WO2020133271A1 - 一种刀具半径补偿的干涉检测方法、装置及存储装置 - Google Patents

一种刀具半径补偿的干涉检测方法、装置及存储装置 Download PDF

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Publication number
WO2020133271A1
WO2020133271A1 PCT/CN2018/125047 CN2018125047W WO2020133271A1 WO 2020133271 A1 WO2020133271 A1 WO 2020133271A1 CN 2018125047 W CN2018125047 W CN 2018125047W WO 2020133271 A1 WO2020133271 A1 WO 2020133271A1
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Prior art keywords
tool
programming
path
trajectory
side edge
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PCT/CN2018/125047
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English (en)
French (fr)
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李哲
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深圳配天智能技术研究院有限公司
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Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to PCT/CN2018/125047 priority Critical patent/WO2020133271A1/zh
Priority to CN201880087123.XA priority patent/CN111684375B/zh
Publication of WO2020133271A1 publication Critical patent/WO2020133271A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia

Definitions

  • the present application relates to the technical field of numerical control systems, in particular to an interference detection method and device for tool radius compensation and a device with a storage function.
  • Tool radius compensation is one of the basic functions of the CNC system. It realizes the function that the tool center moves along the trajectory that deviates from the programming path.
  • the offset distance is usually a tool radius value. This function greatly improves the convenience of CNC system programming.
  • the area that the tool travel path after the tool radius compensation passes cannot intersect with the original workpiece path. If there is an intersection, the workpiece will be cut. This is called interference and there is a risk of cutting the workpiece.
  • FIG. 1 is a schematic diagram of the principle of interference detection in the prior art
  • FIG. 2 is a schematic diagram of the flow of the interference detection method in the prior art.
  • the existing technical solution to the tool compensation interference detection is to judge whether the offset vectors intersect, if it intersects, it is judged as phase interference, and if it does not intersect, it is judged as non-phase interference.
  • the offset vector a2 and the offset vector b2 intersect and will interfere with each other, where 10 is the programming path and 11 is the tool center trajectory.
  • the technical problem mainly solved by the present application is to provide an interference detection method and device for tool radius compensation and a device with a storage function, which can improve the accuracy and practicality of the tool radius compensation interference detection method.
  • a technical solution adopted by the present application is: to provide a tool radius compensation interference detection method, which includes: acquiring a programmed trajectory; calculating the tool-to-side edge trajectory of the programmed trajectory; determining the tool-to-side edge Whether the trajectory intersects the comparative programming trajectory; if the tool's side edge trajectory intersects the comparative programming trajectory, it is determined that the programming trajectory interferes with the comparative programming trajectory.
  • the device includes a processor and a memory, and the processor is coupled to the memory; Get a programming trajectory; calculate the tool-to-side edge trajectory of the programming trajectory; determine whether the tool-to-side edge trajectory intersects the comparative programming trajectory; if the tool-to-side trajectory intersects the comparative programming trajectory, determine that the programming trajectory and the comparative programming trajectory put one's oar in.
  • Figure 1 is a schematic diagram of the principle of interference detection in the prior art
  • FIG. 4 is a schematic flowchart of a first embodiment of an interference detection method for tool radius compensation according to this application;
  • FIG. 5 is a schematic diagram of the application of the first embodiment of the interference detection method for tool radius compensation of the present application
  • FIG. 6 is a schematic structural diagram of a first embodiment of an interference detection device for tool radius compensation according to the present application.
  • FIG. 7 is a schematic structural diagram of a first embodiment of a device with a storage function according to the present application.
  • This application provides an interference detection method and device for tool radius compensation, which is at least used in CNC machining scenes, can more accurately detect whether a tool interference will occur, reduce the probability of missed judgment and misjudgment, and will greatly improve the detection The practicality of the method.
  • FIG. 4 is a schematic flowchart of a second embodiment of the interference detection method for tool radius compensation of the present application
  • FIG. 5 is a schematic diagram of the application of the second embodiment of the interference detection method of tool radius compensation of the present application.
  • the method includes the following steps:
  • a programming trajectory is obtained, and based on this programming trajectory, the positional relationship between the programming trajectory and other programming trajectories is determined to determine whether the programming trajectory and other programming trajectories will interfere.
  • this basic programming track is called the target programming track
  • other programming tracks participating in the comparison are called comparison programming tracks. Determine whether the tool interferes by judging whether the target programming path interferes with the comparison programming path.
  • the target programming trajectory is the programming trajectory to be processed
  • the comparison programming trajectory is a plurality of adjacent programming trajectories where interference may occur. That is, when preparing to process this part of the workpiece, it is necessary to determine whether the tool will cut to the adjacent workpiece area.
  • any stored programming track can be selected as the target programming track, and the other is the comparison programming track.
  • the target programming trajectory interferes with all other comparative programming trajectories one by one; if the target programming trajectory does not interfere with all the comparative programming trajectories, it is determined that the tool has no interference; if the target programming trajectory interferes with any of the comparative programming trajectories , It is determined that the knife has interference. That is, the tool cannot cut to any workpiece. When it is judged that the knife has interference, alarm shutdown or avoid interference treatment is performed to reduce the occurrence of bad parts.
  • S402 Calculate the tool's contralateral edge path of the programmed path.
  • the tool interferes because the opposite side of the tool will cut to the completed workpiece, then directly determine the relationship between the tool's opposite path and other programmed trajectories (workpiece contour lines) to directly understand whether the tool's opposite side can Cut to the workpiece.
  • the tool-to-side edge path is obtained by offsetting the target programmed path by a tool diameter along the tool radius compensation direction.
  • the programming track 505 is used as the target programming track, and the programming track 502 is compared with the programming track.
  • the track 51 is the tool center track
  • the track 52 is the tool side edge track
  • the distance from the programmed track 505 to the tool center track 51 is a tool radius distance
  • the distance from the programmed track 505 to the tool pair side edge track 52 is a tool diameter
  • the distance, that is, the opposite edge path 52 is a distance that offsets the programmed path 505 by one tool diameter in the tool radius compensation direction.
  • the tool edge side track 52 and the tool center track 51 are connected in the same way, that is, if the tool center track is a circular arc connection, then the tool pair side edge track is also a circular arc connection, if the tool center track is a linear connection, then the tool
  • the trajectories on the side edges are also connected in straight lines. Specifically, the tool moves along the tool center trajectory 51 when processing the workpiece, one side of the tool moves along the programmed trajectory 505 for cutting the workpiece, and the opposite side of the tool moves along the tool side trajectory 52.
  • S403 Determine whether the path of the tool's side edge intersects with the comparatively programmed path.
  • the opposite side of the tool moves with the tool along the tool-to-side edge path 52, to prevent interference, the tool's to the side cannot cut to the completed workpiece area, that is, the tool-to-side edge path cannot be compared with the programmed path (completed The contour lines of the workpieces) intersect.
  • the tool's side edge path intersects the comparative programming path, it means that the shortest distance from the starting point/inflection point of the target programming path to the line segment of the comparative programming path is less than the tool diameter, and the comparative programming path and the tool center path are on the same side of the starting point/inflection point. It is further determined that the target programming track interferes with the comparative programming track. That is, when the tool is processed along the inner contour of the workpiece, the distance between the completed workpiece and the workpiece to be processed is less than the tool diameter, the opposite side of the tool will overcut to the finished workpiece to interfere.
  • the shortest distance between the starting point/inflection point of the target programming path and the line segment of the comparative programming path is greater than or equal to the tool diameter, or the comparative programming path and the tool center path are at the starting point/inflection point, respectively.
  • the target programming track does not interfere with the comparative programming track. That is, when the tool is processed along the inner contour of the workpiece, when the distance between the completed workpiece and the workpiece to be processed is greater than the tool diameter, the opposite side of the tool will not overcut to the completed workpiece. Or when the tool is machining along the outer contour of the workpiece, there is no interference
  • the tool pair side edge trajectory 52 of the target programming trajectory 505 intersects with the comparison programming trajectory 502, indicating that the target programming trajectory 505 and the comparison programming trajectory 502 will interfere.
  • the tool is used to directly judge the side edge trajectory, which can intuitively and accurately determine whether the two programmed trajectories will interfere, which improves the accuracy of discrimination.
  • this method will increase the amount of calculation because it needs to calculate the intersection between the circular arc and the circular arc.
  • the comparative programming trajectory involved in the judgment does not include the programming trajectory corresponding to the tool-to-lateral edge trajectory. That is, when it is judged that the tool pair side edge track 52 intersects the programming track 501, 502, 503, 504, it can be determined that the programming track 505 interferes with the programming track 501, 502, 503, 504;
  • the above scheme by using the positional relationship between the tool's side edge trajectory and the programming trajectory, can determine whether the two programming trajectories interfere with each other in one step of judgment; it supplements the judgment loophole of the existing detection method, which can improve the accuracy of detection judgment and reduce The probability of misjudgment of small missed judgments can also effectively reduce the amount of calculation, which will greatly improve the practicality of the detection method.
  • FIG. 6 is a schematic structural diagram of a first embodiment of an interference detection device for tool radius compensation according to the present application.
  • the interference detection device for tool radius compensation in this embodiment can implement the above-mentioned interference detection method for tool radius compensation.
  • the device includes a processor 601 and a memory 602.
  • the processor 601 is coupled to the memory 602.
  • the processor 601 executes instructions during working to cooperate with the memory 602 to implement the above-mentioned interference detection method of tool radius compensation.
  • the processor 601 When the processor 601 is working, it obtains a programming track from the memory; The tool-to-side edge track; determine whether the tool-to-side edge track intersects the comparative programming track; if the tool-to-side edge track intersects the comparative programming track, it is determined that the programming track interferes with the comparative programming track.
  • the specific working process is the same as in the above method embodiment, so it will not be repeated here.
  • the interference detection device for cutter radius compensation may be a numerical control computer or the like.
  • FIG. 7 is a schematic structural diagram of a first embodiment of a device with a storage function according to the present application.
  • the storage device 70 stores a program 701, and when the program 701 is executed, the above-mentioned interference detection method of tool radius compensation is realized.
  • the specific working process is the same as in the above method embodiment, so it will not be repeated here.
  • devices with storage function can be portable storage media such as U disk, optical disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk, etc.
  • the medium storing the program code may also be a terminal, server, or the like.
  • the solution provided in this application can be judged in one step to determine whether the shortest distance from the starting point/inflection point on the programming track to the line segment of the comparison programming track is less than the tool diameter, and whether the comparison programming track and the tool center track are within the The same side of the starting point/inflection point; the positional relationship between the tool's trajectory and the programmed trajectory is used to supplement the judgment loophole of the existing detection method, which can improve the accuracy of detection and judgment, reduce the probability of missed judgment and false judgment. It can effectively reduce the amount of calculation, which will greatly improve the practicality of the detection method.
  • the disclosed system, device, and method may be implemented in other ways.
  • the device implementation described above is only schematic.
  • the division of the module or unit is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be The combination can either be integrated into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or software function unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium.
  • the technical solution of the present application essentially or part of the contribution to the existing technology or all or part of the technical solution can be embodied in the form of a software product, the computer software product is stored in a storage medium , Including several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of the present application.

Abstract

一种刀具半径补偿的干涉检测方法，包括：获取一条编程轨迹（505）；计算编程轨迹的刀具对侧边沿轨迹（52）；判断刀具对侧边沿轨迹是否与对比编程轨迹（502）相交；若刀具对侧边沿轨迹与对比编程轨迹相交，则判定编程轨迹与对比编程轨迹会相干涉。还涉及一种刀具半径补偿的干涉检测装置，还涉及一种具有存储功能的装置。刀具半径补偿干涉检测方法的准确性和实用性得到了提高。

Description

一种刀具半径补偿的干涉检测方法、装置及存储装置 【技术领域】
本申请涉及数控系统技术领域，特别是涉及一种刀具半径补偿的干涉检测方法、装置及具有存储功能的装置。
【背景技术】
刀具半径补偿是数控系统的基本功能之一，它实现了刀具中心沿偏离编程路径的轨迹移动的功能，偏移距离通常为一个刀具半径值，该功能极大地提高了数控系统编程的便捷性。在刀具补偿控制方法中，刀具半径补偿后的刀具运行路径经过的区域不能与原有工件路径相交，如果有相交出现就会切坏工件，这称为干涉，有切坏工件的危险。
请参阅图1和图2，图1是现有技术中干涉检测原理示意图，图2是现有技术中干涉检测方法流程示意图。现有的对于刀补干涉检测的技术方案为判断偏置矢量是否相交，如相交则判断为相干涉，如不相交则判断为不相干涉。图1所示情况，偏置矢量a2与偏置矢量b2相交，会相干涉，其中10为编程路径，11为刀具中心轨迹。
本申请的发明人在长期的研发过程中，发现现有的干涉检测方法还不够完善，容易出现误判的情况，如当偏置矢量未与其他偏置矢量相交，而是直接与刀具中心轨迹相交时，采用上述方法判断结果为无干涉，但实际加工结果会相干涉，如图3所示，图3是现有技术中干涉检测方法的判断错误示例示意图，偏置矢量a1与偏置矢量a2与刀具中心轨迹相交，刀具会有干涉，其中30为编程路径，31为刀具中心路径。
【发明内容】
本申请主要解决的技术问题是提供一种刀具半径补偿的干涉检测方法、装置及具有存储功能的装置，能够提高刀具半径补偿干涉检测方法的准确性和实用性。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种刀具半径补偿的干涉检测方法，该方法包括：获取一条编程轨迹；计算编 程轨迹的刀具对侧边沿轨迹；判断刀具对侧边沿轨迹是否与对比编程轨迹相交；若刀具对侧边沿轨迹与对比编程轨迹相交，则判定编程轨迹与对比编程轨迹相干涉。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种刀具半径补偿的干涉检测装置，所述装置包括处理器和存储器，处理器耦接存储器；处理器在工作时，从存储器中获取一条编程轨迹；计算编程轨迹的刀具对侧边沿轨迹；判断刀具对侧边沿轨迹是否与对比编程轨迹相交；若刀具对侧边沿轨迹与对比编程轨迹相交，则判定编程轨迹与对比编程轨迹相干涉。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种具有存储功能的装置，该具有存储功能的装置存储有程序，所述程序被执行时实现上述的刀具半径补偿的干涉检测方法。
本申请的有益效果是：区别于现有技术的情况，本申请所提供的方案，通过利用刀具对侧边沿轨迹与编程轨迹的位置关系，一步判断即可得到两条编程轨迹是否相干涉；利用了刀具的运动轨迹与编程轨迹的位置关系，补充了现有检测方法的判定漏洞，能够提高检测判断时的准确度，减小漏判误判的概率，同时还能够有效减少计算量，将极大地提升该检测方法的实用性。
【附图说明】
图1是现有技术中干涉检测原理示意图；
图2是现有技术中干涉检测方法流程示意图；
图3是现有技术中干涉检测方法的判断错误示例示意图；
图4是本申请刀具半径补偿的干涉检测方法第一实施方式的流程示意图；
图5是本申请本申请刀具半径补偿的干涉检测方法第一实施方式的应用示意图；
图6是本申请刀具半径补偿的干涉检测装置第一实施例的结构示意图；
图7是本申请具有存储功能的装置第一实施方式的结构示意图。
【具体实施方式】
为使本申请的目的、技术方案及效果更加清楚、明确，以下参照附图并举实施例对本申请进一步详细说明。
本申请提供一种刀具半径补偿的干涉检测方法及装置，至少应用于数控加工场景中，能够较准确的检测判断是否会产生刀具干涉，减小漏判误判的概率，将极大地提升该检测方法的实用性。
请参阅图4和图5，图4是本申请刀具半径补偿的干涉检测方法第二实施方式的流程示意图，图5是本申请刀具半径补偿的干涉检测方法第二实施方式的应用示意图。在该实施方式中，该方法包括如下步骤：
S401：获取一条编程轨迹。
其中，在进行数控加工时，需预先编程工件的轨迹路线(工件轮廓线)和刀具中心轨迹，然后控制刀具沿刀具中心轨迹对工件进行加工。在利用刀具对工件进行加工时，刀具沿刀具中心轨迹运动，刀具的一侧用于切削工件，而另一侧也会沿相应轨迹运动，如果控制不当，刀具的另外一侧会过切到已完成的工件区域，造成不良。因此，在加工的过程中，需要对各编程轨迹的位置关系进行评估，判断各轨迹间是否会相干涉，以防止出现刀具过切工件的现象。
在该实施方式中，获取一条编程轨迹，以这条编程轨迹为基础，分别判断该编程轨迹与其他编程轨迹的位置关系，以判断该编程轨迹与其他编程轨迹是否会相干涉。其中，为方便说明称这条基础编程轨迹为标的编程轨迹，而其他参与对比的编程轨迹均称为对比编程轨迹。通过判断标的编程轨迹与对比编程轨迹是否相干涉来判断刀具是否有干涉。可选地，标的编程轨迹为将要进行加工的那一条编程轨迹，对比编程轨迹为相临近的多条可能发生干涉的编程轨迹。即在准备对这一段工件进行加工时，需判断刀具会不会切到临近的工件区域。在其他实施方式中，可以选取所存储的任一条编程轨迹作为标的编程轨迹，其他的则为对比编程轨迹。
其中，需逐一判断标的编程轨迹与其他所有对比编程轨迹是否相干涉；若标的编程轨迹与所有对比编程轨迹都不相干涉，则判定刀具无干涉；若标的编程轨迹与任一条对比编程轨迹相干涉，则判定刀具有干涉。即刀具不能切到任意一处工件。当判定为刀具有干涉时，进行报警停机或做回避干涉处理，以减少坏件的产生。
S402：计算编程轨迹的刀具对侧边沿轨迹。
具体地，刀具发生干涉是因为刀具的对侧会切到已完成工件，那么直接判断刀具对侧的轨迹与其他编程轨迹(工件轮廓线)的关系就能直接明了的得知刀具对侧能不能切到工件了。其中，刀具对侧边沿轨迹是将标的编程轨迹沿刀具半径补偿方向偏移一个刀具直径的距离得到的。如图5所示，以编程轨迹505为标的编程轨迹，编程轨迹502为对比编程轨迹进行说明。轨迹51为刀具中心轨迹，轨迹52为刀具对侧边沿轨迹，编程轨迹505到刀具中心轨迹51的距离为一个刀具半径的距离，编程轨迹505到刀具对侧边沿轨迹52的距离为一个刀具直径的距离，也就是对侧边沿轨迹52为将编程轨迹505沿刀具半径补偿方向偏移了一个刀具直径的距离。其中，刀具对侧边沿轨迹52与刀具中心轨迹51的连接方式相同，即，如果刀具中心轨迹是圆弧连接，那么刀具对侧边沿轨迹也是圆弧连接，如果刀具中心轨迹是直线连接，那么刀具对侧边沿轨迹也是直线连接。具体地，刀具在对工件进行加工时沿刀具中心轨迹51运动，刀具的一侧沿编程轨迹505运动用于切削工件，刀具的对侧沿刀具对侧边沿轨迹52运动。
S403：判断刀具对侧边沿轨迹是否与对比编程轨迹相交。
其中，当刀具的对侧随刀具沿刀具对侧边沿轨迹52运动时，为防止干涉，刀具的对侧不能切到已完成工件区域，也就是刀具对侧边沿轨迹不能与对比编程轨迹(已完成工件的轮廓线)相交。
若刀具对侧边沿轨迹与对比编程轨迹相交，则说明标的编程轨迹起点/拐点到对比编程轨迹所在线段的最短距离小于刀具直径，且对比编程轨迹和刀具中心轨迹在起点/拐点的同一侧，进而判定标的编程轨迹与对比编程轨迹相干涉。即当刀具沿工件内轮廓加工时，已完成工件与待加 工工件的距离小于刀具直径时，刀具的对侧就会过切到已完成工件相干涉。
若刀具对侧边沿轨迹与对比编程轨迹不相交，则说明标的编程轨迹起点/拐点到对比编程轨迹所在线段的最短距离大于等于刀具直径，或对比编程轨迹和刀具中心轨迹分别在起点/拐点的两侧，进而判定标的编程轨迹与对比编程轨迹不相干涉。即当刀具沿工件内轮廓加工时，已完成工件与待加工工件的距离大于刀具直径时，刀具的对侧不会过切到已完成工件。或当刀具沿工件外轮廓加工时，也不相干涉
图5所示情况，标的编程轨迹505的刀具对侧边沿轨迹52与对比编程轨迹502相交，说明标的编程轨迹505与对比编程轨迹502会相干涉。
在该实施方式中，直接用刀具对侧边沿轨迹进行判断，能够直观准确的判定两条编程轨迹是否会相干涉，提高了判别的准确性。但是若刀具中心轨迹是圆弧连接时，这种方法因为需要计算圆弧与圆弧之间的相交，会增大计算量。
其中，在判断刀具对侧边沿轨迹是否与对比编程轨迹相交时，所参与判断的对比编程轨迹不包括与刀具对侧边沿轨迹相对应的编程轨迹。也就是当判断刀具对侧边沿轨迹52与编程轨迹501、502、503、504相交时，可以判定编程轨迹505与编程轨迹501、502、503、504相干涉；
但是当判断刀具对侧边沿轨迹52与其相对应的编程轨迹505相交时，不能被认定为会发生干涉的情况；因为，若编程轨迹505的刀补方向发生变化，则其对侧边沿轨迹52必定会与编程轨迹505相交，而此时不相干涉。
以上方案，通过利用刀具对侧边沿轨迹与编程轨迹的位置关系，一步判断即可得到两条编程轨迹是否相干涉；补充了现有检测方法的判定漏洞，能够提高检测判断时的准确度，减小漏判误判的概率，同时还能够有效减少计算量，将极大地提升该检测方法的实用性。
请参阅图6，图6是本申请刀具半径补偿的干涉检测装置第一实施例的结构示意图。本实施例中的刀具半径补偿的干涉检测装置可以实现 上述的刀具半径补偿的干涉检测方法，该装置包括处理器601和存储器602。处理器601耦接存储器602，处理器601在工作时执行指令，以配合存储器602实现上述刀具半径补偿的干涉检测方法，处理器601在工作时，从存储器中获取一条编程轨迹；计算编程轨迹的刀具对侧边沿轨迹；判断刀具对侧边沿轨迹是否与对比编程轨迹相交；若刀具对侧边沿轨迹与对比编程轨迹相交，则判定编程轨迹与对比编程轨迹相干涉。具体工作过程与上述方法实施例中一致，故在此不再赘述，详细请参阅以上对应方法步骤的说明。其中，刀具半径补偿的干涉检测装置可以是数控计算机等。
请参阅图7，图7是本申请具有存储功能的装置第一实施方式的结构示意图。本实施例中存储装置70存储有程序701，程序701被执行时实现上述的刀具半径补偿的干涉检测方法。具体工作过程与上述方法实施例中一致，故在此不再赘述，详细请参阅以上对应方法步骤的说明。其中具有存储功能的装置可以是便携式存储介质如U盘、光盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟等各种可以存储程序代码的介质，也可以是终端、服务器等。
以上方案，本申请所提供的方案，一步判断即可实现判断编程轨迹上起点/拐点到对比编程轨迹所在线段的最短距离是否小于刀具直径，并判断对比编程轨迹和刀具中心轨迹是否在所述起点/拐点的同一侧；利用了刀具的运动轨迹与编程轨迹的位置关系，补充了现有检测方法的判定漏洞，能够提高检测判断时的准确度，减小漏判误判的概率，同时还能够有效减少计算量，将极大地提升该检测方法的实用性。
在本申请所提供的几个实施方式中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施方式仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是 通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施方式方案的目的。
另外，在本申请各个实施方式中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本申请各个实施方式所述方法的全部或部分步骤。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (11)

  1. 一种刀具半径补偿的干涉检测方法，其特征在于，所述方法包括：
    获取一条编程轨迹；
    计算所述编程轨迹的刀具对侧边沿轨迹；
    判断所述刀具对侧边沿轨迹是否与对比编程轨迹相交；
    若所述刀具对侧边沿轨迹与所述对比编程轨迹相交，则判定所述编程轨迹与所述对比编程轨迹相干涉。
  2. 根据权利要求1所述的刀具半径补偿的干涉检测方法，其特征在于，所述方法还包括：若所述刀具对侧边沿轨迹与所述对比编程轨迹不相交，则判定所述编程轨迹与所述对比编程轨迹无干涉。
  3. 根据权利要求1所述的刀具半径补偿的干涉检测方法，其特征在于，所述计算所述编程轨迹的刀具对侧边沿轨迹包括：
    将所述编程轨迹沿刀具半径补偿方向偏移一个刀具直径的距离，得到所述刀具对侧边沿轨迹，且所述刀具对侧边沿轨迹的连接方式与所述刀具中心轨迹的连接方式相同。
  4. 根据权利要求1所述的刀具半径补偿的干涉检测方法，其特征在于，所述方法还包括：
    逐一判断所述编程轨迹与其他所有对比编程轨迹是否相干涉；
    若所述编程轨迹与所有对比编程轨迹都不相干涉，则判定刀具无干涉；若所述编程轨迹与任一条对比编程轨迹相干涉，则判定刀具有干涉。
  5. 根据权利要求1所述的刀具半径补偿的干涉检测方法，其特征在于，所述方法还包括：
    当判定为刀具有干涉时，进行报警停机或做回避干涉处理。
  6. 一种刀具半径补偿的干涉检测装置，其特征在于，所述装置包括处理器和存储器，所述处理器耦接所述存储器；
    所述处理器在工作时，从所述存储器中获取一条编程轨迹；
    计算所述编程轨迹的刀具对侧边沿轨迹；
    判断所述刀具对侧边沿轨迹是否与对比编程轨迹相交；
    若所述刀具对侧边沿轨迹与所述对比编程轨迹相交，则判定所述编 程轨迹与所述对比编程轨迹相干涉。
  7. 根据权利要求6所述的刀具半径补偿的干涉检测装置，其特征在于，所述判断刀具对侧边沿轨迹是否与对比编程轨迹相交包括：
    若所述刀具对侧边沿轨迹与所述对比编程轨迹不相交，则判定所述编程轨迹与所述对比编程轨迹不相干涉。
  8. 根据权利要求6所述的刀具半径补偿的干涉检测装置，其特征在于，所述计算所述编程轨迹的刀具对侧边沿轨迹包括：
    将所述编程轨迹沿刀具半径补偿方向偏移一个刀具直径的距离，得到所述刀具对侧边沿轨迹，且所述刀具对侧边沿轨迹的连接方式与所述刀具中心轨迹的连接方式相同。
  9. 根据权利要求6所述的刀具半径补偿的干涉检测装置，其特征在于，所述方法还包括：
    逐一判断所述编程轨迹与其他所有对比编程轨迹是否相干涉；
    若所述编程轨迹与所有对比编程轨迹都不相干涉，则判定刀具无干涉；若所述编程轨迹与任一条对比编程轨迹相干涉，则判定刀具有干涉。
  10. 根据权利要求6所述的刀具半径补偿的干涉检测装置，其特征在于，所述方法还包括：
    当判定刀具有干涉时，进行报警停机或做回避干涉处理。
  11. 一种具有存储功能的装置，其中，所述装置存储有程序，所述程序被执行时实现权利要求1-5任一项所述的刀具半径补偿的干涉检测方法。
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