Laser cutting machine and vibration reduction method thereof

Abstract

This invention provides a laser cutting machine and its vibration reduction method, relating to the field of laser cutting. The solution includes a machine bed with a gantry movable in the X-direction, and a cutting component movable in the Y-direction on the gantry. It also includes: a counterweight, movable in the X-direction within the machine bed, capable of moving synchronously with the gantry; a drive assembly, mounted on the machine bed, driving the counterweight; and a controller electrically connected to both the gantry's drive motor and the drive assembly. The controller can acquire the gantry's motion parameters in real time and calculate the counterweight's X-direction motion parameters, ensuring that the counter-inertial force generated by the counterweight's X-direction movement is equal in magnitude and opposite in direction to the impact force generated by the gantry's movement. This invention reduces the impact of processing vibration on processing quality and equipment lifespan.

Description

Technical Field

[0001] This invention relates to the field of laser cutting, and more particularly to a laser cutting machine and its vibration reduction method. Background Technology

[0002] As the manufacturing industry continues to demand higher processing efficiency and precision, laser cutting machines are rapidly developing towards high speed, high precision, and high efficiency. Currently, mainstream high-speed laser cutting machines can achieve cutting speeds of over 30 meters per minute.

[0003] In existing technologies, high-speed laser cutting machines generally adopt an integrated structural design and are equipped with interchangeable tables to achieve parallel processing and loading / unloading operations. Specifically, the main machine bed is an integral welded steel structure with high-precision linear guides installed on both sides. The gantry frame carrying the cutting head performs high-speed reciprocating motion on the guides. A support platform is rigidly connected to one side of the machine bed. Two interchangeable tables can be movably installed on the machine bed and the support platform through linear guides and drive mechanisms, and can switch back and forth between the processing position (machine bed) and the loading / unloading position (support platform).

[0004] In the aforementioned integrated rigid structure, the inertial force generated during the high-speed movement of the gantry is directly transmitted to the machine bed through rigid paths such as the guide rail mounting surface, and then further transmitted to the worktable and support table on the machine bed. This vibration has the following adverse effects: First, it causes the worktable on the machine bed to wobble, resulting in displacement of the workpiece relative to the focal point of the cutting head, causing defects such as periodic ripples, overheating, or incomplete cutting on the cutting surface; Second, in scenarios where multiple workpieces are processed simultaneously, local vibration may cause some workpieces to shift, resulting in the scrapping of the entire plate; Third, when the excitation frequency of the gantry movement is close to the natural frequency of the rigid system composed of the machine bed, worktable, and support platform, resonance may also occur, which not only seriously damages the processing stability but may also cause structural fatigue damage and significantly shorten the service life of the equipment. Summary of the Invention

[0005] In order to solve the technical problems of poor processing quality and short service life of laser cutting machines caused by vibration in the prior art, the present invention provides a laser cutting machine and a vibration reduction method thereof, which can reduce the impact of processing vibration on processing quality and equipment life.

[0006] In a first aspect, the technical solution adopted by the present invention to solve the above-mentioned technical problems is: a laser cutting machine, including a bed, a gantry frame movably disposed on the bed in the X direction, a cutting component movably disposed on the gantry frame in the Y direction, and further including: a counterweight block, the counterweight block being movably disposed in the bed in the X direction, the counterweight block being able to move synchronously with the gantry frame; a drive component, the drive component being disposed on the bed, the drive component driving the counterweight block to move; a controller, the controller being electrically connected to the drive motor of the gantry frame and the drive component respectively, the controller being able to acquire the motion state parameters of the gantry frame in real time, and calculate the X-direction motion parameters of the counterweight block, the X-direction motion parameters being such that the reverse inertial force generated by the X-direction movement of the counterweight block is equal in magnitude and opposite in direction to the impact force generated by the movement of the gantry frame.

[0007] This invention generates a dynamic reaction force equal in magnitude and opposite in direction to the inertial force of the gantry by using the counterweight's reverse acceleration along the X-axis within the bed. This actively counteracts the impact load generated by the high-speed start-stop and reciprocating motion of the gantry at the source, effectively blocking the rigid path of vibration energy transmission from the guide rail mounting surface to the main structure of the bed. This reduces the vibration amplitude and acceleration response of the bed and the worktable fixed on it, avoiding defects such as periodic ripples, overheating, or incomplete cutting caused by micro-displacement of the workpiece relative to the cutting head focal point. This significantly improves machining accuracy and surface quality. At the same time, since the rigid system formed by the bed, worktable, and support platform is no longer subjected to periodic excitation forces close to its own natural frequency, resonance is actively suppressed, and structural fatigue damage is greatly reduced, thereby extending the service life of key load-bearing components such as guide rails, lead screws, bearings, and bed welds.

[0008] Furthermore, it also includes a sliding plate, which is movably mounted on the bed along the X-axis. The counterweight is movably mounted on the sliding plate along the Y-axis. The drive assembly includes a Y-axis motor and an X-axis motor, both of which are electrically connected to the controller. The X-axis motor is mounted on the bed and drives the sliding plate to move via a lead screw and nut assembly. The Y-axis motor is mounted on the sliding plate and drives the counterweight to move along the Y-axis via a lead screw and nut assembly. The controller can also acquire the motion state parameters of the cutting assembly in the Y-axis in real time and calculate the Y-axis motion parameters of the counterweight. The Y-axis motion parameters ensure that the reverse inertial force generated by the Y-axis movement of the counterweight is equal in magnitude and opposite in direction to the impact force generated by the movement of the cutting assembly. The counterweight can also move synchronously with the cutting assembly.

[0009] This invention combines an X-axis motor and a Y-axis motor to drive the slide plate and the counterweight, respectively. This allows the counterweight to move synchronously with the cutting assembly along the Y-axis and generate an equal and opposite inertial force. This actively counteracts the impact load generated by the high-speed movement of the cutting assembly in the Y-axis dimension, further expanding the dimension of vibration cancellation. It not only solves the vibration problem caused by the X-axis movement of the gantry, but also effectively suppresses the vibration transmission of the cutting assembly's Y-axis movement to the bed and worktable. It achieves active vibration control in both the X and Y axes, significantly improving the stability and reliability of the laser cutting machine in high-precision and high-efficiency processing scenarios, while also taking into account the compactness of the equipment structure and the response speed of the control system.

[0010] Furthermore, a support platform is provided on one side of the bed, the support platform is not connected to the bed, vibration isolation components are provided at the bottom of the legs of the support platform, and an exchange assembly is provided on the support platform. The exchange assembly is connected to two exchange tables, which are arranged one above the other and are movably mounted on the support platform and the bed.

[0011] This invention cuts off the rigid connection path between the support platform and the bed through a split design, so that the vibration energy generated by the high-speed movement of the gantry cannot be directly transmitted to the support platform and the exchange table through the rigid structure. This greatly reduces the interference of bed vibration on loading and unloading operations and avoids problems such as exchange table displacement, workpiece falling or positioning deviation caused by vibration.

[0012] Furthermore, both the support platform and the bed are movably provided with positioning pins, which can extend into the exchange table.

[0013] Furthermore, a vibration sensor is provided on the exchange platform, and the vibration sensor is electrically connected to the controller. The vibration sensor is used to acquire the residual vibration waveform of the exchange platform.

[0014] This invention implements a closed-loop control mechanism through vibration sensors, which improves the response speed and accuracy of vibration suppression, enhances the system's adaptability to complex working conditions, effectively reduces cutting quality defects (such as cross-sectional ripples and overheating) and workpiece displacement risks caused by vibration, and avoids overcompensation or resonance hazards by monitoring vibration status in real time, further extending the life of the equipment structure. It realizes a technological upgrade from passive vibration reduction to active and intelligent vibration reduction, and improves the stability and reliability of laser cutting machines in high-speed and high-precision processing.

[0015] Secondly, the present invention also provides a vibration reduction method for a laser cutting machine, which uses the aforementioned laser cutting machine and includes the following steps: S01: Real-time acquisition of motion state parameters of the gantry and the cutting assembly, wherein the motion state parameters include at least motion direction, speed and acceleration; S02: Based on the obtained motion state parameters of the gantry and the cutting assembly, calculate the Y-axis motion parameters and X-axis motion parameters of the counterweight. The Y-axis motion parameters and the X-axis motion parameters both include the motion direction, speed and acceleration, so that the reverse inertial force generated when the counterweight moves is equal in magnitude and opposite in direction to the impact force generated when the gantry and the cutting assembly move. S03: Drive the counterweight to move according to the calculated Y-axis motion parameters and X-axis motion parameters, so that the reverse inertial force of the counterweight and the impact force generated by the gantry and the cutting assembly act synchronously on the bed, thereby offsetting the impact of the gantry and the cutting assembly on the bed and reducing vibration transmission.

[0016] This invention establishes an active vibration reduction process from real-time monitoring of motion status and precise calculation of inertial force to active response of the counterweight. It achieves bidirectional synergistic suppression of vibrations generated by the X-axis motion of the gantry and the Y-axis motion of the cutting component, effectively blocking the transmission path of vibration energy to the machine bed and worktable. At the same time, the method suppresses local flutter and torsional vibration of the whole machine in the scenario of simultaneous processing of multiple workpieces by balancing the change of the system's center of mass through the reverse inertial force of the counterweight, preventing the scrapping of the entire plate caused by workpiece displacement. Furthermore, by actively avoiding the coupling between the excitation frequency and the system's natural frequency by changing the system's mass distribution and stiffness matrix, it greatly eliminates the risk of resonance and significantly reduces structural fatigue damage.

[0017] Furthermore, in step S01, the controller is communicatively connected to the CNC system and reads in real time the N unexecuted future motion commands in the look-ahead buffer of the CNC system. The motion commands include at least the future motion trajectory of the gantry along the X direction and the future motion trajectory of the cutting component along the Y direction. Each command includes position, velocity, and acceleration planning information. In step S02, the controller obtains the future N motion state parameters and occurrence time of the gantry and the cutting component based on the read future motion commands. The motion state parameters include at least the motion direction, velocity, and acceleration.

[0018] This invention uses a controller that communicates with a CNC system to obtain in advance the future motion trajectories of the gantry along the X direction and the cutting components along the Y direction, as well as the corresponding position, speed, acceleration planning information and occurrence time. This overcomes the lag limitation of relying solely on current feedback and allows the controller to pre-calculate the motion parameters required by the counterweight based on the kinematic characteristics of the future N commands before vibration occurs. This significantly shortens the time delay from vibration generation to counterweight response and ensures that a precise reverse inertial force can be output for synchronous cancellation at the instant the excitation force is applied.

[0019] Furthermore, in S02, the calculation method for the Y-axis motion parameters and X-axis motion parameters of the counterweight is as follows: The speed of the counterweight along the X direction is calculated using the following formula: , in, Let S be the velocity of the counterweight along the X direction. The mass of the gantry and its load-bearing components is a fixed constant. The mass of the counterweight is a fixed constant. The real-time velocity of the gantry along the X direction; The velocity of the counterweight along the Y direction is calculated using the following formula: , in, The velocity of the counterweight along the Y direction is... The mass of the cutting component is a fixed constant. The real-time velocity of the cutting component along the Y direction; The acceleration of the counterweight along the X direction is calculated using the following formula: , in, Let X be the acceleration of the counterweight along the X direction. The acceleration of the gantry crane along the X direction is obtained in real time; The acceleration of the counterweight along the Y direction is calculated using the following formula: , in, Let be the acceleration of the counterweight along the Y direction. The real-time acceleration of the cutting assembly frame along the Y direction; When the gantry moves along the X direction and the cutting assembly moves simultaneously along the Y direction, the Y-axis motor and the X-axis motor rotate together. and Let be the functions of acceleration of the gantry and the cutting assembly with respect to time, respectively. and These are the integral functions of the acceleration of the gantry and the cutting assembly with respect to time, respectively.

[0020] This invention calculates the motion parameters of the counterweight based on the principle of conservation of momentum (i.e., the total momentum of the system is zero), ensuring that the reverse inertial force generated by the counterweight at any moment is equal in magnitude and opposite in direction to the impact force of the gantry and the cutting assembly in real time.

[0021] Furthermore, S02 includes the following steps: S021: The controller parses and acquires the future motion commands of the gantry and the cutting assembly, and determines the time-varying curves of the acceleration of the counterweight in the X and Y directions, respectively. , And the maximum allowable jerk Jmax of the system; S022: The controller calculates the curve. , The change in acceleration Δa at each inflection point is calculated, and the theoretical transition time T of the local region at that inflection point is calculated based on Δa and Jmax.

[0022] Compare T with the preset time threshold The values ​​are compared, and Δa is compared with a preset threshold for the change in acceleration. Compare; S023: When Δa ≥ And T≥ At that time, the controller adopts an S-curve acceleration / deceleration planning algorithm, dividing the X-axis and Y-axis acceleration curves of the counterweight into seven stages in the local region of the inflection point: acceleration segment, uniform acceleration segment, deceleration segment, uniform speed segment, acceleration / deceleration segment, uniform deceleration segment, and deceleration / deceleration segment. The jerk is a piecewise constant value within each stage, and its absolute value does not exceed Jmax. The controller also calculates the time allocation, jerk, velocity curve v(t), and position curve s(t) for each stage. When Δa < Or T < At any time, the controller directly ignores the fluctuations at the inflection point and keeps the original acceleration curve unchanged, achieving natural smoothing through the inertia of the servo system itself; S024: The controller generates servo drive commands for the X-axis motor and the Y-axis motor based on the X-axis and Y-axis position curves s(t) and speed curves v(t); S025: The drive component responds to the servo drive command and drives the counterweight to perform smooth acceleration and deceleration movements along the X and Y directions according to the planned motion curve, so that the reverse inertial force generated by the counterweight and the impact force generated by the gantry and the cutting component are synchronously and continuously canceled out on the time axis.

[0023] This invention elevates the motion control of the counterweight to a smooth acceleration transition level through a seven-segment S-curve planning algorithm based on jerk constraints. This avoids abrupt acceleration changes during start-up, stopping, and reversal, greatly eliminating secondary impacts and mechanical vibrations caused by the counterweight's own unstable motion. By decoupling the X and Y axis motions and planning seven-segment curves separately, it ensures high-precision "point-to-point" synchronization and continuous cancellation of the counterweight's reverse inertial force and the impact force of the gantry / cutting assembly on the time axis. This effectively solves the vibration damping lag or overshoot phenomenon caused by abrupt changes in inertial force in high-speed, high-dynamic scenarios. At the same time, the generated full-element servo drive commands, including position, velocity, acceleration, and jerk, enable the drive assembly to control the counterweight's motion with extremely high smoothness and following accuracy. This significantly improves the dynamic stability and anti-disturbance capability of the entire machine under emergency stop, corner, and variable acceleration processing conditions, achieving flexible vibration damping and precise control.

[0024] Furthermore, in S03, the controller acquires the residual vibration waveform of the exchange table located on the machine bed in real time. The controller compares the residual vibration waveform with the target vibration waveform and calculates the vibration error amplitude and phase deviation at each time point. Based on the vibration error, the controller automatically corrects the motion parameters of the counterweight. For batch repetitive processing tasks of the same type, the controller stores the corrected motion parameters of the counterweight so that the motion of the counterweight corresponds to the processing trajectory. The optimized motion parameters are automatically called up each time processing is performed without recalculation.

[0025] This invention effectively compensates for the deviation between theoretical calculations and actual working conditions through an adaptive control strategy based on real-time vibration feedback, significantly improving the robustness and control accuracy of the vibration reduction system. For batch repetitive processing tasks of the same type, the controller can store the corrected optimized motion parameters, which not only avoids the time loss caused by repeated calculations and improves processing efficiency, but also ensures the consistency and stability of the vibration reduction effect during batch processing, making it particularly suitable for continuous production scenarios of large batches of high-precision parts.

[0026] As can be seen from the above technical solutions, the present invention has the following advantages: This invention provides a laser cutting machine and its vibration reduction method. By using a counterweight to generate a reverse acceleration along the X-axis within the machine bed, a dynamic reaction force equal in magnitude and opposite in direction to the inertial force of the gantry is produced. This actively cancels out the impact loads generated by the high-speed start-stop and reciprocating motion of the gantry at the source, effectively blocking the rigid path of vibration energy transmission from the guide rail mounting surface to the main structure of the machine bed. This reduces the vibration amplitude and acceleration response of the machine bed and the worktable fixed to it, avoiding defects such as periodic ripples, overheating, or incomplete cutting caused by micro-displacement of the workpiece relative to the cutting head focal point. This significantly improves processing accuracy and surface quality. Furthermore, since the rigid system formed by the machine bed, worktable, and support platform is no longer subjected to vibrations at its natural frequency... With similar periodic excitation forces, resonance is actively suppressed, significantly reducing structural fatigue damage and extending the service life of key load-bearing components such as guide rails, lead screws, bearings, and bed welds. By combining X-axis and Y-axis motors to drive the slide plate and counterweight respectively, the counterweight can move synchronously with the cutting assembly along the Y-axis, generating an equal and opposite inertial force. This actively counteracts the impact load generated by the high-speed movement of the cutting assembly in the Y-axis dimension, further expanding the dimension of vibration cancellation. This not only solves the vibration problem caused by the X-axis movement of the gantry but also effectively suppresses the vibration transmission of the cutting assembly's Y-axis movement to the bed and worktable, achieving active vibration control in both the X and Y dimensions. This significantly improves the high-precision performance of the laser cutting machine. This system achieves stability and reliability in high-efficiency machining scenarios while maintaining a compact structure and fast control system response. The split design eliminates the rigid connection between the support platform and the bed, preventing vibration energy from being directly transmitted to the support platform and exchange table. This significantly reduces the impact of bed vibration on loading and unloading operations, avoiding issues such as exchange table displacement, workpiece drop, or positioning deviation caused by vibration. A closed-loop control mechanism implemented using vibration sensors improves the response speed and accuracy of vibration suppression, enhances the system's adaptability to complex working conditions, and effectively reduces cutting quality defects (such as cross-sectional ripples and overheating) and workpiece displacement risks caused by vibration. The controller... By communicating with the CNC system, the future motion trajectories of the gantry along the X direction and the cutting component along the Y direction, as well as the corresponding position, velocity, acceleration planning information, and occurrence time, are obtained in advance. This overcomes the lag limitation of relying solely on current feedback, allowing the controller to pre-calculate the motion parameters required by the counterweight based on the kinematic characteristics of the next N commands before vibration occurs. This significantly shortens the time delay from vibration generation to counterweight response, ensuring that a precise reverse inertial force can be output for synchronous cancellation at the instant the excitation force is applied. The motion parameters of the counterweight are calculated based on the principle of conservation of momentum (i.e., the total momentum of the system is zero), ensuring that the reverse inertial force generated by the counterweight at any moment is equal in magnitude and opposite in direction to the impact force of the gantry and the cutting component in real time.By employing a seven-segment S-curve programming algorithm based on jerk constraints, the motion control of the counterweight is elevated to a smooth acceleration transition level. This avoids abrupt acceleration changes during start-up, stopping, and reversal, significantly reducing secondary impacts and mechanical vibrations caused by the counterweight's own unstable motion. A real-time vibration feedback adaptive control strategy effectively compensates for deviations between theoretical calculations and actual working conditions, significantly improving the robustness and control accuracy of the vibration reduction system. For batch-repetitive processing tasks of the same type, the controller can store corrected optimized motion parameters, avoiding time losses from repetitive calculations, improving processing efficiency, and ensuring the consistency and stability of vibration reduction effects during batch processing. This is particularly suitable for continuous production scenarios of large-volume, high-precision parts. Attached Figure Description

[0027] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a structural schematic diagram of Embodiment 1 of the present invention. Figure 1 .

[0029] Figure 2 This is a structural schematic diagram of Embodiment 1 of the present invention. Figure 2 .

[0030] Figure 3 This is a schematic diagram of the assembly structure of the counterweight and the bed in Embodiment 1 of the present invention.

[0031] Figure 4 This is a schematic diagram of the assembly structure of the exchange station and support platform in Embodiment 1 of the present invention. Figure 1 .

[0032] Figure 5 This is a schematic diagram of the assembly structure of the exchange station and support platform in Embodiment 1 of the present invention. Figure 2 .

[0033] Figure 6 This is a schematic diagram of the assembly structure of the switching component and the support platform in Embodiment 1 of the present invention.

[0034] In the diagram, 1. Bed; 2. Support platform; 3. Exchange table; 4. Gantry frame; 5. Cutting assembly; 6. Positioning cylinder; 7. Exchange assembly; 701. Drive sprocket; 702. Chain; 703. Driven sprocket; 8. Guide rail one; 9. Guide rail two; 11. Vibration isolation component; 12. Positioning pin; 13. Lead screw and nut pair one; 14. Slide plate; 15. X-axis motor; 16. Y-axis motor; 17. Mounting beam; 18. Crossbeam; 19. Slide seat; 20. Main beam; 21. Support beam; 22. Lead screw and nut pair two; 23. Counterweight; 24. Drive assembly. Detailed Implementation

[0035] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] Example 1 In existing technology, the gantry 4 of a high-speed laser cutting machine generates significant inertial force during high-speed reciprocating motion. This inertial force is directly transmitted to the bed 1 through rigid paths such as the guide rail mounting surface, causing the worktable to wobble, resulting in decreased cutting quality and shortened equipment lifespan. To address this problem, such as... Figures 1 to 3 As shown, this embodiment provides a laser cutting machine, including a bed 1, a gantry frame 4, a counterweight 23, a cutting assembly 5, a drive assembly 24, and a controller. The gantry frame 4 is movably mounted on the bed 1 in the X direction, and the cutting assembly 5 is movably mounted on the gantry frame 4 in the Y direction. The counterweight 23 is movably mounted in the bed 1 in the X direction and can move synchronously with the gantry frame 4. The drive assembly 24 is mounted on the bed 1 and drives the counterweight 23 to move. The controller is electrically connected to the drive motor of the gantry frame 4 and the drive assembly 24, and can acquire the movement of the gantry frame 4 in real time. The system calculates the X-axis motion parameters of the counterweight 23, ensuring that the reverse inertial force generated by the X-axis movement of the counterweight 23 is equal in magnitude and opposite in direction to the impact force generated by the movement of the gantry 4. Specifically, the bed 1 is a box-type structure welded from high-strength steel plates, with two parallel linear guides arranged inside along the X-axis. The counterweight 23 is made of high-density cast iron, such as HT250 gray cast iron, and its mass is designed proportionally to the mass of the gantry 4 and the cutting assembly 5, typically ranging from 0.8 to 1.2 times the total mass of the gantry 4 and the cutting assembly 5. The controller is a programmable logic controller or an industrial motion controller, capable of reading the encoder feedback signal of the gantry 4 drive motor in real time to obtain the instantaneous position, velocity, and acceleration of the gantry 4.

[0037] In this embodiment, the counterweight 23 generates a dynamic reaction force in the X-direction within the bed 1 through reverse acceleration along the X direction. This force is equal in magnitude and opposite in direction to the inertial force of the gantry 4. At the source, it actively cancels the impact load generated by the high-speed start-stop and reciprocating motion of the gantry 4. This effectively blocks the rigid path of vibration energy transmitted from the guide rail mounting surface to the main structure of the bed 1, reducing the vibration amplitude and acceleration response of the bed 1 and the worktable fixed on it. This avoids defects such as periodic ripples, overheating, or incomplete cutting caused by micro-displacement of the workpiece relative to the focal point of the cutting head, significantly improving machining accuracy and surface quality. At the same time, since the rigid system formed by the bed 1, the worktable, and the support platform 2 is no longer subjected to periodic excitation forces close to its own natural frequency, resonance is actively suppressed, and structural fatigue damage is significantly reduced. This extends the service life of key load-bearing components such as guide rails, lead screws, bearings, and welds of the bed 1.

[0038] Based on the above, in order to actively cancel out the vibration generated by the 5Y-axis movement of the cutting component, such as... Figure 3As shown, this embodiment further expands the motion dimension of the counterweight 23. The laser cutting machine also includes a slide plate 14, which is movably mounted on the bed 1 along the X direction. The counterweight 23 is movably mounted on the slide plate 14 along the Y direction. The drive assembly 24 includes a Y-axis motor 16 and an X-axis motor 15. Both the Y-axis motor 16 and the X-axis motor 15 are electrically connected to the controller. The X-axis motor 15 is mounted on the bed 1 and drives the slide plate 14 to move through the lead screw and nut pair 13. The Y-axis motor 16 is mounted on the slide plate 14 and drives the counterweight 23 to move along the Y direction through the lead screw and nut pair 22. The controller can also acquire the motion state parameters of the cutting assembly 5 in the Y direction in real time and calculate the Y-axis motion parameters of the counterweight 23. The Y-axis motion parameters make the reverse inertial force generated by the Y-axis movement of the counterweight 23 equal in magnitude and opposite in direction to the impact force generated by the movement of the cutting assembly 5. The counterweight 23 can also move synchronously with the cutting assembly 5. Specifically, the bed 1 includes support beams 21 and main beams 20. The support beams 21 are perpendicular to the main beams 20. At least four main beams 20 are arranged along the Y direction. Mounting beams 17 are provided on the main beams 20. The mounting beams 17 are located between two support beams 21 and are parallel to each other. A lead screw and nut pair 13 is rotatably mounted on the mounting beam 17. The slide plate 14 is a rectangular flat plate structure. Its bottom is mounted on the X-direction linear guide rail on the side of the support beam 21 by a slider. An X-direction motor 15 is fixed to one end of the mounting beam 17. Its output shaft is connected to the lead screw of the lead screw and nut pair 13 through a coupling. The nut on the lead screw is fixedly connected to the slide plate 14, thereby driving the slide plate 14 and all components mounted on it to move along the X direction. On the upper surface of the slide plate 14, two parallel linear guide rails are arranged along the Y direction. A counterweight 23 is mounted on the guide rail by a slider. A Y-direction motor 16 is fixed to one end of the slide plate 14. The output shaft is connected to a lead screw arranged in the Y direction via a coupling to a lead screw nut pair 22. The nut on the lead screw is fixedly connected to the counterweight 23. During operation, the controller calculates not only the motion parameters required for the counterweight 23 in the X direction, but also the motion parameters required for the counterweight 23 in the Y direction. It drives the counterweight 23 to move simultaneously in the X and Y directions, so that the reverse inertial force generated by the counterweight 23 in the X direction cancels the impact force of the gantry 4 moving in the X direction, and the reverse inertial force generated in the Y direction cancels the impact force of the cutting assembly 5 moving in the Y direction. This not only solves the vibration problem caused by the X-direction movement of the gantry 4, but also effectively suppresses the vibration transmission of the cutting assembly 5 moving in the Y direction to the bed 1 and the worktable. It realizes active vibration control in both the X and Y directions, which significantly improves the stability and reliability of the laser cutting machine in high-precision and high-efficiency processing scenarios, while taking into account the compactness of the equipment structure and the response speed of the control system.

[0039] In existing technology, the support platform 2 is usually rigidly connected to the bed 1, causing the vibration of the bed 1 to be directly transmitted to the support platform 2 and the exchange table 3, interfering with loading and unloading operations. To address this problem, such as Figure 1 , Figure 4 , Figure 5 and Figure 6 As shown, this embodiment adopts a split vibration isolation design. A support platform 2 is provided on one side of the bed 1. The support platform 2 is not connected to the bed 1. Vibration isolation components 11 are provided at the bottom of the legs of the support platform 2. An exchange assembly 7 is provided on the support platform 2. The exchange assembly 7 is connected to two exchange platforms 3. The two exchange platforms 3 are arranged vertically and are movably mounted on the support platform 2 and the bed 1. Specifically, the support platform 2 is an independent steel structure frame. A gap of 20mm to 50mm is maintained between it and the bed 1 to ensure that the two do not come into contact under any working conditions. Multiple legs are provided at the bottom of the support platform 2. Each leg is equipped with a rubber vibration isolation pad or an air spring as a vibration isolation component 11 to absorb weak vibrations transmitted from the ground and isolate vibrations generated by the support platform 2 itself. The exchange assembly 7 includes a drive sprocket 701, a driven sprocket 703, and a chain 702 surrounding them. The upper and lower sections of the chain 702 are connected to two exchange tables 3 respectively, and the connection points are located at both ends of the chain 702. Guide rail 1 8 and guide rail 2 9 are provided on both the support platform 2 and the bed 1. The upper exchange table 3 can move along the two guide rails 1 8, and the lower exchange table 3 can move along the guide rail 2 9 without interfering with each other. This embodiment cuts off the rigid connection path between the support platform 2 and the bed 1 through a split design, so that the vibration energy generated by the high-speed movement of the gantry 4 cannot be directly transmitted to the support platform 2 and the exchange table 3 through the rigid structure. This greatly reduces the interference of the bed 1 vibration on the loading and unloading operation and avoids problems such as the exchange table 3 shifting, workpiece falling, or positioning deviation caused by vibration. Furthermore, both the support platform 2 and the bed 1 are movably equipped with positioning pins 12, which can extend into the positioning seat of the exchange table 3. Specifically, positioning cylinders 6 are respectively installed on the bed 1 and the support platform 2. The positioning cylinders 6 are horizontally positioned, and the piston rod end of the positioning cylinder 6 has a conical positioning pin 12. The horizontal positioning of the positioning cylinder 6 drives the positioning pin 12 to move horizontally. A conical positioning seat is provided at the corresponding position on the bottom of the exchange table 3, and its inner hole shape matches the positioning pin 12. When the exchange table 3 moves into position, the positioning cylinder 6 pushes the positioning pin 12 to extend to one side, and the conical surface of the positioning pin 12 fits against the conical surface of the positioning seat, accurately pushing the exchange table 3 to the preset position and locking it, avoiding the workpiece coordinate system offset caused by the position deviation of the exchange table 3, and ensuring the relative positional accuracy between the cutting head and the workpiece.

[0040] In order to achieve closed-loop control and adaptive optimization of vibration reduction effect, this embodiment also introduces a sensor feedback mechanism. Vibration sensors are installed on the exchange station 3, and all vibration sensors are electrically connected to the controller. The vibration sensors are used to obtain the residual vibration waveform of the exchange station 3. Specifically, the vibration sensor uses a triaxial MEMS accelerometer, such as the ADXL345 model, which can detect the minute vibration acceleration of the exchange table 3 in the X, Y, and Z directions in real time. The sensor is installed at the bottom of the exchange table 3 near the four corners. During operation, the controller compares the residual vibration waveform acquired by the vibration sensor with the target vibration waveform (in the ideal zero vibration state, the target waveform is a straight line with zero amplitude in the entire time domain), calculates the correction amount through a proportional-integral-differential algorithm, and corrects the motion parameters of the counterweight 23 in real time, forming a closed-loop control. This improves the response speed and accuracy of vibration suppression, enhances the system's adaptability to complex working conditions, effectively reduces cutting quality defects and workpiece displacement risks caused by vibration, and avoids overcompensation or resonance hazards by monitoring the vibration status in real time, further extending the life of the equipment structure. This achieves a technological upgrade from passive vibration reduction to active and intelligent vibration reduction, improving the stability and reliability of the laser cutting machine in high-speed and high-precision processing.

[0041] like Figure 2 As shown, in this embodiment, the gantry frame 4 includes a crossbeam 18. The two ends of the crossbeam 18 are connected to the two sides of the bed 1 via guide rail slider pairs. A drive motor is provided on one end of the crossbeam 18. The drive motor is connected to a gear, which meshes with a rack on the bed 1. The crossbeam 18 is connected to the cutting assembly 5 via another guide rail slider pair. The cutting assembly 5 includes a slide 19. Another drive motor is provided on the slide 19. The output shaft of the drive motor is connected to a corresponding gear that meshes with the rack on the crossbeam 18. A mounting plate is also connected to the slide 19 via a servo motor and a lead screw nut pair. The mounting plate moves up and down along the Z direction. A laser cutting head is provided on the mounting plate.

[0042] To ensure the installation accuracy of the bed 1 and support platform 2, the installation foundation of this laser cutting machine requires high-strength, high-flatness hardening treatment during installation. This can be achieved by integrally pouring C40 or higher grade concrete and pre-embedding a long, high-precision steel reference platform (material: 45 steel, heat-treated, flatness ≤0.02mm / m, overall flatness ≤0.05mm). Both the bed 1 and support platform 2 are installed on this unified reference platform. Parallelism and perpendicularity calibration are also required. Parallelism calibration involves checking the X / Y axis of the cutting head of the cutting assembly 5 throughout its full stroke, adjusting the leveling bolts of the support platform 2 to ensure that the parallelism between the exchange table 3 and the moving plane of the cutting head of the cutting assembly 5 is ≤0.01mm / m. Perpendicularity calibration uses a high-precision right-angle ruler and dial indicator, adjusting the crossbeam 18 of the gantry 4 to ensure that the perpendicularity between the Z-axis of the cutting head and the exchange table 3 is ≤0.05mm / m.

[0043] Example 2 This embodiment provides a vibration reduction method for a laser cutting machine, using the laser cutting machine described in Embodiment 1, and includes the following steps: S01: Real-time acquisition of motion state parameters of gantry 4 and cutting assembly 5, including at least motion direction, speed and acceleration; S02: Based on the obtained motion state parameters of the gantry 4 and the cutting component 5, calculate the Y-axis motion parameters and X-axis motion parameters of the counterweight 23. The Y-axis motion parameters and X-axis motion parameters include the motion direction, speed and acceleration, so that the reverse inertial force generated when the counterweight 23 moves is equal in magnitude and opposite in direction to the impact force generated when the gantry 4 and the cutting component 5 move. S03: Drive the counterweight 23 to move according to the calculated Y-axis motion parameters and X-axis motion parameters, so that the reverse inertial force of the counterweight 23 and the impact force generated by the gantry 4 and the cutting assembly 5 act synchronously on the bed 1, offsetting the impact force of the gantry 4 and the cutting assembly 5 on the bed 1 and reducing vibration transmission.

[0044] This implementation method forms an active vibration reduction process from real-time monitoring of motion status and accurate calculation of inertial force to active response of counterweight 23. It realizes bidirectional synergistic suppression of vibrations generated by the X-axis movement of gantry 4 and the Y-axis movement of cutting component 5, effectively blocking the transmission path of vibration energy to bed 1 and worktable. At the same time, the method suppresses local flutter and torsional vibration of the whole machine in the scenario of simultaneous processing of multiple workpieces by balancing the change of the system's center of mass through the reverse inertial force of counterweight 23, preventing the scrapping of the whole plate caused by workpiece displacement. Furthermore, by changing the system's mass distribution and stiffness matrix, it actively avoids the coupling between the excitation frequency and the system's natural frequency, greatly eliminating the risk of resonance and significantly reducing structural fatigue damage.

[0045] Control methods that rely on sensors or real-time data from motor encoders inherently suffer from hysteresis, meaning that vibrations can only be detected and responded to after they occur, making perfect cancellation difficult. To address this issue, this implementation introduces a feedforward control mechanism. Specifically, in S01, the controller communicates with the CNC system and reads N unexecuted future motion commands from the CNC system's look-ahead buffer in real time. Each motion command includes at least the future motion trajectory of the gantry 4 along the X direction and the future motion trajectory of the cutting component 5 along the Y direction. Each command includes position, velocity, and acceleration planning information. In S02, the controller, based on the read future motion commands, obtains the future N motion state parameters and their occurrence times for the gantry 4 and the cutting component 5. The motion state parameters include at least the motion direction, velocity, and acceleration. Specifically, the controller establishes a communication connection with the central processing unit of the CNC system via an industrial Ethernet bus (such as EtherCAT). When the CNC system executes the machining program, its look-ahead module pre-parses several subsequent G-code instructions and calculates the X-axis trajectory of the gantry 4 and the Y-axis trajectory of the cutting component 5 corresponding to each instruction, including the target position, planned speed, planned acceleration, and the timestamp of the instruction's expected execution for each interpolation cycle. The controller reads this look-ahead data at a frequency synchronized with the CNC system's interpolation cycle (e.g., once every 1 millisecond). During operation, the controller knows the motion trajectory information for the next 100 milliseconds or even longer before the gantry 4 actually begins to move, thus enabling it to calculate the motion parameters required for the counterweight 23 in advance and drive the counterweight 23 to begin reverse acceleration at the same moment that the gantry 4 and the cutting component 5 begin to move or their speed changes, achieving true synchronous cancellation. This implementation method communicates with the CNC system through the controller, and obtains in advance the future motion trajectory of the gantry 4 along the X direction and the cutting component 5 along the Y direction, as well as the corresponding position, speed, acceleration planning information and occurrence time. It breaks through the lag limitation of relying solely on current feedback, and allows the controller to pre-calculate the motion parameters required by the counterweight 23 based on the kinematic characteristics of the future N commands before the vibration occurs. This significantly shortens the time delay from the generation of vibration to the response of the counterweight 23, and ensures that a precise reverse inertial force can be output for synchronous cancellation at the moment the excitation force is applied.

[0046] To achieve accurate calculation of the motion parameters of the counterweight 23, this embodiment provides specific calculation formulas. In S02, the calculation methods for the Y-axis motion parameters and X-axis motion parameters of the counterweight 23 are as follows: The velocity of counterweight 23 along the X direction is calculated using the following formula: , in, Let S be the velocity of counterweight 23 along the X direction. Let be the total mass of gantry 4 and its load-bearing components, which is a fixed constant. The mass of counterweight 23 is a fixed constant. The real-time velocity of the gantry 4 along the X direction; The velocity of counterweight 23 along the Y direction is calculated using the following formula: , in, The velocity of counterweight 23 along the Y direction, The mass of the cutting component 5 is a fixed constant. The real-time velocity of the cutting component 5 along the Y direction; The acceleration of counterweight 23 along the X direction is calculated using the following formula: , in, Let X be the acceleration of counterweight 23 along the X direction. The acceleration of the gantry 4 along the X direction is obtained in real time; The acceleration of counterweight 23 along the Y direction is calculated using the following formula: , in, Let be the acceleration of counterweight 23 along the Y direction. The real-time acceleration of the five cutting components along the Y direction; When the gantry 4 moves along the X direction and the cutting assembly 5 moves simultaneously along the Y direction, the Y-axis motor 16 and the X-axis motor 15 rotate together. and The accelerations of the gantry 4 and the cutting assembly 5 are functions of time, respectively. and These are the integral functions of the accelerations of the gantry 4 and the cutting assembly 5 with respect to time, respectively. This implementation calculates the motion parameters of the counterweight 23 based on the principle of conservation of momentum (i.e., the total momentum of the system is zero), ensuring that the reverse inertial force generated by the counterweight 23 at any given time remains equal in magnitude and opposite in direction to the impact force of the gantry 4 and the cutting assembly 5.

[0047] In practical engineering applications, the acceleration command calculated directly according to the above formula often has a sudden step change. This sudden change will cause the movement of the counterweight 23 itself to generate an impact, which will become a new source of vibration. In order to solve this problem, this embodiment introduces an S-curve acceleration and deceleration planning algorithm. Specifically, S02 includes the following steps: S021: The controller analyzes the future motion commands of the gantry 4 and the cutting assembly 5, and determines the acceleration curves of the counterweight 23 in the X and Y directions as a function of time. , And the maximum allowable jerk Jmax of the system; S022: Controller Calculation Curve , The change in acceleration Δa at each inflection point is calculated, and the theoretical transition time T of the local region at that inflection point is calculated based on Δa and Jmax.

[0048] Compare T with the preset time threshold The values ​​are compared, and Δa is compared with a preset threshold for the change in acceleration. Compare; S023: When Δa ≥ And T≥ At this time, the controller adopts an S-curve acceleration / deceleration planning algorithm, dividing the acceleration curves of the counterweight 23 in the X and Y directions into seven stages in the local region of the inflection point: acceleration segment, uniform acceleration segment, deceleration segment, uniform speed segment, acceleration / deceleration segment, uniform deceleration segment, and deceleration / deceleration segment. The jerk is a piecewise constant value within each stage, and its absolute value does not exceed Jmax. The controller also calculates the time allocation, jerk, velocity curve v(t), and position curve s(t) for each stage. When Δa < Or T < At any time, the controller directly ignores the fluctuations at the inflection point and keeps the original acceleration curve unchanged, achieving natural smoothing through the inertia of the servo system itself; S024: The controller generates servo drive commands for the X-axis motor 15 and the Y-axis motor 16 based on the X-axis and Y-axis position curves s(t) and velocity curves v(t). S025: The drive component responds to the servo drive command and drives the counterweight 23 to perform smooth acceleration and deceleration motion along the X and Y directions according to the planned motion curve, so that the reverse inertial force generated by the counterweight 23 and the impact force generated by the gantry 4 and the cutting component 5 are synchronously and continuously canceled out on the time axis.

[0049] Specifically, the maximum jerk Jmax is a pre-set system parameter, the value of which is determined based on the responsiveness of the servo motor and the load-bearing capacity of the mechanical structure. In step S021, the controller extracts the acceleration change curves of the gantry 4 and the cutting component 5 from future motion commands. This curve is usually an S-shaped curve or a triangular waveform after smoothing by the CNC system. In step S022, the controller performs a seven-segment planning for the inflection point region of the X-axis and Y-axis acceleration curves of the counterweight 23: the first segment is the acceleration segment, with an acceleration of +Jmax, and the acceleration starts from 0. The acceleration increases linearly to the preset maximum value. The second stage is uniform acceleration, where the jerk is 0 and the acceleration remains at the maximum value. The third stage is deceleration, where the jerk is -Jmax and the acceleration decreases linearly from the maximum value to 0. The fourth stage is uniform speed, where the acceleration is 0 and the speed remains constant. The fifth stage is acceleration / deceleration, where the jerk is -Jmax and the acceleration decreases linearly from 0 to the negative maximum value (i.e., deceleration). The sixth stage is uniform deceleration, where the jerk is 0 and the acceleration remains at the negative maximum value. The seventh stage is deceleration, where the jerk is +Jmax and the acceleration increases linearly from the negative maximum value back to 0. In this embodiment, it is particularly important to emphasize that these seven stages will not all occur in every motion process. When the distance traveled is very short or the change in speed is very small, the uniform acceleration and uniform velocity stages may not exist at all. The entire motion process may consist only of acceleration and deceleration stages, or even be skipped entirely. The controller will automatically determine which stages to activate and how long each stage lasts based on the actual situation. The duration of the acceleration and deceleration stages is determined by dividing the change in acceleration by the maximum acceleration allowed by the system. Both stages are responsible for smoothly transitioning the acceleration from the initial value to the target value. This time is usually very short, only a few milliseconds to tens of milliseconds. After the acceleration transition is complete, if the counterweight needs to maintain the acceleration... If the controller continues to accumulate more speed increments under certain conditions, it will insert a uniform acceleration phase between the acceleration and deceleration phases. The duration of this phase is determined by dividing the amount of speed that still needs to be increased (i.e., the speed gap) by the current acceleration value. The larger the speed gap, the longer the uniform acceleration phase, which may reach hundreds of milliseconds or even longer. When the speed of the counterweight reaches the target value, if the motion command requires it to continue moving a certain distance, the controller will also insert a uniform speed phase. The duration of this phase is directly determined by dividing the remaining moving distance by the current speed. The time allocation of the acceleration / deceleration phase, uniform deceleration phase, and deceleration phase in the deceleration phase is completely symmetrical with that in the acceleration phase. It is also dynamically calculated based on the change in deceleration and the amount of speed that needs to be reduced.By using this seven-segment division, potential acceleration abrupt changes are replaced by a complete, slope-controlled smooth curve. The acceleration curve becomes a continuous, piecewise linearly varying line or smooth curve, with no further slope abrupt changes at its inflection points. The controller calculates the position curve s(t) and velocity curve v(t) by piecewise integration based on the start and end times of each stage, and then generates a smooth servo drive command containing all elements of position, velocity, and acceleration. This completely eliminates acceleration abrupt changes in the counterweight 23 during start-up, stopping, and reversing, accurately generating the inertial force required to counteract the impact of the gantry 4 without introducing secondary vibrations due to its own uneven movement, thus achieving smooth movement of the counterweight 23. (For example, setting...) = 5 m / s², = 10 milliseconds. When the inflection point of the acceleration curve of counterweight 23 is Δa = 8 m / s², if Jmax = 800 m / s³, then T = 8 / 800 = 0.01 seconds = 10 milliseconds, which meets the conditions for enabling the seven-segment planning. When the counterweight 23 only needs to change from 0.5 m / s² to 0.8 m / s², Δa = 0.3 m / s², and T is much less than the threshold, then the seven-segment planning is skipped, and the servo system's own inertia allows for natural smoothing.

[0050] There are often deviations between theoretical calculations and actual working conditions, such as changes in the guide rail friction coefficient and workpiece quality fluctuations. These deviations can cause the vibration reduction effect under open-loop control to fall short of the ideal state. To solve this problem, in S03, the controller acquires the residual vibration waveform of the exchange table 3 located on the bed 1 in real time. The controller compares the residual vibration waveform with the target vibration waveform and calculates the vibration error amplitude and phase deviation at each time point. Based on the vibration error, the controller automatically corrects the motion parameters of the counterweight 23. For batch repetitive machining tasks of the same type, the controller stores the corrected motion parameters of the counterweight 23, so that the motion of the counterweight 23 corresponds to the machining trajectory. The optimized motion parameters are automatically called up each time machining is performed, without the need for recalculation. Specifically, the vibration sensor detects the residual vibration acceleration value of the exchange table 3 in real time at a high sampling rate (e.g., once every 0.5 milliseconds). The controller compares the detected actual vibration waveform with the theoretical zero-vibration target waveform point by point to obtain the vibration error signal. After being processed by a proportional-integral-derivative controller, the error signal is converted into a correction value Δa. This correction value is added to the target acceleration of the counterweight 23 calculated in the previous step. Thus, if vibration is still detected on the exchange table 3, the correction value will change the actual motion parameters of the counterweight 23, causing the reverse inertial force to adjust in a direction that can further counteract the vibration, until the residual vibration approaches the set range. When processing a certain batch of parts for the first time, the controller will undergo the above closed-loop correction process and record the optimal motion parameter sequence of the counterweight 23 after the entire process is completed. This sequence is then associated with the identifier of the current processing program and stored in non-volatile memory. When processing the same batch of parts for the second time and thereafter, the controller directly calls the stored optimized parameters to drive the counterweight 23, without needing to go through the vibration correction iteration process again, achieving immediate use. This implementation method effectively compensates for the deviation between theoretical calculations and actual working conditions through an adaptive control strategy based on real-time vibration feedback, significantly improving the robustness and control accuracy of the vibration reduction system. For batch repetitive processing tasks of the same type, the controller can store the corrected optimized motion parameters, which not only avoids the time loss caused by repeated calculations and improves processing efficiency, but also ensures the consistency and stability of the vibration reduction effect during batch processing, making it particularly suitable for continuous production scenarios of large batches and high-precision parts.

[0051] In step S03, the vibration sensor continuously acquires the instantaneous acceleration signals of the exchange table 3 located on the bed 1 in the X and Y directions. These signals constitute the original waveform reflecting the real-time forced vibration state of the bed 1 and the worktable. The controller first performs bandpass filtering on the original waveform. Then, the controller calculates the instantaneous vibration error value at the current moment by subtracting the residual vibration waveform from the pre-stored target vibration waveform point by point in each control cycle. This vibration error signal is simultaneously sent to three parallel processing paths: in the proportional path, the error signal is multiplied by a proportional gain coefficient to obtain a value proportional to the current error amplitude. The time-based correction component is used to quickly respond to vibration deviations at the current moment. In the integral path, the error signal is accumulated and integrated over time and multiplied by the integral gain coefficient to obtain a correction component related to the historical accumulated error, used to eliminate steady-state residual vibrations caused by static unbalanced forces or frictional resistance. In the derivative path, the rate of change of the derivative of the error signal with respect to time is calculated and multiplied by the derivative gain coefficient to obtain a predictive correction component related to the vibration change trend, used to suppress spikes in the vibration waveform and improve the dynamic stability of the system. The controller adds the correction components output from the above three paths in real time to synthesize a total correction amount Δa. The proportional-integral-derivative (PID) regulator built into the controller calculates the correction acceleration Δa(t) according to the following formula:

[0052] Where e(t) is the difference between the actual vibration acceleration collected by the vibration sensor and the target vibration waveform; Kp, Ki, and Kd are the preset proportional, integral, and derivative gain coefficients, respectively. In a specific embodiment, the parameters of the PID controller can be initialized to: Kp = 0.5~2.0, Ki = 0.1~0.5, Kd = 0.05~0.2. The controller superimposes the calculated corrected acceleration Δa(t) onto the theoretical acceleration a(t) calculated in step S02, i.e., a′(t) = a(t) + Δa(t), thereby dynamically adjusting the actual motion parameters of the counterweight (23) to achieve closed-loop suppression of residual vibration.

[0053] As can be seen from the above specific embodiments, the present invention has the following beneficial effects: 1. The counterweight 23 generates a dynamic reaction force in the X-direction within the bed 1 through the reverse acceleration along the X direction, which is equal in magnitude and opposite in direction to the inertial force of the gantry 4. This actively cancels the impact load generated by the high-speed start-stop and reciprocating motion of the gantry 4 at the source, effectively blocking the rigid path of vibration energy transmitted to the main structure of the bed 1 through the guide rail mounting surface. This reduces the vibration amplitude and acceleration response of the bed 1 and the worktable fixed on it, avoiding defects such as periodic ripples, overheating, or incomplete cutting caused by micro-displacement of the workpiece relative to the focal point of the cutting head. This significantly improves the processing accuracy and surface quality. At the same time, since the rigid system formed by the bed 1, the worktable, and the support platform 2 is no longer subjected to periodic excitation forces close to its own natural frequency, the resonance phenomenon is actively suppressed, and structural fatigue damage is greatly reduced, thereby extending the service life of key load-bearing components such as the guide rail, lead screw, bearing, and bed 1. 2. By combining the X-axis motor 15 and the Y-axis motor 16 to drive the slide plate and the counterweight 23 respectively, the counterweight 23 can move synchronously with the cutting component 5 along the Y-axis and generate an equal and opposite inertial force. This actively counteracts the impact load generated by the high-speed movement of the cutting component 5 in the Y-axis dimension, further expanding the dimension of vibration cancellation. This not only solves the vibration problem caused by the X-axis movement of the gantry 4, but also effectively suppresses the vibration transmission of the cutting component 5 to the bed 1 and the worktable in the Y-axis movement. It realizes active vibration control in both the X and Y axes, significantly improving the stability and reliability of the laser cutting machine in high-precision and high-efficiency processing scenarios, while also taking into account the compactness of the equipment structure and the response speed of the control system. 3. The split design cuts off the rigid connection path between the support platform 2 and the bed 1, so that the vibration energy generated by the high-speed movement of the gantry 4 cannot be directly transmitted to the support platform 2 and the exchange table 3 through the rigid structure. This greatly reduces the interference of the bed 1 vibration on the loading and unloading operation and avoids problems such as the exchange table 3 shifting, workpiece falling or positioning deviation caused by vibration. 4. The closed-loop control mechanism implemented through vibration sensors improves the response speed and accuracy of vibration suppression, enhances the system's adaptability to complex working conditions, and effectively reduces cutting quality defects (such as cross-sectional ripples and overheating) and workpiece displacement risks caused by vibration. 5. By communicating with the CNC system through the controller, the future motion trajectory of the gantry 4 along the X direction and the cutting component 5 along the Y direction, as well as the corresponding position, speed, acceleration planning information and occurrence time, can be obtained in advance. This breaks through the lag limitation of relying solely on current feedback. It allows the controller to pre-calculate the motion parameters required by the counterweight 23 based on the kinematic characteristics of the future N commands before the vibration occurs. This significantly shortens the time delay from the generation of vibration to the response of the counterweight 23, ensuring that a precise reverse inertial force can be output for synchronous cancellation at the moment the excitation force is applied. 6. Calculate the motion parameters of the counterweight 23 according to the principle of conservation of momentum (i.e., the total momentum of the system is zero) to ensure that the reverse inertial force generated by the counterweight 23 at any time is equal in magnitude and opposite in direction to the impact force of the gantry 4 and the cutting component 5. 7. By using a seven-segment S-curve planning algorithm based on accelerometer constraints, the motion control of counterweight 23 is elevated to the level of smooth acceleration transition, which avoids abrupt acceleration changes in counterweight 23 during start-up, stopping and reversing, and greatly eliminates secondary impacts and mechanical vibrations caused by the unstable motion of counterweight 23 itself. 8. Through the adaptive control strategy of real-time vibration feedback, the deviation between theoretical calculation and actual working conditions is effectively compensated, which significantly improves the robustness and control accuracy of the vibration reduction system. For batch repetitive processing tasks of the same type, the controller can store the corrected optimized motion parameters, which not only avoids the time loss caused by repeated calculations and improves processing efficiency, but also ensures the consistency and stability of the vibration reduction effect during batch processing. It is especially suitable for continuous production scenarios of large batches and high-precision parts.

[0054] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A laser cutting machine comprising a bed (1) on which a gantry (4) is movably arranged in the X direction, on which a cutting assembly (5) is movably arranged in the Y direction, characterized in that, Also includes: A counterweight (23) is movably disposed in the bed (1) along the X direction, and the counterweight (23) can move synchronously with the gantry (4); A drive assembly (24) is mounted on the bed (1) and drives the counterweight (23) to move. The controller is electrically connected to the drive motor of the gantry (4) and the drive assembly (24). The controller can acquire the motion state parameters of the gantry (4) in real time and calculate the X-direction motion parameters of the counterweight (23). The X-direction motion parameters make the reverse inertial force generated by the X-direction movement of the counterweight (23) equal in magnitude and opposite in direction to the impact force generated by the movement of the gantry (4).

2. The laser cutting machine of claim 1, wherein, It also includes a slide plate (14), which is movably mounted on the bed (1) in the X direction. A counterweight (23) is movably mounted on the slide plate (14) in the Y direction. The drive assembly (24) includes a Y-axis motor (16) and an X-axis motor (15). Both the Y-axis motor (16) and the X-axis motor (15) are electrically connected to the controller. The X-axis motor (15) is mounted on the bed (1) and drives the slide plate (14) to move via a lead screw and nut assembly (13). The Y-axis motor (16) is mounted on the bed (1). On the slide plate (14), the Y-axis motor (16) drives the counterweight (23) to move along the Y-axis through the lead screw nut pair (22). The controller can also acquire the motion state parameters of the cutting component (5) in the Y-axis in real time and calculate the Y-axis motion parameters of the counterweight (23). The Y-axis motion parameters make the reverse inertial force generated by the Y-axis movement of the counterweight (23) equal in magnitude and opposite in direction to the impact force generated by the movement of the cutting component (5). The counterweight (23) can also move synchronously with the cutting component (5).

3. The laser cutting machine of claim 2, wherein, A support platform (2) is provided on one side of the bed (1). The support platform (2) is not connected to the bed (1). A vibration isolation component (11) is provided at the bottom of the legs of the support platform (2). An exchange component (7) is provided on the support platform (2). The exchange component (7) is connected to two exchange platforms (3). The two exchange platforms (3) are arranged vertically. The exchange platforms (3) are movably arranged on the support platform (2) and the bed (1).

4. The laser cutting machine of claim 3, wherein, Both the support platform (2) and the bed (1) are movably provided with positioning pins (12), which can extend into the exchange table (3).

5. The laser cutting machine of claim 3, wherein, A vibration sensor is provided on the exchange station (3), and the vibration sensor is electrically connected to the controller. The vibration sensor is used to acquire the residual vibration waveform of the exchange station (3).

6. A method of damping a laser cutting machine, characterized in that, The laser cutting machine as described in claim 5 includes the following steps: S01: Real-time acquisition of motion state parameters of the gantry (4) and the cutting assembly (5), the motion state parameters including at least motion direction, speed and acceleration; S02: Based on the obtained motion state parameters of the gantry (4) and the cutting assembly (5), calculate the Y-axis motion parameters and X-axis motion parameters of the counterweight (23). The Y-axis motion parameters and the X-axis motion parameters both include the motion direction, speed and acceleration, so that the reverse inertial force generated when the counterweight (23) moves is equal in magnitude and opposite in direction to the impact force generated when the gantry (4) and the cutting assembly (5) move. S03: Drive the counterweight (23) to move according to the calculated Y-axis motion parameters and X-axis motion parameters, so that the reverse inertial force of the counterweight (23) and the impact force generated by the gantry (4) and the cutting assembly (5) act synchronously on the bed (1), offsetting the impact force of the gantry (4) and the cutting assembly (5) on the bed (1) and reducing vibration transmission.

7. The method of claim 6, wherein the laser cutting machine is a laser cutting machine according to any one of claims 1 to 5. In S01, the controller is connected to the CNC system and reads the N future motion commands that have not been executed in the look-ahead buffer of the CNC system in real time. The motion commands include at least the future motion trajectory of the gantry (4) along the X direction and the future motion trajectory of the cutting component (5) along the Y direction. Each command includes position, speed and acceleration planning information. In S02, the controller obtains the future N motion state parameters and occurrence time of the gantry (4) and the cutting component (5) according to the read future motion commands. The motion state parameters include at least the motion direction, speed and acceleration.

8. The method of claim 7, wherein the laser cutting machine is a laser cutting machine according to any one of claims 1 to 6. In S02, the calculation methods for the Y-axis motion parameters and X-axis motion parameters of the counterweight (23) are as follows: The speed of the counterweight (23) along the X direction is calculated by the following formula: ， wherein, Vx is the speed of the counterweight (23) along the X direction, Mtot is the total mass of the gantry (4) and of the load carried thereby and is a fixed constant, m is the mass of the counterweight (23) and is a fixed constant, Vx is the speed of the gantry (4) along the X direction, acquired in real time; The velocity of the counterweight (23) along the Y direction is calculated using the following formula: ， wherein, is the velocity of the counterweight (23) along the Y direction, is the mass of the cutting assembly (5) and is a constant, is the instantaneous speed of the cutting assembly (5) along the Y direction; The acceleration of the counterweight (23) along the X direction is calculated using the following formula: ， wherein is the acceleration of the counterweight (23) in the X direction, is the acceleration of the gantry (4) in the X direction acquired in real time; The acceleration of the counterweight (23) along the Y direction is calculated using the following formula: ， wherein, is the acceleration of the counterweight (23) in the Y direction, is the acceleration of the motion of the cutting assembly (5) carriage in the Y direction acquired in real time; When the gantry (4) moves in the X direction and the cutting assembly (5) moves in the Y direction at the same time, the Y motor (16) and the X motor (15) rotate in the same direction, wherein and are the acceleration functions of the gantry (4) and the cutting assembly (5) with respect to time, respectively, and are the integral functions of the acceleration of the gantry (4) and the cutting assembly (5) with respect to time, respectively.

9. The vibration reduction method for a laser cutting machine as described in claim 7, characterized in that, S02 includes the following steps: S021: The controller parses and obtains the future motion commands of the gantry (4) and the cutting assembly (5), and determines the acceleration curves of the counterweight (23) in the X and Y directions respectively as a function of time. , And the maximum allowable jerk Jmax of the system; S022: The controller calculates the curve. , The change in acceleration Δa at each inflection point is calculated, and the theoretical transition time T of the local region at that inflection point is calculated based on Δa and Jmax. ， Compare T with the preset time threshold The values ​​are compared, and Δa is compared with a preset threshold for the change in acceleration. Compare; S023: When Δa ≥ And T≥ At that time, the controller adopts an S-curve acceleration / deceleration planning algorithm to divide the acceleration curves of the counterweight (23) in the X and Y directions into seven stages in the local area of ​​the inflection point: acceleration segment, uniform acceleration segment, deceleration segment, uniform speed segment, acceleration / deceleration segment, uniform deceleration segment, and deceleration / deceleration segment. Among them, the jerk is a piecewise constant value in each stage, and its absolute value does not exceed Jmax. The time allocation, jerk, velocity curve v(t), and position curve s(t) of each stage are calculated. When Δa < Or T < At any time, the controller directly ignores the fluctuations at the inflection point and keeps the original acceleration curve unchanged, achieving natural smoothing through the inertia of the servo system itself; S024: The controller generates servo drive commands for the X-axis motor (15) and the Y-axis motor (16) based on the X-axis and Y-axis position curves s(t) and velocity curves v(t); S025: The drive component responds to the servo drive command and drives the counterweight (23) to perform smooth acceleration and deceleration motion along the X and Y directions according to the planned motion curve, so that the reverse inertial force generated by the counterweight (23) and the impact force generated by the gantry (4) and the cutting component (5) are synchronously and continuously canceled on the time axis.

10. The vibration reduction method for a laser cutting machine as described in claim 9, characterized in that, In S03, the controller acquires the residual vibration waveform of the exchange table (3) located on the bed (1) in real time. The controller compares the residual vibration waveform with the target vibration waveform and calculates the vibration error amplitude and phase deviation at each time point. Based on the vibration error, the controller automatically corrects the motion parameters of the counterweight (23). For batch repetitive processing tasks of the same type, the controller stores the corrected motion parameters of the counterweight (23) so that the motion of the counterweight (23) corresponds to the processing trajectory. The optimized motion parameters are automatically called up each time processing is performed without recalculation.

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