complex trajectories, the scanning speed can be changed according to the conditions of each trajectory segment while ensuring the consistency of the spot interval, which greatly improves the laser processing efficiency. In actual processing, some unavoidable acceleration and deceleration conditions, such as acceleration and deceleration at the beginning and end of the trajectory, will no longer change the spot overlap ratio on the cutting trajectory, thereby improving the processing quality.
具体地,请参阅图2所示,具体到本发明的步骤S100当中,所述构建激光焦点在工件坐标系下的运动模型具体包括:Specifically, referring to FIG. 2 , in step S100 of the present invention, the construction of the motion model of the laser focus in the workpiece coordinate system specifically includes:
步骤S110:定义激光器子链,并推导激光焦点在机床坐标系下的坐标位置。Step S110 : define the laser sub-chain and derive the coordinate position of the laser focus in the machine tool coordinate system.
步骤S120:定义工件子链,计算由激光坐标系到工件坐标系的转换矩阵。Step S120 : define the workpiece sub-chain and calculate the transformation matrix from the laser coordinate system to the workpiece coordinate system.
步骤S130:得到激光焦点在工件坐标系下的运动模型。Step S130 : Obtaining a motion model of the laser focus in the workpiece coordinate system.
从运动学的角度看,从机床坐标系到激光焦点,以及从机床坐标系到工件坐标系,都存在类似于机械臂的开链结构,分别称为激光器子链和工件子链。From the perspective of kinematics, there is an open chain structure similar to that of a robotic arm from the machine tool coordinate system to the laser focus, and from the machine tool coordinate system to the workpiece coordinate system, which are called the laser sub-chain and the workpiece sub-chain respectively.
将轴视作机械臂的连杆与关节结构,根据D-H约定,为机床每个运动轴固连一个坐标系,通过坐标系的平移、旋转变换,对两条子链(激光器子链和工件子链)分别进行推导,即可得到激光焦点在工件坐标系下的运动模型。The axis is regarded as the connecting rod and joint structure of the robot arm. According to the D-H convention, a coordinate system is fixed to each moving axis of the machine tool. Through the translation and rotation transformation of the coordinate system, the two sub-chains (laser sub-chain and workpiece sub-chain) are derived respectively, and the motion model of the laser focus in the workpiece coordinate system can be obtained.
具体地,请参阅图3所示,具体到本发明的步骤S110当中,所述定义激光器子链,并推导激光焦点在机床坐标系下的坐标位置具体包括步骤:Specifically, referring to FIG. 3 , in step S110 of the present invention, the steps of defining the laser sub-chain and deriving the coordinate position of the laser focus in the machine tool coordinate system specifically include the following steps:
步骤S111:激光器子链由直线轴Z1与激光器15组成,激光器15固定在直线轴Z1上。Step S 111 : The laser sub-chain consists of a linear axis Z1 and a laser 15 , and the laser 15 is fixed on the linear axis Z1 .
步骤S112:在激光器15的固定点与激光焦点位置分别放置坐标系X3Y3Z3与X4Y4Z4,坐标系的XYZ轴方向均与机床坐标系的三轴方向一致,且不发生旋转变换。Step S112 : Coordinate systems X3Y3Z3 and X4Y4Z4 are placed at the fixed point of the laser 15 and the laser focus position respectively , and the XYZ axis directions of the coordinate systems are consistent with the three axis directions of the machine tool coordinate system, and no rotation transformation occurs.
激光器子链的推导过程如下:The derivation process of the laser sub-chain is as follows:
激光器子链由直线轴Z1与激光器15组成,将激光器15固定在直线轴Z1上。The laser sub-chain consists of a linear axis Z1 and a laser 15, and the laser 15 is fixed on the linear axis Z1.
在激光器15的固定点与激光焦点位置分别放置坐标系X3Y3Z3与X4Y4Z4,坐标系的XYZ轴方向均与机床坐标系的三轴方向一致且不发生旋转变换,其中:Coordinate systems X 3 Y 3 Z 3 and X 4 Y 4 Z 4 are placed at the fixed point of the laser 15 and the laser focus position, respectively. The XYZ axis directions of the coordinate systems are consistent with the three-axis directions of the machine tool coordinate system and no rotation transformation occurs, wherein:
当直线轴Z1回零后,坐标系X3Y3Z3的原点与机床坐标系原点在X、Y、Z轴方向上的相对偏移量是定值,以(dx,dy,-dz)表示。After the linear axis Z1 returns to zero, the relative offset between the origin of the coordinate system X3Y3Z3 and the origin of the machine tool coordinate system in the X , Y, and Z axis directions is a constant, expressed as ( dx , dy , -dz ).
当直线轴Z1运动时,坐标系X3Y3Z3的原点与机床坐标系原点在Z轴方向上的相对位置发生改变,直线轴Z1的Z轴编码器10反馈位移以Pz表示,坐标系X3Y3Z3的原点位置可表示为(dx,dy,-dz+Pz),激光器15的固定点到激光焦点的矢量距离同样为定值,以LLaser表示,方向与机床坐标系的Z轴方向平行。When the linear axis Z1 moves, the relative position of the origin of the coordinate system X3Y3Z3 and the origin of the machine tool coordinate system in the Z-axis direction changes. The feedback displacement of the Z-axis encoder 10 of the linear axis Z1 is represented by Pz . The origin position of the coordinate system X3Y3Z3 can be expressed as ( dx , dy , -dz + Pz ). The vector distance from the fixed point of the laser 15 to the laser focus is also a constant, represented by L Laser , and its direction is parallel to the Z-axis direction of the machine tool coordinate system.
步骤S113:确定激光焦点在机床坐标系下的坐标位置的计算表达式如下:Step S113 : The calculation expression for determining the coordinate position of the laser focus in the machine tool coordinate system is as follows:
其中:(dx,dy,-dz)表示坐标系X3Y3Z3的原点与机床坐标系原点分别在X、Y、Z轴方向上的相对偏移量,Pz表示直线轴Z1的Z轴编码器10反馈位移;LLaser表示激光器15的固定点到激光焦点的矢量距离,且LLaser的矢量方向与机床坐标系的Z轴方向平行。Wherein: ( dx , dy , -dz ) represents the relative offset between the origin of the coordinate system X3Y3Z3 and the origin of the machine tool coordinate system in the X, Y, and Z axis directions respectively; Pz represents the feedback displacement of the Z-axis encoder 10 of the linear axis Z1; L Laser represents the vector distance from the fixed point of the laser 15 to the laser focus, and the vector direction of L Laser is parallel to the Z-axis direction of the machine tool coordinate system.
具体地,步骤S120当中,所述定义工件子链,并计算由激光坐标系到工件坐标系的转换矩阵具体包括:Specifically, in step S120 , the definition of the workpiece sub-chain and the calculation of the transformation matrix from the laser coordinate system to the workpiece coordinate system specifically include:
步骤S121:工件子链由直线轴Y3、直线轴X4、旋转轴B5、旋转轴C6以及放置在旋转轴C6上表面的工件7依次组成;Step S121 : The workpiece sub-chain is composed of the linear axis Y3, the linear axis X4, the rotation axis B5, the rotation axis C6 and the workpiece 7 placed on the upper surface of the rotation axis C6 in sequence;
步骤S122:在转台上建立基坐标系X0Y0Z0,以基坐标系的运动表示X、Y轴的平移运动,基坐标系不进行旋转变换;Step S122 : Establish a base coordinate system X0Y0Z0 on the turntable , and use the movement of the base coordinate system to represent the translation movement of the X and Y axes. The base coordinate system does not undergo rotation transformation;
步骤S123:为旋转轴B5固连坐标系X1Y1Z1,Z1轴与旋转轴B5的轴线重合,坐标系X1Y1Z1的原点位于B、C轴轴线的交点处;Step S123 : Fix the coordinate system X1Y1Z1 to the rotation axis B5, the Z1 axis coincides with the axis of the rotation axis B5, and the origin of the coordinate system X1Y1Z1 is located at the intersection of the axes of the B and C axes;
为旋转轴C6固连坐标系X2Y2Z2,Z2轴与旋转轴C6的轴线重合,坐标系X2Y2Z2的原点位于转台的上表面中心;The coordinate system X 2 Y 2 Z 2 is fixed to the rotation axis C6, the Z 2 axis coincides with the axis of the rotation axis C6, and the origin of the coordinate system X 2 Y 2 Z 2 is located at the center of the upper surface of the turntable;
步骤S124:工件坐标系w与坐标系X2Y2Z2完全重合,工件坐标系w随坐标系X2Y2Z2的变换而发生变换;Step S124 : the workpiece coordinate system w completely coincides with the coordinate system X2Y2Z2 , and the workpiece coordinate system w is transformed along with the transformation of the coordinate system X2Y2Z2 ;
步骤S125:按机器人运动学,确定相邻连杆位置关系的变换矩阵公式。Step S125 : According to robot kinematics, determine the transformation matrix formula of the position relationship of adjacent links.
在本发明的具体实施例当中,工件子链的推导过程如下:In a specific embodiment of the present invention, the derivation process of the workpiece subchain is as follows:
工件子链由直线轴Y3、直线轴X4、旋转轴B5、旋转轴C6以及放置在旋转轴C6上表面的工件7依次组成,子链上的后一项均被放置于前一项上,受前一项的运动影响,从而形成运动学上的链式结构。The workpiece sub-chain is composed of the linear axis Y3, the linear axis X4, the rotation axis B5, the rotation axis C6 and the workpiece 7 placed on the upper surface of the rotation axis C6 in sequence. The latter item on the sub-chain is placed on the previous item and is affected by the movement of the previous item, thus forming a kinematic chain structure.
需要特别说明的是:其中旋转轴B5在XZ平面上旋转,旋转轴C6在XY平面上旋转。It should be particularly noted that the rotation axis B5 rotates on the XZ plane, and the rotation axis C6 rotates on the XY plane.
由于机床的X、Y轴只带动转台做平移运动,因此在转台上建立基坐标系X0Y0Z0,以基坐标系X0Y0Z0的运动表示X、Y轴的平移运动,基坐标系不进行旋转变换,当机床各轴回零后,基坐标系的原点位于机床坐标系的原点位置。Since the X and Y axes of the machine tool only drive the turntable to do translational motion, a base coordinate system X0Y0Z0 is established on the turntable . The movement of the base coordinate system X0Y0Z0 represents the translational motion of the X and Y axes. The base coordinate system does not perform rotational transformation. When the axes of the machine tool return to zero, the origin of the base coordinate system is located at the origin of the machine tool coordinate system.
为旋转轴B5固连坐标系X1Y1Z1,Z1轴与旋转轴B5的轴线重合,其原点位于B、C轴轴线的交点处。The coordinate system X1Y1Z1 is fixed to the rotation axis B5, the Z1 axis coincides with the axis of the rotation axis B5, and its origin is located at the intersection of the B and C axis axes.
为旋转轴C6固连坐标系X2Y2Z2,Z2轴与旋转轴C6的轴线重合,其原点位于转台的上表面中心。The coordinate system X 2 Y 2 Z 2 is fixed to the rotation axis C6, the Z 2 axis coincides with the axis of the rotation axis C6, and its origin is located at the center of the upper surface of the turntable.
工件坐标系w与坐标系X2Y2Z2完全重合,随后者的变换而发生变换。The workpiece coordinate system w completely coincides with the coordinate system X 2 Y 2 Z 2 and is transformed by the transformation of the latter.
当B、C旋转轴回零后,坐标系X0Y0Z0与坐标系X1Y1Z1的XYZ轴方向一致。When the B and C rotation axes return to zero, the XYZ axis directions of the coordinate system X 0 Y 0 Z 0 are consistent with those of the coordinate system X 1 Y 1 Z 1 .
具体地,在本发明的具体实施例当中,在步骤S125当中,所述相邻连杆位置关系的变换矩阵公式Ri为:Specifically, in a specific embodiment of the present invention, in step S125 , the transformation matrix formula R i of the position relationship of adjacent connecting rods is:
其中,αi-1表示从Zi-1到Zi关于Xi-1方向的偏转角度,ai-1表示从Zi-1到Zi沿Xi-1方向的位移,θi表示从Xi-1到Xi关于Zi方向的偏转角度,di表示从Xi-1到Xi沿Zi方向的位移,θB表示旋转轴B5的B轴编码器11反馈位移,θC表示旋转轴C6的C轴编码器12反馈位移,d表示旋转轴B5与旋转轴C6的轴线交点和工件坐标系的原点的距离。Among them, α i-1 represents the deflection angle from Zi -1 to Zi about the Xi -1 direction, a i-1 represents the displacement from Zi -1 to Zi along the Xi -1 direction, θ i represents the deflection angle from Xi -1 to Xi about the Zi direction, d i represents the displacement from Xi -1 to Xi along the Zi direction, θ B represents the feedback displacement of the B-axis encoder 11 of the rotating axis B5, θ C represents the feedback displacement of the C-axis encoder 12 of the rotating axis C6, and d represents the distance between the intersection of the axes of the rotating axis B5 and the rotating axis C6 and the origin of the workpiece coordinate system.
本步骤当中,可以列出D-H矩阵各项参数如表1所示。In this step, the parameters of the D-H matrix can be listed as shown in Table 1.
表1D-H矩阵各项参数表Table 1 Parameters of D-H matrix
按机器人运动学,相邻连杆位置关系的变换矩阵公式Ri如下:According to robot kinematics, the transformation matrix formula R i of the position relationship of adjacent links is as follows:
直线轴X的X轴编码器8和直线轴Y的Y轴编码器9的反馈位移分别以Px、Py表示,从机床坐标系到基坐标系的变换矩阵R0为:The feedback displacements of the X-axis encoder 8 of the linear axis X and the Y-axis encoder 9 of the linear axis Y are represented by P x and P y respectively, and the transformation matrix R 0 from the machine tool coordinate system to the base coordinate system is:
从基坐标系到坐标系X1Y1Z1的变换矩阵R1为:The transformation matrix R 1 from the base coordinate system to the coordinate system X 1 Y 1 Z 1 is:
从坐标系X1Y1Z1到坐标系X2Y2Z2的变换矩阵R2为:The transformation matrix R 2 from coordinate system X 1 Y 1 Z 1 to coordinate system X 2 Y 2 Z 2 is:
具体地,具体到本发明的步骤S120当中,坐标系X2Y2Z2与工件坐标系重合。根据激光器子链,得到机床坐标系到工件坐标系的变换矩阵TStock为:Specifically, in step S120 of the present invention, the coordinate system X2Y2Z2 coincides with the workpiece coordinate system . According to the laser subchain, the transformation matrix T Stock from the machine tool coordinate system to the workpiece coordinate system is obtained as follows:
TStock=R0×R1×R2 T Stock = R 0 × R 1 × R 2
其中:R0表示机床坐标系到基坐标系的变换矩阵;R1表示从坐标系X1Y1Z1到坐标系X2Y2Z2的变换矩阵;R2表示从坐标系X1Y1Z1到坐标系X2Y2Z2的变换矩阵。Among them: R0 represents the transformation matrix from the machine tool coordinate system to the base coordinate system; R1 represents the transformation matrix from the coordinate system X1Y1Z1 to the coordinate system X2Y2Z2 ; R2 represents the transformation matrix from the coordinate system X1Y1Z1 to the coordinate system X2Y2Z2 .
具体地,具体到本发明的步骤S130当中,所述得到激光焦点在工件坐标系下的运动模型为:Specifically, in step S130 of the present invention, the motion model of the laser focus in the workpiece coordinate system is obtained as follows:
其中,Q′Laser为激光焦点在工件坐标系下的坐标位置。Wherein, Q′ Laser is the coordinate position of the laser focus in the workpiece coordinate system.
具体地,在步骤S300当中,所述计算当前函数周期内,激光焦点在工件坐标系下的移动距离具体包括:Specifically, in step S300 , the calculation of the moving distance of the laser focus in the workpiece coordinate system during the current function cycle specifically includes:
步骤S310:比较当前时刻激光焦点在工件坐标系中的位置Q′Laser(x1,y1,z1)与上一时刻激光焦点在工件坐标系中的位置Q′0(x0,y0,z0);Step S310 : Compare the current position Q'Laser ( x1 , y1 , z1 ) of the laser focus in the workpiece coordinate system with the previous position Q'0 ( x0 , y0 , z0 ) of the laser focus in the workpiece coordinate system;
步骤S320:计算得到当前函数周期内激光焦点行进的矢量距离为:Step S320 : Calculate the vector distance of the laser focus in the current function cycle as:
其中:x1代表当前时刻激光焦点在工件坐标系中的x轴坐标,y1代表当前时刻激光焦点在工件坐标系中的y轴坐标,z1代表当前时刻激光焦点在工件坐标系中的z轴坐标;x0代表上一时刻激光焦点在工件坐标系中的x轴坐标,y0代表上一时刻激光焦点在工件坐标系中的y轴坐标,z0代表上一时刻激光焦点在工件坐标系中的z轴坐标。Wherein: x1 represents the x-axis coordinate of the laser focus in the workpiece coordinate system at the current moment, y1 represents the y-axis coordinate of the laser focus in the workpiece coordinate system at the current moment, and z1 represents the z-axis coordinate of the laser focus in the workpiece coordinate system at the current moment; x0 represents the x-axis coordinate of the laser focus in the workpiece coordinate system at the previous moment, y0 represents the y-axis coordinate of the laser focus in the workpiece coordinate system at the previous moment, and z0 represents the z-axis coordinate of the laser focus in the workpiece coordinate system at the previous moment.
具体地,在步骤S400当中,所述通过小线段拟合得到激光器15当前在三维曲面上的加工总距离具体包括:Specifically, in step S400 , the total processing distance of the laser 15 on the three-dimensional surface currently obtained by fitting the small line segments specifically includes:
步骤S410:在运动控制器13中调用激光脉冲输出函数,调用周期为1ms;Step S410 : calling the laser pulse output function in the motion controller 13, with a calling period of 1 ms;
步骤S420:对每一次函数调用周期得到的加工矢量距离求和,得到当前总加工距离。Step S420 : summing up the processing vector distances obtained in each function call cycle to obtain the current total processing distance.
具体到本步骤S400当中,对每一次函数调用周期得到的加工矢量距离求和,得到当前总加工距离,在运动控制器13的PLC程序中调用该激光脉冲输出函数,调用周期为1ms,由于函数的调用周期足够短,因此认为计算得到的轨迹长度近似等于实际值。Specifically, in step S400 , the processing vector distance obtained in each function call cycle is summed to obtain the current total processing distance, and the laser pulse output function is called in the PLC program of the motion controller 13 with a calling cycle of 1 ms. Since the function calling cycle is short enough, it is considered that the calculated trajectory length is approximately equal to the actual value.
具体地,在步骤S500当中,所述在每个函数调用周期,根据计算得到的激光加工总距离进行比较输出具体包括:Specifically, in step S500 , in each function call cycle, comparing and outputting the calculated total laser processing distance specifically includes:
步骤S510:在每个函数调用周期,判断计算得到的激光加工总距离是否为设定间隔值的整数倍;Step S510 : In each function call cycle, determine whether the calculated total laser processing distance is an integer multiple of the set interval value;
步骤S520:若激光加工总距离是设定间隔值的整数倍,则开启定时器,运动控制器13输出高电平,使激光器15输出脉冲,一段时间后定时器关闭;Step S520 : If the total laser processing distance is an integer multiple of the set interval value, the timer is turned on, the motion controller 13 outputs a high level, and the laser 15 outputs pulses. After a period of time, the timer is turned off;
步骤S530:若激光加工总距离不是设定间隔值的整数倍,则运动控制器13输出低电平,使激光器15停止输出。Step S530 : If the total laser processing distance is not an integer multiple of the set interval value, the motion controller 13 outputs a low level to stop the laser 15 from outputting.
需要特别说明的是,本发明实施例中激光器15输出的光斑间隔可以直接指定,无需考虑激光器15的重复频率与加工速度,降低了操作的复杂性。It should be particularly noted that in the embodiment of the present invention, the spot interval output by the laser 15 can be directly specified without considering the repetition frequency and processing speed of the laser 15, thereby reducing the complexity of the operation.
另外,本发明实施例中采用固定频率的激光器15进行加工,无需提高加工成本,在加工距离的计算过程中针对传统五轴机床构建运动模型,方法具有一定的通用性,使用时在工控机14上只需修改部分机床参数,即可以外挂形式应用于该五轴机床。In addition, in the embodiment of the present invention, a fixed-frequency laser 15 is used for processing without increasing the processing cost. A motion model is constructed for a traditional five-axis machine tool during the calculation of the processing distance. The method has a certain degree of versatility. When in use, only some machine tool parameters need to be modified on the industrial computer 14, and it can be applied to the five-axis machine tool in the form of a plug-in.
虽然本发明公开披露如上,但本发明公开的保护范围并非仅限于此。本领域技术人员在不脱离本公开的精神和范围的前提下,可进行各种变更与修改,这些变更与修改均将落入本发明的保护范围。Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.
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