Alternating table laser processing method

Abstract

The present invention provides an alternating table laser processing method, the alternating table laser processing device adopts the alternating table laser processing method, the alternating table laser processing device includes a base and at least two mobile working platforms for supporting materials to be processed, at least two mobile working platforms sequentially pass through the loading position, processing position and unloading position on the base, and move alternately, the alternating table laser processing method includes: when the first mobile working platform of the two adjacent mobile working platforms is located at the processing position and the second mobile working platform is located at the loading position, the speed V0 and the unprocessed length L0 of the first mobile working platform at the processing position are obtained; according to the speed V0 and the unprocessed length L0, the movement process of the second mobile working platform from the loading position to the processing position is planned; wherein, after the first mobile working platform is processed, the second mobile working platform moves to keep at least a safe distance L from the first mobile working platform and passes through the processing position at a uniform speed of V0. The present invention solves the problems of low laser utilization and low production capacity in laser processing in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of laser processing equipment, and in particular to an alternating table laser processing method. Background Art

[0002] In the traditional laser processing process, a DD (direct driver) motor and a multi-station rotary table structure are generally used. The table rotates in a cycle and stops at the corresponding station, and processes such as loading, processing, and unloading are performed. This structure cannot perform loading, processing, and unloading at the same time when the DD motor rotates. This will cause the laser module to have waiting time during rotation, and uninterrupted continuous processing cannot be achieved. The production time of the equipment is generally composed of the sum of the laser processing time and the automated serial time. When the laser processing time required in the equipment process is very short, the automated serial time (DD motor rotation) will account for a large proportion, the laser processing time will account for a low proportion, the laser utilization rate will be low, and the production capacity will also be relatively low.

[0003] That is to say, the laser processing in the prior art has the problems of low laser utilization and low production capacity. Summary of the invention

[0004] The main purpose of the present invention is to provide an alternating table laser processing method to solve the problems of low laser utilization and low production capacity in laser processing in the prior art.

[0005] In order to achieve the above-mentioned object, the present invention provides an alternating table laser processing method. The alternating table laser processing device adopts the alternating table laser processing method. The alternating table laser processing device includes a base and at least two movable working platforms for supporting materials to be processed. The at least two movable working platforms sequentially pass through the loading position, processing position and unloading position on the base and move alternately. The alternating table laser processing method includes:

[0006] When the first one of two adjacent mobile working platforms is located at the processing position and the second one is located at the loading position, the processing speed V0 and the unprocessed length L0 of the first mobile working platform at the processing position are obtained; the movement process of the second mobile working platform from the loading position to the processing position is planned according to the speed V0 and the unprocessed length L0; wherein, after the processing of the first mobile working platform is completed, the second mobile working platform moves to keep at least a safe distance L from the first mobile working platform and passes through the processing position at a uniform speed of V0.

[0007] Furthermore, in the process of planning the movement process of the next mobile working platform from the loading position to the processing position according to the speed V0 and the unprocessed length L0, the following steps are included: Step S10: judging whether the next mobile working platform can catch up with the previous mobile working platform when the processing of the previous mobile working platform is completed according to the unprocessed length L0 and the speed V0, if it can, executing step S20, if not, executing step S30; Step S20: adjusting the movement process of the next mobile working platform to the movement process under the first working condition; wherein, when the processing of the previous mobile working platform is completed, the next mobile working platform moving in the movement process under the first working condition maintains a safe distance L from the previous mobile working platform and passes through the processing position at a uniform speed of V0, and the two mobile working platforms pass through the processing position continuously; Step S30: adjusting the movement process of the next mobile working platform to the movement process under the second working condition, and the movement process under the second working condition is to first accelerate the next mobile working platform at a limit acceleration a, and then move the next mobile working platform to the processing position at a limit acceleration a. max Accelerate the movement to reach the maximum speed V max Run at a constant speed for a period of time, then accelerate at the limit acceleration a max Perform deceleration movement to a speed V0; wherein, when the processing of the previous mobile working platform is completed, the next mobile working platform moving in the motion process under the second working condition maintains a distance L2 greater than the safety distance L with the previous mobile working platform and passes through the processing position at a uniform speed V0.

[0008] Further, step S10 further includes: step S11: calculating the waiting time t0 of the previous mobile working platform according to the unprocessed length L0 and speed V0 of the previous mobile working platform; step S12: calculating the next mobile working platform with a limit acceleration a max Accelerate the movement and accelerate to the maximum speed V max After a period of uniform motion, the limit acceleration a max Perform deceleration movement and decelerate to speed V0 and the movement time t when the next mobile working platform moves to the processing position; Step S13: Determine the size of the movement time t and the processing time t0. If the movement time t is less than the processing time t0, execute step S20; if the movement time t is greater than the processing time t0, execute step S30.

[0009] Further, in step S20, the motion process under the first working condition includes: the next mobile working platform first accelerates and then decelerates to a speed V0; or the next mobile working platform first accelerates and then moves at a constant speed and then decelerates to a speed V0.

[0010] Furthermore, in the process of adjusting the next mobile work platform to first accelerate and then decelerate to a speed V0, the acceleration of the next mobile work platform is adjusted to the optimal acceleration a1; the next mobile work platform reaches a speed V2 after accelerating at the optimal acceleration a1 for a movement time t1; the next mobile work platform reaches a speed V0 after decelerating at the optimal acceleration a1 for a movement time t3, and maintains a safe distance L from the previous mobile work platform.

[0011] Furthermore, the process of the rear mobile work platform first accelerating and then maintaining a constant speed and then decelerating to a speed V0 includes: adjusting the acceleration of the rear mobile work platform to the optimal acceleration a1; the rear mobile work platform accelerates at the optimal acceleration a1 for time t1 and reaches a speed V2; the rear mobile work platform moves at a constant speed at speed V2 for time t2; the rear mobile work platform decelerates at the optimal acceleration a1 for time t3 and reaches a speed V0, and maintains a safe distance L from the front mobile work platform.

[0012] Furthermore, during the process in which the latter mobile working platform moves at a constant speed V2 for a time period t2, the time t2 remains unchanged.

[0013] Furthermore, the process in which the rear mobile work platform first accelerates and then decelerates to a speed V0 includes: the rear mobile work platform reaches a speed V2 after accelerating for a preset acceleration time t1; the time for the rear mobile work platform to move at a uniform speed V2 is adjusted to an optimal time t2; the rear mobile work platform reaches a speed V0 after decelerating for a preset acceleration time t3, and maintains a safe distance L from the front mobile work platform.

[0014] Furthermore, in the process of adjusting the next mobile working platform to first accelerate and then decelerate to the speed V0, the acceleration of the next mobile working platform is N*a max , and the speed V2 reached after acceleration is P*V max , where N and P are any numbers between 0.6 and 1; or in the process of adjusting the next mobile working platform to first accelerate and then decelerate to a constant speed and then to a speed V0, the acceleration of the next mobile working platform is N*a max , and the speed V2 reached after acceleration is P*V max , where N and P are any numbers between 0.6 and 1.

[0015] Furthermore, the alternating table laser processing method further includes: Step S40: the previous mobile working platform moves from the processing position to the unloading position and then moves from the unloading position to the loading position using an arc trajectory.

[0016] Applying the technical solution of the present invention, an alternating tabletop laser processing device adopts an alternating tabletop laser processing method, the alternating tabletop laser processing device includes a base and at least two mobile working platforms for supporting materials to be processed, at least two mobile working platforms pass through the loading position, processing position and unloading position on the base in sequence, and return to the loading position, the alternating tabletop laser processing method includes: when the first mobile working platform of two adjacent mobile working platforms is located at the processing position and the second mobile working platform is located at the loading position, the speed V0 and the unprocessed length L0 of the first mobile working platform at the processing position are obtained; the movement process of the second mobile working platform from the loading position to the processing position is planned according to the speed V0 and the unprocessed length L0; wherein, after the first mobile working platform completes the processing, the second mobile working platform moves to maintain at least a safety distance L from the first mobile working platform and passes through the processing position at a uniform speed of V0.

[0017] By obtaining the processing speed V0 and unprocessed length L0 of the previous mobile working platform, the movement process of the next mobile working platform between the loading position and the processing position is planned, and the initial speed of the next mobile working platform is 0, and the distance between the loading position and the processing position is known. The movement state of the next mobile working platform is changed according to the movement state and processing state of the previous mobile working platform, so that when the processing of the previous mobile working platform is completed, the next mobile working platform reaches the minimum distance that can catch up with the previous mobile working platform, thereby ensuring the processing efficiency of the alternating table laser processing device, increasing the utilization rate of the laser, and increasing the production capacity of the alternating table laser processing device.

[0018] Moreover, when the two mobile work platforms can catch up at the processing position, the movement process of the latter mobile work platform from the loading position to the processing position can be planned to obtain the optimal speed change, maximize the use of the acceleration and deceleration performance and high response characteristics of the alternating table laser processing device, and enable the two adjacent mobile work platforms to switch seamlessly at the processing position. In this way, on the premise of meeting continuous processing, the time occupied by auxiliary processes is further reduced, thereby improving laser utilization and increasing production capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 A schematic structural diagram of an alternating table laser processing device according to a first embodiment of the present invention is shown; and

[0021] Figure 2 Shows Figure 1A state diagram of the alternating table laser processing device;

[0022] Figure 3 Shows Figure 1 Another state diagram of the alternating table laser processing device;

[0023] Figure 4 Shows Figure 1 Schematic diagram of the cycle process of the two mobile working platforms;

[0024] Figure 5 Shows Figure 1 Schematic diagram of the catching-up relationship between the second mobile working platform and the first mobile working platform;

[0025] Figure 6 Shows Figure 5 The relationship between the speed and time of the second mobile working platform;

[0026] Figure 7 A graph showing the relationship between the speed and time of the second mobile working platform at different lengths to be processed L0 according to the first embodiment of the present invention is shown;

[0027] Figure 8 A graph showing the relationship between the speed and time of the second mobile working platform at different lengths to be processed L0 according to the second embodiment of the present invention is shown;

[0028] Fig. 9 A schematic diagram showing the catching-up relationship between the second mobile working platform and the first mobile working platform in the third embodiment of the present invention is shown;

[0029] Fig.10 Shows Fig. 9 The relationship between the speed and time of the second mobile working platform;

[0030] Fig.11 A processing flow chart showing an alternate table laser processing method according to an optional embodiment of the present invention;

[0031] Fig.12 Shows Fig.11 Processing flow chart of step S1102;

[0032] Fig.13 Shows Fig.12 Processing flow chart of step S10;

[0033] Fig.14 A schematic diagram showing the relationship between the entire time and speed of the alternating operation of two movable working platforms of an alternating table laser processing device according to an optional embodiment of the present invention is shown.

[0034] The above drawings include the following reference numerals:

[0035] 10. Base; 11. Loading position; 12. Processing position; 13. Unloading position; 20. Mobile working platform; 23. Linear motor; 30. Laser. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0038] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0039] In order to solve the problems of low laser utilization and low productivity in laser processing in the prior art, the present invention provides an alternating table laser processing method.

[0040] like Figures 1 to 14 As shown, the alternating table laser processing device adopts an alternating table laser processing method, the alternating table laser processing device includes a base 10 and at least two mobile working platforms 20 for supporting materials to be processed, at least two mobile working platforms 20 pass through the loading position 11, processing position 12 and unloading position 13 on the base 10 in sequence, and move alternately, the alternating table laser processing method includes: step S1101: when the previous mobile working platform 20 of the two adjacent mobile working platforms 20 is located at the processing position 12 and the next mobile working platform 20 is located at the loading position 11, the speed V0 and the unprocessed length L0 of the previous mobile working platform 20 at the processing position 12 are obtained; step S1102: according to the speed V0 and the unprocessed length L0, the movement process of the next mobile working platform 20 from the loading position 11 to the processing position 12 is planned; wherein, after the processing of the previous mobile working platform 20 is completed, the next mobile working platform 20 moves to keep at least a safe distance L from the previous mobile working platform 20 and passes through the processing position 12 at a uniform speed of V0.

[0041] By obtaining the processing speed V0 and unprocessed length L0 of the previous mobile work platform 20, the movement process of the next mobile work platform 20 between the loading position 11 and the processing position 12 is planned, and the initial speed of the next mobile work platform 20 is 0, and the distance between the loading position 11 and the processing position 12 is known. The movement state of the next mobile work platform 20 is changed according to the movement state and processing state of the previous mobile work platform 20, so that when the processing of the previous mobile work platform 20 is completed, the next mobile work platform 20 and the previous mobile work platform 20 reach the minimum distance that can catch up, thereby ensuring the processing efficiency of the alternating table laser processing device, increasing the utilization rate of the laser, and increasing the production capacity of the alternating table laser processing device.

[0042] Of course, when the rear mobile work platform 20 catches up with the front mobile work platform 20, there will be a time when it cannot catch up. When it cannot catch up, it has been moving at the maximum acceleration and maximum speed allowed by the device, so that the rear mobile work platform 20 and the front mobile work platform 20 reach the minimum distance, which can also improve the processing efficiency of the alternating table laser processing device.

[0043] It should be noted that alternating motion means that one of the two adjacent mobile work platforms 20 starts from entering the processing position 12, and the other mobile work platform 20 leaves the processing position 12 and unloads materials at the unloading position 13, moves from the unloading position 13 to the loading position 11 and loads materials, and then catches up with the previous mobile work platform 20 that is processing at the processing position 12, until the previous mobile work platform 20 completes the processing, and the distance between the latter mobile work platform 20 and the previous mobile work platform 20 reaches the minimum distance allowed by the equipment to catch up, and so on.

[0044] Specifically, the process of planning the movement of the next mobile working platform 20 from the loading position 11 to the processing position 12 according to the speed V0 and the unprocessed length L0 includes:

[0045] Step S10: judging whether the next mobile working platform 20 can catch up with the previous mobile working platform 20 when the previous mobile working platform 20 is finished processing according to the unprocessed length L0 and the speed V0, if so, executing step S20, if not, executing step S30;

[0046] Step S20: adjusting the motion process of the next mobile working platform 20 to the motion process under the first working condition; wherein, when the processing of the previous mobile working platform 20 is completed, the next mobile working platform 20 moving in the motion process under the first working condition maintains a safe distance L with the previous mobile working platform 20 and passes through the processing position 12 at a uniform speed V0, and the two mobile working platforms 20 pass through the processing position 12 continuously;

[0047] Step S30: The movement process of the mobile working platform 20 after adjustment is the movement process under the second working condition. The movement process under the second working condition is to first accelerate the mobile working platform 20 at the limit acceleration a. max Accelerate the movement to reach the maximum speed V max Run at a constant speed for a period of time, then accelerate at the limit acceleration a max Perform deceleration movement to a speed V0; wherein, when the processing of the previous mobile working platform 20 is completed, the next mobile working platform 20 moving in the motion process under the second working condition maintains a distance L2 greater than the safety distance L with the previous mobile working platform 20 and passes through the processing position 12 at a uniform speed V0.

[0048] When the latter mobile work platform 20 can catch up with the former mobile work platform 20, the latter mobile work platform 20 maintains a safe distance L with the former mobile work platform 20 and passes through the processing position 12 at a constant speed of V0, so that after the former mobile work platform 20 is processed, the latter mobile work platform 20 immediately enters the processing position 12 for processing, realizing continuous processing and ensuring the processing efficiency of the alternating table laser processing device. In addition, the movement process of the latter mobile work platform 20 from the loading position 11 to the processing position 12 is planned to obtain the optimal speed change, and the acceleration and deceleration performance and high response characteristics of the alternating table laser processing device are maximized, so that the two adjacent mobile work platforms 20 can be seamlessly switched at the processing position 12, thereby further reducing the time occupied by the auxiliary process on the premise of satisfying continuous processing, thereby improving the laser utilization rate and increasing production capacity.

[0049] When the latter mobile working platform 20 cannot catch up with the former mobile working platform 20, the latter mobile working platform 20 adopts the limit acceleration a that the alternating table laser processing device can withstand. max Accelerate the movement and then reach the maximum speed V that the alternating table laser processing device can withstand max Run at a constant speed for a period of time, then the limit acceleration a max The speed is decelerated to V0. When the processing of the previous mobile work platform 20 is completed, the next mobile work platform 20 just reaches the speed V0. Although the distance between the next mobile work platform 20 and the previous mobile work platform 20 is greater than the safety distance L at this time, the distance between the next mobile work platform 20 and the previous mobile work platform 20 has been shortened as much as possible. Under the condition that the equipment allows, the maximum utilization rate of the laser of the equipment has been achieved.

[0050] Considering that each time the next mobile working platform 20 moves to the loading position 11 and stops, the unprocessed length L0 of the previous mobile working platform 20 may be different, the technical solution of the present application is proposed, and the next mobile working platform 20 is adjusted according to the different unprocessed length L0 each time. Of course, the unprocessed length L0 can also be the same, depending on the specific processing situation.

[0051] The processing efficiency of the alternating table laser processing device is ensured by adjusting the motion process of the latter mobile working platform 20. In the motion process under the first working condition, if the alternating table laser processing device equipment allows, the latter mobile working platform 20 can catch up with the former mobile working platform 20 to achieve continuous processing. In the motion process under the second working condition, the latter mobile working platform can also move in the optimal motion process and catch up with the former mobile working platform 20 in the shortest time under the conditions allowed by the equipment.

[0052] The alternating table laser processing device in the present application can effectively improve the laser utilization rate by adjusting the motion state of the next mobile working platform 20 during each cycle.

[0053] Specifically, step S10 also includes:

[0054] Step S11: Calculating the waiting time t0 of the previous mobile working platform 20 according to the unprocessed length L0 and speed V0 of the previous mobile working platform 20;

[0055] Step S12: Calculate the next mobile working platform 20 with a limit acceleration a max Accelerate the movement and accelerate to the maximum speed V max After a period of uniform motion, the limit acceleration a max The movement time t when the deceleration motion is performed and decelerated to the speed V0 and the next mobile working platform 20 moves to the processing position 12;

[0056] Step S13: Determine the size of the movement time t and the waiting time t0. If the movement time t is less than the waiting time t0, execute step S20; if the movement time t is greater than the waiting time t0, execute step S30.

[0057] Since the distance between the loading position 11 and the processing position 12 is known, when the distance moved by the next mobile working platform 20 from the loading position 11 to the processing position 12 is known, the limit acceleration a max , maximum speed V max, the speed V0 is known, so the movement time t of the next mobile working platform 20 from the loading position 11 to the processing position 12 can be calculated. If the movement time t is less than the processing time t0, it proves that the next mobile working platform 20 can catch up with the previous mobile working platform 20. If the movement time t is greater than the processing time t0, it proves that the next mobile working platform 20 cannot catch up with the previous mobile working platform 20.

[0058] Specifically, step S20 further includes: adjusting the next mobile work platform 20 to accelerate first and then decelerate to the speed V0; or adjusting the next mobile work platform 20 to accelerate first and then move at a constant speed and then decelerate to the speed V0. In the case where the next mobile work platform 20 can catch up with the previous mobile work platform 20, the next mobile work platform 20 can have two movement situations, one is that the next mobile work platform 20 accelerates first and then decelerates to the speed V0; the other is that the next mobile work platform 20 accelerates first and then moves at a constant speed and then decelerates to the speed V0.

[0059] Specifically, in the process of adjusting the second mobile working platform 20 to accelerate first and then decelerate to the speed V0, the acceleration of the second mobile working platform 20 is adjusted so that the second mobile working platform 20 is accelerated first and then decelerated to the speed V0 and maintains a safe distance L with the first mobile working platform 20. In this process, the motion state of the second mobile working platform can be adjusted only by adjusting the acceleration of the second mobile working platform 20 so that the second mobile working platform 20 can catch up with the first mobile working platform 20. In this case, the acceleration of the second mobile working platform 20 corresponding to different unprocessed lengths L0 is different, so that the second mobile working platform 20 can catch up with the first mobile working platform 20 with the optimal acceleration, thereby reducing the energy consumption of the equipment and improving the laser utilization rate.

[0060] Specifically, the process of the following mobile working platform 20 accelerating first, then moving at a constant speed, and then decelerating to a speed V0 includes: adjusting the acceleration of the following mobile working platform or the time of the constant speed motion of the following mobile working platform, so that the following mobile working platform 20 accelerates first, then moves at a constant speed, and then decelerates to a speed V0 and keeps a safe distance L from the preceding mobile working platform 20. In this process, for different unprocessed lengths L0, the motion state of the following mobile working platform 20 can be adjusted by adjusting the acceleration of the following mobile working platform 20, or by adjusting the time of the constant speed motion of the following mobile working platform 20. When adjusting the time of the constant speed motion, an acceleration can be preset, which has the highest applicability.

[0061] Prerequisites:

[0062] The moving speed of the previous mobile working platform 20 when processing at the processing position 12 is constant, which is speed V0;

[0063] Generally speaking, speed V0 can be confirmed through laser processing effect testing. Taking the present application as an example, when the processing material passes through the laser processing device at speed V0, it is the maximum processing speed when the processing effect is good (it can realize processes such as scribing, ablation or doping, and the processing is uniform and the processing edges are neat).

[0064] Optionally, the speed V0 may also be obtained by other means of the prior art, which will not be described in detail here.

[0065] There is a limit acceleration a in the alternating table laser processing device max The limit speed or maximum speed V max .

[0066] Generally, the limiting acceleration a max It is determined by the thrust of the linear motor 23 and the motion load, and can be obtained by testing the alternating table mechanism. The maximum acceleration that can move smoothly is the limit acceleration a max According to actual operation calculation or simulation, the actual maximum acceleration during the entire operation is a max ; When the motion cycle is met, the actual acceleration a should be as small as possible to reduce motion impact and hardware wear (if a is calculated max If the actual acceleration a is much larger than the actual acceleration a, a linear motor with a smaller thrust specification can be considered 23). According to the processing requirements, when the production capacity is not affected, the movement time is sufficient, or for more stable operation of the equipment, the actual acceleration a can be less than the limit acceleration a. max , preferably 60%-100% of the limit acceleration.

[0067] Generally, the maximum speed V max V is the maximum speed at which the linear motor 23 can stably run when loaded. According to the processing requirements, when the production capacity is not affected, the movement time is sufficient, or for more stable operation of the equipment, the maximum speed finally reached in this actual acceleration stage can be less than V max , preferably 60%-100% of the maximum speed.

[0068] (Since the next mobile working platform 20 has to stop when loading materials at the loading position 11, the initial speed of the next mobile working platform 20 is 0, and the speed to reach the processing position 12 must be speed V0. Therefore, in order to reduce the time from the loading position 11 to the processing position 12) the speed change process from the loading position 11 to the processing position 12 always includes acceleration and deceleration processes.

[0069] In order to prevent the two platforms from colliding, a fixed safety distance L is set between the two platforms when they rotate in the processing position 12, L>0. The speed and acceleration mentioned in the article shall not be greater than the limit acceleration a when the equipment is running stably. max and maximum speed V max .

[0070] The distance between the loading position 11 and the laser processing point of the processing position 12 is constant and known, which is Lp.

[0071] Specifically, the alternating table laser processing method also includes: the previous mobile working platform 20 moves to the unloading position 13 to unload; the previous mobile working platform 20 moves from the unloading position 13 to the loading position 11 to load. When one mobile working platform 20 is unloading or loading, an adjacent mobile working platform 20 is processing.

[0072] It should be noted that the front and back of the previous mobile working platform 20 and the next mobile working platform 20 are defined for the convenience of description according to the order in which the mobile working platforms 20 move. After the previous mobile working platform 20 completes processing and returns to the loading position 11, it becomes the next mobile working platform 20 again, and this is repeated for the next cycle.

[0073] Specifically, the previous mobile working platform 20 moves from the processing position 12 to the unloading position 13 and then moves from the unloading position 13 to the loading position 11 in an arc trajectory. The arc trajectory means that the mobile working platform can move in the horizontal direction and the vertical direction at the same time. This moving trajectory is in the form of an arc, which can reduce the time occupied by the auxiliary process and increase the laser utilization rate and processing efficiency of the alternating table laser processing device.

[0074] like Figures 1 to 3 As shown, the alternating table laser processing device adopts the above-mentioned alternating table laser processing method, and the alternating table laser processing device includes a base 10, at least two mobile working platforms 20 and a laser 30. The base 10 has a loading position 11, a processing position 12 and a unloading position 13; the mobile working platform 20 passes through the loading position 11, the processing position 12 and the unloading position 13 in sequence, and then returns from the unloading position 13 to the loading position 11, the material to be processed is placed on the mobile working platform 20, and the laser 30 is arranged above the base 10. The laser 30 is located at the processing position 12 to process the material to be processed on the base 10. The alternating table laser processing device adopting the above-mentioned alternating table laser processing method has the advantages of high laser utilization and high processing efficiency, and can realize continuous processing.

[0075] Specifically, the mobile working platform 20 includes a linear motor 23, a lifting structure and a working platform. The linear motor 23 is arranged on the base 10, the lifting structure is arranged on the linear motor 23, and the mobile working platform 20 is arranged on the lifting structure. The linear motor 23 can drive the lifting structure to move left and right along the extension direction (i.e., the horizontal direction) of the base 10, and the lifting structure can drive the working platform to move up and down in the vertical direction, so that the mobile working platform 20 can move left and right, can also move up and down, or move left and right and move up and down at the same time. Preferably, the mobile working platform 20 is arranged on both sides of the base 10 and stacked in the vertical direction to prevent collision with each other when running at the same time while saving space. Processing materials can be placed on the working platform, and when the processing materials pass through the processing position 12 at a certain speed, the laser 30 processes the processing materials. It is necessary to stop loading at the loading position 11, and stop unloading at the unloading position 13.

[0076] Optionally, the route from the loading position 11 to the processing position 12 and then to the unloading position 13 and the route from the unloading position 13 to the loading position 11 may also be arranged in the horizontal direction.

[0077] The loading position 11 and the unloading position 13 are respectively provided with a loading mechanism and a unloading mechanism for loading and unloading, and a laser 30 is arranged above the processing position 12. The loading mechanism and the unloading mechanism can be a manipulator, a conveyor belt, etc. of the prior art, which are the prior art and will not be described in detail here. The laser 30 can also be selected by technicians in the technical field according to the situation, which will not be described in detail here.

[0078] When the alternating table laser processing device is running, a mobile work platform 20 drives the material to be processed thereon to pass through the processing position 12 at a certain speed, and completes the laser processing while passing through. In order to enable the two mobile work platforms 20 to perform continuous processing at the processing position 12 (that is, the mobile work platform 20 can continuously move through relative to the processing position 12), the movement trajectory and movement law of the mobile work platform 20 need to be optimized, among which the movement before the two mobile work platforms 20 alternate is more important, that is, the latter mobile work platform 20 needs to complete the loading and accelerate to catch up with the previous mobile work platform 20 that is being processed. When the previous mobile work platform 20 just completes the processing, the latter mobile work platform 20 is just separated from the previous mobile work platform 20 by a safe distance L (to avoid collision between the two), and the speed of the latter mobile work platform 20 is the same as that of the previous mobile work platform 20. That is, while the first mobile working platform 20 is processing from the start to the completion, the second mobile working platform 20 is performing the auxiliary process from the unloading position 13 to the loading position 11 to the processing position 12, thereby realizing the rapid switching of the two mobile working platforms 20 and improving the utilization rate and output of the laser.

[0079] In order to ensure that the previous mobile working platform 20 is within the processing time, the next mobile working platform 20 can complete the cycle and catch up with the previous mobile working platform 20 at a reasonable speed and acceleration in the same time period. According to the difference in processing cycle of different products (i.e. the time for different products to completely pass through the reference processing position 12), the number of products on the working platform can be reasonably set; if the processing cycle of a single product is long, one product (processing material) can be set on the mobile working platform 20; if the processing cycle of a single product is short, two or more products can be set on the mobile working platform 20.

[0080] That is to say, within the processing time of one mobile working platform 20, another mobile working platform 20 needs to complete the acceleration of leaving the processing position 12 and moving to the unloading position 13, the unloading position 13 completes unloading, accelerates to return to the loading position 11, the loading position 11 completes loading, and accelerates to catch up with the previous mobile working platform 20. In the process of unloading at the unloading position 13 and loading at the loading position 11, both are in a static state, and the time consumed is relatively fixed. In the process of accelerating to return to the loading position 11, it is no-load operation. Under the premise of ensuring the stability of the equipment, it should run at the fastest speed allowed by the equipment and consume the shortest time to return to the loading position 11. In the process of accelerating to leave the processing position 12 and accelerating to catch up with the previous mobile working platform 20, both are loaded operation.

[0081] like Fig.14 As shown, the complete interaction process and the corresponding speed-time diagram (the diagram corresponds to only one of them, and the speed change from the loading position 11 to the processing position 12 is first accelerated and then decelerated. Later, it may also accelerate first, then uniformly speed up, and finally decelerate, but the situation is similar). Among them, T2+T9+T7+T3+T8 is a cycle, T2+T9+T7+T3+T8≤T1, among which T1 is the processing time of a single processing material, T2 is the time for loading the processing material, T9 is the time from the completion of loading the processing material to catching up with the previous material, T7 is the time for the processing material to move from the processing position 12 to the unloading position 13 after processing, T3 is the time for unloading the processing material, and T8 is the time for the processing material to return from the unloading position 13 to the loading position 11.

[0082] Embodiment 1

[0083] Specifically, in the process of adjusting the second mobile work platform 20 to accelerate first and then decelerate to the speed V0, the acceleration of the second mobile work platform 20 is adjusted to the optimal acceleration a1; the second mobile work platform 20 accelerates at the optimal acceleration a1 for a time t1 and reaches the speed V2; the second mobile work platform 20 decelerates at the optimal acceleration a1 for a time t3 and reaches the speed V0, and maintains a safe distance L from the first mobile work platform 20. In this process, the second mobile work platform 20 first accelerates and then decelerates. In order to facilitate the control of the second mobile work platform 20, the magnitude of the acceleration during the acceleration movement is adopted as the optimal acceleration a1, and the magnitude of the acceleration during the deceleration movement is also the optimal acceleration a1.

[0084] like Figure 6 and Figure 7 As shown, under the first working condition, when the previous mobile working platform 20 completes processing and leaves the processing position 12, the next mobile working platform 20 can catch up with the previous mobile working platform 20, and the distance L2 between the next mobile working platform 20 and the previous mobile working platform 20 is equal to the safety distance L.

[0085] The following is a specific description of the case where a mobile working platform 20 first accelerates at the optimal acceleration a1 and then decelerates to a speed V0:

[0086] The optimal acceleration a1 only indicates the magnitude of the acceleration, not the direction of the acceleration.

[0087] It should be noted that the optimal acceleration a1 of the latter mobile working platform 20 in this process is constant.

[0088] The process in which the next mobile working platform 20 accelerates at the optimal acceleration a1 and then decelerates to the speed V0 includes: the next mobile working platform 20 accelerates at the optimal acceleration a1 and reaches the speed V2 after the movement time t1; the next mobile working platform 20 decelerates at the optimal acceleration a1 and reaches the speed V0 after the movement time t3; wherein the optimal acceleration a1, time t1 and time t3 satisfy formulas (1) to (3);

[0089] 1 / 2*a1*t1*t1+1 / 2*(a1*t1+V0)*t3=L1 Formula (1)

[0090] V0=a1*(t1-t3) Formula (2)

[0091] t1+t3=L0 / V0 formula (3).

[0092] Among them, the speed V0, the length to be processed L0 and the distance L1 are known (because the distance Lp between the laser processing point from the loading position 11 to the processing position 12 is constant and known, and L2=L is also constant and known, then Lp-L2=L1 is known; and when the latter mobile working platform 20 is located at the loading position, its distance L' from the previous mobile working platform 20 can be directly obtained, such as by the grating ruler set on the alternating table laser processing device, that is, Lp-L'=L0 is known). The optimal acceleration a1, time t1 and time t3 can be obtained by formula (1) to formula (3), and the speed V2 can also be obtained at the same time, that is, the entire speed change process diagram is obtained.

[0093] At the same time, the solution of acceleration a1 can be directly obtained through formulas (1) to (3):

[0094] Figure 7 To ensure that the optimal acceleration a1 is less than the limit acceleration a max Under the condition of , different motion trajectories corresponding to different lengths to be processed L0. It can be seen that when the length to be processed L0 is smaller, t1+t3 is smaller, and the corresponding a1 is larger. In the figure, L0 of acceleration change trajectory 1 is less than L0 of acceleration change trajectory 2 and L0 of acceleration change trajectory 3, a 11 >a 21 >a 31 .

[0095] In this embodiment, the optimal acceleration a1 is 0.6 to 1 times a max ; and the maximum speed V2 is also 0.6 to 1 times V max .

[0096] Embodiment 2

[0097] The difference from the first embodiment is that the movement state of the latter mobile working platform 20 is different.

[0098] It can be that the process of the rear mobile work platform 20 first accelerating and then moving at a constant speed and then decelerating to a speed V0 includes: adjusting the acceleration of the rear mobile work platform 20 to the optimal acceleration a1; the rear mobile work platform 20 accelerates at the optimal acceleration a1 for time t1 and reaches a speed V2; the rear mobile work platform 20 moves at a constant speed at speed V2 for time t2; the rear mobile work platform 20 decelerates at the optimal acceleration a1 for time t3 and reaches a speed V0, and maintains a safe distance L from the previous mobile work platform 20.

[0099] Alternatively, the process in which the subsequent mobile work platform 20 first accelerates and then decelerates to a speed V0 includes: the subsequent mobile work platform 20 reaches a speed V2 after accelerating for a preset acceleration time t1; the time for the subsequent mobile work platform 20 to move at a uniform speed V2 is adjusted to an optimal time t2; the subsequent mobile work platform 20 reaches a speed V0 after decelerating for a preset acceleration time t3, and maintains a safe distance L from the previous mobile work platform 20.

[0100] In this embodiment, the optimal acceleration a1 is 0.6 to 1 times a max ; and the maximum speed V2 is also 0.6 to 1 times V max .

[0101] In this embodiment, the latter mobile working platform 20 is first accelerated at the optimal acceleration a1 and then decelerated at a constant speed to a speed V0. For this solution, there are two cases, one is that the acceleration remains unchanged and the time t2 of the constant speed stage is changed; the other is that the acceleration is variable. This case is relatively complicated, but the principle is similar. For the sake of simplicity, if the time t2 of the constant speed stage can be fixed, the optimal acceleration a1 and speed V2 can also be obtained conveniently, which will not be repeated here.

[0102] The following is a specific explanation using the example of changing the time t2 of the uniform speed stage while keeping the acceleration unchanged.

[0103] Specifically, the process of the next mobile working platform 20 accelerating at the optimal acceleration a1 and then decelerating at a constant speed to a speed V0 includes: the next mobile working platform 20 accelerates at the optimal acceleration a1 and reaches a speed V2 after a movement time t1; the next mobile working platform 20 runs at a constant speed of V2 for a time t2; the next mobile working platform 20 decelerates at the optimal acceleration a1 and reaches a speed V0 after a movement time t3;

[0104] The optimal acceleration a1, time t1, time t2 of uniform motion, and time t3 satisfy formulas (4) to (7);

[0105] 1 / 2*a1*t1*t1+a1*t1*t2+1 / 2*(a1*t1+V0)*t3=L1 Formula (4)

[0106] V0=a1*(t1-t3) Formula (5)

[0107] t1+t2+t3=L0 / V0 formula (6)

[0108] a1=N*a max Formula (7);

[0109] Here, N is a number between 0.6 and 1.

[0110] Among them, the speed V0, the length to be processed L0 and the distance L1 are known. Assuming that N is known, that is, (a number between 0.6 and 1), the optimal acceleration a1, time t1, time t2 and time t3 of uniform motion can be obtained by formulas (4) to (7). At the same time, the speed V2 can also be obtained, that is, the entire speed change process diagram is obtained.

[0111] In this case, when L0 is small, that is, the distance of unprocessed material on the previous mobile work platform 20 is relatively short, the next mobile work platform 20 can catch up with the previous mobile work platform 20 by shortening the time t2 of the intermediate uniform speed stage without changing the acceleration.

[0112] like Figure 8 As shown, by changing the uniform motion time, the motion state of the next mobile working platform 20 is adjusted. It can be known that when L0 is smaller, t1+t2+t3 is smaller, and the corresponding uniform motion stage time t2 is smaller. Figure 8 In the above figure, L0 of acceleration change trajectory 1 is less than L0 of acceleration change trajectory 2, and L0 of acceleration change trajectory 3 is less than L0. 12 <t 22 <t 32 .

[0113] Embodiment 3

[0114] The difference from the first embodiment is that the movement state of the latter mobile working platform 20 is different.

[0115] like Fig. 9 and Fig.10 As shown, the latter mobile working platform 20 is at a limit acceleration a max Accelerates and reaches maximum speed V after movement time t1 max ; The next mobile working platform 20 at the maximum speed V max The time t2 of uniform speed operation; the next mobile working platform 20 is at the limit acceleration a max The movement is decelerated and reaches speed V0 after movement time t3.

[0116] In this embodiment, the following mobile working platform 20 cannot catch up with the preceding mobile working platform 20 , and the distance L2 between the following mobile working platform 20 and the preceding mobile working platform 20 is greater than the safety distance L between the preceding mobile working platform 20 and the following mobile working platform 20 .

[0117] In this case, the actual calculated optimal acceleration a1 is greater than the limit acceleration a max , that is, the next mobile working platform 20 must exceed the limit acceleration a allowed by the equipmentmax The optimal acceleration a1 of the laser processing device can catch up with the previous mobile working platform 20, but the alternating table laser processing device cannot provide an acceleration greater than the limit acceleration a1. max To avoid damaging the equipment. Therefore, in view of this situation, the latter mobile working platform 20 is kept at the allowable limit acceleration a max , maximum speed V max The machine moves and decelerates to speed V0 before entering the processing position, then runs at a constant speed for a period of time.

[0118] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0119] 1. A structure in which two mobile working platforms 20 operate alternately is adopted. According to the processing speed and processing cycle of the processed materials, the speed and spacing of the front and rear materials are reasonably matched, so that the mobile working platform 20 can maintain a continuous state during the process of moving from the loading position 11 to the unloading position 13, especially the processing position 12, thereby maximizing the reduction of the waiting time of the laser, structurally ensuring that the laser is always in the processing state, and improving the proportion of laser processing time, thereby improving the utilization rate of the laser and increasing production capacity.

[0120] 2. The present application makes maximum use of the acceleration and deceleration performance and high response characteristics of the linear motor 23 by planning the movement of the two mobile working platforms 20, thereby improving the utilization rate of the performance of the linear motor 23 and enabling the alternating tables to switch seamlessly at the laser processing position 12. This further reduces the time occupied by auxiliary processes while meeting the premise of continuous processing, thereby improving laser utilization and increasing production capacity.

[0121] 3. This application can set up one or more products on the work platform according to the processing requirements of different materials, that is, different sizes and processing speeds, with strong compatibility.

[0122] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0123] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0124] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0125] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An alternating table laser processing method, characterized in that: An alternating table laser processing device adopts the alternating table laser processing method, the alternating table laser processing device comprises a base (10) and at least two movable working platforms (20) for supporting materials to be processed, the at least two movable working platforms (20) sequentially passing through a loading position (11), a processing position (12) and a unloading position (13) on the base (10) and moving alternately, the alternating table laser processing method comprising: When the first one of the two adjacent mobile working platforms (20) is located at the processing position (12) and the second one of the mobile working platforms (20) is located at the loading position (11), the processing speed V0 and the unprocessed length L0 of the first one of the mobile working platforms (20) at the processing position (12) are obtained; and the movement process of the second one of the mobile working platforms (20) from the loading position (11) to the processing position (12) is planned according to the speed V0 and the unprocessed length L0; wherein, after the processing of the first mobile working platform (20) is completed, the second mobile working platform (20) moves to a position that keeps at least a safety distance L from the first mobile working platform (20) and passes through the processing position (12) at a uniform speed V0; The process of planning the movement of the mobile working platform (20) from the loading position (11) to the processing position (12) according to the speed V0 and the unprocessed length L0 includes: Step S10: judging, based on the unprocessed length L0 and the speed V0, whether the next mobile working platform (20) can catch up with the previous mobile working platform (20) when the previous mobile working platform (20) completes processing; if so, executing step S20; if not, executing step S30; Step S20: adjusting the movement process of the mobile working platform (20) to be the movement process under the first working condition; When the processing of the first mobile working platform (20) is completed, the second mobile working platform (20) moving in the motion process under the first working condition maintains the safety distance L with the first mobile working platform (20) and passes through the processing position (12) at a uniform speed V0, and the two mobile working platforms (20) pass through the processing position (12) continuously; Step S30: The movement process of the mobile working platform (20) is adjusted to be a movement process under a second working condition, wherein the movement process under the second working condition is to first accelerate the mobile working platform (20) at a limit acceleration a. max Accelerate the movement to reach the maximum speed V max Run at a constant speed for a period of time, and then accelerate at the limit acceleration a max Perform deceleration movement to the speed V0; When the processing of the first mobile working platform (20) is completed, the second mobile working platform (20) moving in the motion process under the second working condition maintains a distance L2 greater than the safety distance L from the first mobile working platform (20) and passes through the processing position (12) at a uniform speed V0; The step S10 further includes: Step S11: calculating the waiting time t0 of the previous mobile working platform (20) according to the unprocessed length L0 and the speed V0 of the previous mobile working platform (20); Step S12: Calculate the next mobile working platform (20) with the limit acceleration a max Accelerate the movement and accelerate to the maximum speed V max After a period of uniform motion, the limit acceleration a max The movement time t when the mobile working platform (20) performs a deceleration movement and decelerates to the speed V0 and then moves to the processing position (12); Step S13: Determine the size of the movement time t and the processing time t0. If the movement time t is less than the processing time t0, execute the step S20; if the movement time t is greater than the processing time t0, execute the step S30.

2. The alternating table laser processing method according to claim 1, characterized in that: In the step S20, the movement process under the first working condition includes: The latter mobile working platform (20) is first accelerated and then decelerated to the speed V0; or The latter mobile working platform (20) is first accelerated and then decelerated at a constant speed to the speed V0.

3. The alternating table laser processing method according to claim 2, characterized in that: In the process of adjusting the latter mobile working platform (20) to first accelerate and then decelerate to the speed V0, The acceleration of the mobile working platform (20) is adjusted to an optimal acceleration a1; The latter mobile working platform (20) accelerates at the optimal acceleration a1 for a time t1 and reaches a speed V2; The latter mobile working platform (20) reaches the speed V0 after a deceleration time t3 at the optimal acceleration a1, and maintains the safety distance L from the former mobile working platform (20).

4. The alternating table laser processing method according to claim 2, characterized in that: The process in which the mobile working platform (20) first accelerates, then maintains a constant speed, and then decelerates to the speed V0 comprises: The acceleration of the mobile working platform (20) is adjusted to an optimal acceleration a1; The latter mobile working platform (20) accelerates at the optimal acceleration a1 for a time t1 and reaches a speed V2; The latter mobile working platform (20) moves at a constant speed V2 for a time t2; The latter mobile working platform (20) reaches the speed V0 after a deceleration time t3 at the optimal acceleration a1, and maintains the safety distance L from the former mobile working platform (20).

5. The alternating table laser processing method according to claim 4, characterized in that: During the process of the latter mobile working platform (20) moving at a constant speed of the speed V2 for a time period t2, the time t2 remains unchanged.

6. The alternating table laser processing method according to claim 2, characterized in that: The process in which the latter mobile working platform (20) is first accelerated and then decelerated at a constant speed to the speed V0 comprises: The latter mobile working platform (20) accelerates at a preset acceleration and reaches a speed V2 after a time t1; After the adjustment, the time during which the mobile working platform (20) moves at the speed V2 uniformly becomes the optimal time t2; The latter mobile working platform (20) reaches the speed V0 after decelerating at the preset acceleration for a time t3, and maintains the safety distance L from the former mobile working platform (20).

7. The alternating table laser processing method according to claim 2, characterized in that: In the process of adjusting the next mobile working platform (20) to first accelerate and then decelerate to the speed V0, the acceleration of the next mobile working platform (20) is N*a max , and the speed V2 reached after acceleration is P*V max , where N and P are any number between 0.6 and 1; or In the process of adjusting the next mobile working platform (20) to first accelerate, then maintain a constant speed, and then decelerate to the speed V0, the acceleration of the next mobile working platform (20) is N*a max , and the speed V2 reached after acceleration is P*V max , where N and P are any numbers between 0.6 and 1.

8. The alternating table laser processing method according to claim 1, characterized in that: The alternating table laser processing method further comprises: Step S40: the previous mobile working platform (20) moves from the processing position (12) to the material unloading position (13), and then moves from the material unloading position (13) to the material loading position (11) along an arc trajectory.

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