Follow-up control method, head processing method, system and storage medium

Abstract

The application discloses a follow-up control method, a head processing method, a system and a storage medium, relates to the technical field of laser processing, and the follow-up control method comprises the following steps: obtaining a to-be-processed track and first coordinate information corresponding to the to-be-processed track; determining a second Z-axis coordinate according to a preset follow-up height and the first Z-axis coordinate, obtaining second coordinate information, so as to realize track follow-up of a tool; converting the second coordinate information according to a real-time plate surface shape of a to-be-processed workpiece, obtaining third coordinate information, so as to realize tool tip follow-up of the tool; and controlling the tool to move based on the third coordinate information, so as to process the to-be-processed workpiece. In the head processing method, the tool is controlled to move through the follow-up control method. The application solves the problems that the head processing mode has a complex control method and low safety, and realizes the effect of improving processing accuracy on the basis of improving safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser processing, in particular to a follow-up control method, a head processing method, a system and a storage medium. BACKGROUND

[0002] The head is an indispensable important part in the pressure vessel equipment in petrochemical industry, atomic energy, food, pharmaceutical and many other industries. As the end cover of the pressure vessel equipment, the head is a main pressure-bearing part of the pressure vessel equipment. At present, in the manufacturing field of the pressure vessel equipment, the processing method of the head is to use a multi-joint robot for processing. Since each joint of the multi-joint robot needs to be controlled, there is a problem of complex control method. Moreover, in the processing process, when the head workpiece is deformed by heat, the tool may collide with the plate, which will cause wear of the tool and result in failure to continue the processing. SUMMARY

[0003] The main purpose of the present application is to provide a follow-up control method, a head processing method, a system and a storage medium, which aims to solve the technical problems of complex control method and low safety in the prior art head processing method.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] In a first aspect, the present application provides a follow-up control method, comprising:

[0006] obtaining a to-be-processed trajectory and first coordinate information corresponding to the to-be-processed trajectory; wherein the first coordinate information comprises a first Z-axis coordinate;

[0007] determining a second Z-axis coordinate according to a preset follow-up height and the first Z-axis coordinate, to obtain second coordinate information, so as to realize trajectory follow-up of the tool;

[0008] converting the second coordinate information according to a real-time plate shape of the to-be-processed workpiece, to obtain third coordinate information, so as to realize tool tip follow-up of the tool;

[0009] controlling the tool to move based on the third coordinate information, to process the to-be-processed workpiece.

[0010] Optionally, in the follow-up control method, before the step of determining the second Z-axis coordinate according to the preset follow-up height and the first Z-axis coordinate, to obtain the second coordinate information, so as to realize the trajectory follow-up of the tool, the follow-up control method further comprises:

[0011] determining an initial Z-axis coordinate according to a preset compensation height;

[0012] obtaining start point coordinate information according to the initial Z-axis coordinate and the first coordinate information;

[0013] Control the tool motion to the starting point of the to-be-processed track based on the starting point coordinate information.

[0014] Optionally, in the above follow-up control method, the tool includes a tool tip, and the first coordinate information is spatial coordinate information based on the tool tip.

[0015] The step of determining the second Z-axis coordinate according to the preset follow-up height and the first Z-axis coordinate to obtain second coordinate information to realize the track follow-up of the tool includes:

[0016] When the tool tip moves in the horizontal direction according to the first X-axis coordinate and the first Y-axis coordinate in the first coordinate information to realize the track follow-up of the tool, the distance from the to-be-processed workpiece to the tool tip is detected in real time to obtain a feedback height.

[0017] The first Z-axis coordinate is adjusted according to the feedback height and the preset follow-up height to obtain the second Z-axis coordinate.

[0018] The second Z-axis coordinate replaces the first Z-axis coordinate in the first coordinate information to obtain second coordinate information of the tool tip.

[0019] The tool tip is controlled to move based on the second coordinate information to realize the track follow-up of the tool.

[0020] Optionally, in the above follow-up control method, the step of controlling the tool tip to move based on the second coordinate information to realize the track follow-up of the tool includes:

[0021] The tool tip is controlled to move in the horizontal direction based on the second X-axis coordinate and the second Y-axis coordinate in the second coordinate information, and the tool tip is controlled to move in the vertical direction based on the second Z-axis coordinate in the second coordinate information to realize the track follow-up of the tool.

[0022] Optionally, in the above follow-up control method, the step of converting the second coordinate information according to the real-time plate shape of the to-be-processed workpiece to obtain third coordinate information to realize the tool tip follow-up of the tool includes:

[0023] When the tool tip moves according to the second coordinate information to realize the track follow-up of the tool, it is detected in real time whether the plate surface of the to-be-processed workpiece is deformed.

[0024] When it is detected that the plate surface of the to-be-processed workpiece is deformed, the second rotation axis coordinate in the second coordinate information is adjusted so that the tool tip axis is perpendicular to the plate surface to obtain a third rotation axis coordinate of the tool tip.

[0025] The second X-axis coordinate, the second Y-axis coordinate, and the second Z-axis coordinate in the second coordinate information are adjusted so that the distance between the tool tip and the plate surface is maintained at a preset follow-up height to obtain a third X-axis coordinate, a third Y-axis coordinate, and a third Z-axis coordinate of the tool tip.

[0026] According to the third rotation axis coordinate, the third X-axis coordinate, the third Y-axis coordinate and the third Z-axis coordinate, third coordinate information of the tool tip is obtained, and the tool tip is controlled to move based on the third coordinate information, so that the tool tip of the tool is followed.

[0027] Optionally, in the follow-up control method, the rotation axis includes an A-axis and / or a B-axis, and the tool is controlled to move based on the third coordinate information to machine the workpiece to be machined.

[0028] The angle of the tool tip is adjusted based on the third A-axis coordinate and / or the third B-axis coordinate, the tool tip is controlled to move in the horizontal direction based on the third X-axis coordinate and the third Y-axis coordinate, and the tool tip is controlled to move in the vertical direction based on the third Z-axis coordinate, so that the workpiece to be machined is machined.

[0029] In a second aspect, the present application provides a method for machining a head, comprising:

[0030] Setting laser machining parameters and a preset follow-up height;

[0031] Controlling the tool to move by the follow-up control method according to the preset follow-up height;

[0032] During the movement of the tool, the tool is controlled to emit laser light according to the laser machining parameters, and the head to be machined is machined.

[0033] Optionally, in the method for machining a head, after the step of controlling the tool to emit laser light according to the laser machining parameters and machining the head to be machined, the method further comprises:

[0034] When the machining of the head to be machined is completed, the tool is controlled to stop emitting laser light, and the position of the tool is adjusted so that the tool tip of the tool is away from the head to be machined, and the swing of the tool returns to the initial position.

[0035] In a third aspect, the present application provides a system for machining a head, comprising:

[0036] A numerical control machine tool, the numerical control machine tool is provided with a tool, and a head to be machined is fixed thereon;

[0037] A host computer, the host computer comprises a processor and a memory, and the memory stores a head machining program, and the head machining program is executed by the processor to realize the method for machining a head as described above.

[0038] In a fourth aspect, the present application provides a computer readable storage medium, the storage medium stores a computer program, and the computer program is executed by one or more processors to realize the follow-up control method or the method for machining a head as described above.

[0039] The one or more technical solutions provided by the application can have the following advantages or at least achieve the following technical effects.

[0040] The follow-up control method, head machining method, system and storage medium provided by the application realize trajectory follow-up of the tool by obtaining a to-be-machined trajectory and first coordinate information corresponding to the to-be-machined trajectory, determining a second Z-axis coordinate according to a preset follow-up height and a first Z-axis coordinate in the first coordinate information, and obtaining second coordinate information; the tool tip follow-up of the tool is realized by converting the second coordinate information according to the real-time plate surface shape of the to-be-machined workpiece to obtain third coordinate information; and finally, the tool is controlled to move based on the third coordinate information to machine the to-be-machined workpiece. In the application, only the position of the tool is controlled, and the control method is simple. The follow-up height can be kept fixed along the tool movement trajectory, the trajectory follow-up of the tool is realized, the tool is prevented from colliding with the to-be-machined workpiece, the tool angle can be adjusted according to the real-time plate surface shape of the to-be-machined workpiece when the plate surface deforms, the tool tip follow-up of the tool is realized, and machining deviation is prevented, thereby improving the machining accuracy on the basis of improving the safety. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative labor.

[0042] Figure 1 The flowchart of the first embodiment of the follow-up control method of the application;

[0043] Figure 2 The first position diagram of the tool in the second embodiment of the follow-up control method of the application;

[0044] Figure 3 The second position diagram of the tool in the second embodiment of the follow-up control method of the application;

[0045] Figure 4 The third position diagram of the tool in the second embodiment of the follow-up control method of the application;

[0046] Figure 5 The comparison diagram of the presentation effect of the tool movement in the second embodiment of the follow-up control method of the application;

[0047] Figure 6 The hardware structure diagram of the host computer involved in the embodiment of the application.

[0048] The objectives, functional characteristics and advantages of the present application will be further described with reference to the accompanying drawings in connection with the embodiments. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the protection scope of the present application.

[0050] It should be noted that in the present application, all directional indications (such as up, down, left, right, front, back, etc.) are used only to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly. In the present application, the terms "comprise", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or system. Without more limitations, the elements defined by the statement "comprise" do not exclude the existence of other identical elements in the process, method, article or system including the element. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions, taking "A and / or B" as an example, which includes A solution, or B solution, or A and B solution. In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood broadly, for example, "connection" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium; can be internal connection of two elements, or interaction relationship between two elements. In the present application, if there is a description of "first", "second", etc., the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, the technical solutions of each embodiment can be combined with each other, but it is based on the fact that those of ordinary skill in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the protection scope claimed by the present application.

[0051] At present, in the field of manufacturing of pressure vessel equipment, there are mainly two processing methods for the head:

[0052] 1. Adopting manual gas cutting processing, this manual processing method has problems of high strength, low efficiency, low qualified rate and the like;

[0053] 2. Adopting multi-joint robot processing, in this processing method, since each joint of the multi-joint robot needs to be controlled, there is a problem of complex control method; when cutting heads of different materials and different sizes, there are problems of tedious and large limitation in debugging in the process aspect; there are also problems of strong non-standard mechanism and high investment cost.

[0054] Through analysis of related technologies, it is found that in the process of processing the head by using the above method, when the head workpiece is deformed by heat, the cutter is prone to collide with the plate, which will cause damage to the cutter and may lead to the failure to continue the processing; moreover, when the multi-joint robot is used for processing, due to the protection of the plate collision detection sensor, the multi-joint robot will stop working, which will further lead to the failure to continue the processing.

[0055] In view of the technical problems of complex control method and low safety in the prior art, the present application provides a follow-up control method, and the general idea is as follows:

[0056] Obtaining a to-be-processed trajectory of a cutter and first coordinate information corresponding to the to-be-processed trajectory; wherein the first coordinate information includes a first Z-axis coordinate; determining a second Z-axis coordinate according to a preset follow-up height and the first Z-axis coordinate, obtaining second coordinate information of the cutter, to realize trajectory follow-up of the cutter; converting the second coordinate information according to a real-time plate surface shape of a to-be-processed workpiece, to obtain third coordinate information, to realize cutter tip follow-up of the cutter; and controlling the cutter to move based on the third coordinate information, to process the to-be-processed workpiece.

[0057] Through the above technical solution, not only can the fixed follow-up height be maintained along the movement trajectory of the cutter, to realize the trajectory follow-up of the cutter and prevent the cutter from colliding with the to-be-processed workpiece, but also the cutter angle can be adjusted according to the real-time plate surface shape of the to-be-processed workpiece when the plate surface deforms, to realize the cutter tip follow-up of the cutter and prevent processing deviation, thereby improving the processing accuracy on the basis of improving the safety.

[0058] The follow-up control method, head processing method, system and storage medium provided by the present application will be described in detail below by combining with the drawings, specific embodiments and implementation manners.

[0059] Embodiment one

[0060] Reference Figure 1The flowchart illustrates the first embodiment of the follow-up control method of the present invention. This follow-up control method can be applied to CNC machine tools, specifically the central processing unit of the CNC machine tool, or to a host computer that controls the CNC machine tool. The CNC machine tool is equipped with a cutting tool for machining the workpiece. The cutting tool can be a laser cutting tool, the workpiece can be a head, and the machining process can be laser cutting. Other cutting tools can also be used depending on actual needs; this is not limited here.

[0061] It should be noted that, regardless of the specific device to which the follow-up control method is applied, the device can include a processor and a memory. The memory can store a computer program, and when the computer program is executed by the processor, it can implement the follow-up control method of this embodiment.

[0062] The following is combined Figure 1 The flowchart shown illustrates the follow-up control method of this embodiment in detail. The method may include the following steps:

[0063] Step S100: Obtain the trajectory to be processed and the first coordinate information corresponding to the trajectory to be processed; wherein, the first coordinate information includes the first Z-axis coordinate.

[0064] Specifically, the machining trajectory is the cutting trajectory for cutting the workpiece, and also the movement trajectory of the cutting tool, which can be set by the user according to actual needs. The machining trajectory can consist of multiple trajectory points. Controlling the cutting tool to move along the machining trajectory is actually controlling the cutting tool to move sequentially between multiple trajectory points. Therefore, after obtaining the machining trajectory, the position information of each trajectory point on the machining trajectory can be obtained as the first coordinate information corresponding to the machining trajectory. The first coordinate information is used to represent the spatial position of the cutting tool, and therefore can include X-axis coordinates, Y-axis coordinates, and Z-axis coordinates. The X-axis coordinates and Y-axis coordinates determine the movement trajectory of the cutting tool on the workpiece, while the Z-axis coordinate determines the height of the cutting tool. In this embodiment, the Z-axis coordinate in the first coordinate information corresponding to the machining trajectory is defined as the first Z-axis coordinate.

[0065] Step S200: Determine the second Z-axis coordinate based on the preset follow-up height and the first Z-axis coordinate to obtain the second coordinate information, so as to realize the tool trajectory follow-up.

[0066] Specifically, the preset follow-up height can be set by the user according to actual needs, such as setting according to the intensity of the laser emitted by the tool or setting according to the material of the workpiece to be processed. The threshold range can also be determined based on actual needs, such as being set to 5 mm, 6 mm, etc. The track follow-up specifically manifests as the height of the tool tip being constantly adjusted when the tool follows the movement of the track to be processed, so that the tool always maintains a constant safe height from the workpiece to be processed while processing the workpiece to be processed according to the track to be processed.

[0067] In actual application, the first Z-axis coordinate can be used as the basic height of the tool moving along the movement track. The distance between the tool and the workpiece to be processed can be zero or a higher distance set considering the ups and downs of the surface of the workpiece to be processed. Different values can be set for different situations. In the related art, the first Z-axis coordinate is a parameter set in the track to be processed and will not be changed arbitrarily during the processing of the tool. After being obtained, it is directly executed. In the present embodiment, after obtaining the first coordinate information, the first Z-axis coordinate can be adjusted according to the preset follow-up height to determine a Z-axis coordinate as a second Z-axis coordinate. In combination with the X-axis coordinate and the Y-axis coordinate in the first coordinate information, the coordinate information corresponding to the X-axis, the Y-axis and the Z-axis is obtained again as second coordinate information.

[0068] The first Z-axis coordinate can be adjusted according to the preset follow-up height to determine the second Z-axis coordinate in various ways, such as directly setting the preset follow-up height as a specific value of the Z-axis coordinate, replacing the first Z-axis coordinate with the preset follow-up height to obtain the second Z-axis coordinate. For example, the preset follow-up height is set as the distance between the tool and the workpiece to be processed, and the distance between the tool and the workpiece to be processed calculated based on the first Z-axis coordinate is adjusted to the distance corresponding to the preset follow-up height, thereby obtaining the second Z-axis coordinate. For example, the distance between the tool and the workpiece to be processed is 0 when the first Z-axis coordinate is set. Assuming that the preset follow-up height is 6 mm, the value of the Z-axis coordinate can be increased so that the distance between the adjusted tool and the workpiece to be processed is 6 mm. Of course, assuming that the distance between the tool and the workpiece to be processed is large when the first Z-axis coordinate is set, for example, the tool is controlled to move to the starting point of the track to be processed by the preset compensation height before the follow-up control is started. When the follow-up control is started, the value of the Z-axis coordinate can be reduced so that the distance between the adjusted tool and the workpiece to be processed meets the requirement of the preset follow-up height.

[0069] Step S300: converting the second coordinate information according to the real-time plate shape of the workpiece to be processed to obtain third coordinate information, so as to realize the follow-up of the tool tip.

[0070] Specifically, the second coordinate information includes spatial position information of the tool, and specifically includes the aforementioned obtained X-axis coordinate and Y-axis coordinate, and the adjusted second Z-axis coordinate. The workpiece to be processed is generally located below the tool. In this embodiment, the tool is taken as an example of a laser cutting tool. When the tool passes over the surface of the workpiece to be processed by a certain length, the workpiece to be processed is cut by a corresponding length. The surface of the workpiece to be processed forms a certain angle with the tool. In order to prevent the surface of the workpiece to be processed from being deformed by heat and the tool from colliding with the surface, the angle formed by the tool and the surface is preferably not too small. Preferably, the tip of the tool is perpendicular to the trajectory to be processed, and the axial line of the tip is perpendicular to the tangent of the trajectory point. Therefore, the tip follow-up specifically means that the tool follows the trajectory to be processed and always maintains a constant safety height from the workpiece to be processed. That is, during the trajectory follow-up of the tool, the angle of the tool is constantly adjusted so that the tool processes the workpiece to be processed according to the trajectory to be processed while being perpendicular to the surface of the workpiece to be processed.

[0071] While the tool can achieve trajectory follow-up, the tip follow-up is further achieved. This not only better protects the tip of the tool and avoids collision with the surface of the workpiece to be processed, but also makes the cutting more conforming and avoids oblique cutting and skew cutting.

[0072] Correspondingly, in order to achieve the tip follow-up of the tool, the second coordinate information is further processed. Specifically, the real-time surface shape of the workpiece to be processed is adjusted. If the surface deforms, including outward convexity or inward concavity, the angle and position of the tool are adjusted based on the trajectory point corresponding to the current second coordinate information, so that the distance between the tip of the tool and the surface remains unchanged and the preset follow-up height is maintained. That is, on the basis of the trajectory follow-up of the tool, the tool is adjusted to an angle perpendicular to the tangent of the deformed part of the surface. Therefore, the coordinate information of the tool can also include angle position information for adjusting the angle, such as A-axis coordinate and B-axis coordinate, to obtain new A-axis coordinate and new B-axis coordinate. In this case, the position coordinate information X-axis, Y-axis and Z-axis of the tool will also change accordingly. The new coordinate information is obtained from the original second coordinate information as the third coordinate information.

[0073] Step S400: controlling the tool to move based on the third coordinate information to process the workpiece to be processed.

[0074] Specifically, based on the purpose of realizing the trajectory follow-up and the tool tip follow-up of the tool, the final position information of the tool, i.e., the third coordinate information, can be calculated according to the foregoing steps, the tool is controlled to move, and the result presented is that the tool moves according to the to-be-processed trajectory, the height between the tool and the surface of the to-be-processed workpiece is always kept at the preset follow-up height during the movement process, when the surface of the to-be-processed workpiece deforms, the tool adjusts the angle correspondingly, so that the tool is perpendicular to the deformed part of the surface of the to-be-processed workpiece in the axial direction, and the subsequent movement process will not collide with the to-be-processed workpiece, the processing can be completed normally and safely, and the tool can cut better and avoid inaccurate cutting.

[0075] The follow-up control method provided in this embodiment realizes the trajectory follow-up of the tool by obtaining the to-be-processed trajectory and the first coordinate information corresponding to the to-be-processed trajectory, determining the second Z-axis coordinate according to the preset follow-up height and the first Z-axis coordinate in the first coordinate information, obtaining the second coordinate information, realizing the trajectory follow-up of the tool, converting the second coordinate information according to the real-time surface shape of the to-be-processed workpiece to obtain the third coordinate information, realizing the tool tip follow-up of the tool, and finally controlling the tool to move based on the third coordinate information to realize the processing of the to-be-processed workpiece. In this application, only the position of the tool is controlled, and the control method is simple. Not only can the fixed follow-up height be kept along the tool movement trajectory to realize the trajectory follow-up of the tool and prevent the tool from colliding with the to-be-processed workpiece, but also the angle of the tool can be adjusted according to the real-time surface shape of the to-be-processed workpiece when the surface deforms to realize the tool tip follow-up of the tool, prevent the processing from deviating, and improve the processing accuracy on the basis of improving the safety.

[0076] Embodiment two

[0077] Based on the same inventive concept, referring to Figures 2 to 5 , the second embodiment of the follow-up control method is proposed, which can be applied to the central processor of the numerical control machine tool or the host computer for controlling the numerical control machine tool.

[0078] In this embodiment, the follow-up control method is applied to the host computer for controlling the numerical control machine tool, wherein the tool on the numerical control machine tool is a laser cutting tool, the to-be-processed workpiece has a surface, and the processing of the to-be-processed workpiece by the tool can be contour cutting on the surface thereof. This is only an example, and the specific processing can be determined according to actual needs.

[0079] The host computer refers to a terminal device or a network device capable of realizing data communication. The host computer can be a terminal device such as a computer, a portable computer, or an embedded industrial computer, or a network device such as a server or a cloud platform.

[0080] As Figure 6As shown, it is a schematic diagram of the hardware structure of the host computer. The host computer can include a processor 1001, such as a CPU (Central Processing Unit), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005.

[0081] Specifically, the communication bus 1002 is used to realize the connection and communication between the components; the user interface 1003 is used to connect the client and the numerical control machine tool, and respectively communicates data with the client and the numerical control machine tool. The user interface 1003 can include an output unit and an input unit; the network interface 1004 is used to connect the background server and communicate data with the background server. The network interface 1004 can include an input / output interface; the memory 1005 is used to store various types of data. These data can include, for example, instructions of any application program or method in the host computer, and application program related data. The memory 1005 can be an internal memory; optionally, the memory 1005 can also be a storage device independent of the processor 1001. Continue to refer to Figure 6 , the memory 1005 can include an operating system, a network communication module, a user interface module, and a computer program. The computer program here can be a follow-up control program; the processor 1001 is used to call the follow-up control program stored in the memory 1005, and execute all or part of the steps of the follow-up control method of the embodiment.

[0082] Based on the above host computer, the follow-up control method of the embodiment is described in detail. The follow-up control method can include the following steps:

[0083] Step S100: obtaining a to-be-processed trajectory and first coordinate information corresponding to the to-be-processed trajectory; wherein the first coordinate information includes a first Z-axis coordinate.

[0084] In the embodiment, the host computer can include a controller executing the follow-up control method, and is the final hub of functions such as human-computer interface interaction, storage and data transmission of a process database, decoding and interpolation of an NC (Numerical Control) program file, etc. The human-computer interface interaction has the functions of selection of manual, automatic, feedback and MDI (Manual Data Input) working modes required for machining of a numerical control machine tool, and workpiece coordinate system setting, head positioning, etc. through a display page. The process database can realize data interaction based on SQL (Structured Query Language), and store process parameters such as laser machining parameters, which include but are not limited to laser cutting speed, power, frequency, duty ratio, gas type, gas pressure, focal point, piercing mode, acceleration, internal and external compensation, contour jumping mode, cutting accuracy, preset follow-up height, etc., and can be set by a user on a human-computer interface. The NC program file is a G code file supported by the host computer system generated by modeling combined with CAM (Computer Aided Manufacturing) software. The controller of the host computer can compile and execute the imported NC program file to control the numerical control machine tool to work and complete light processing of a workpiece.

[0085] Specifically, step S100 can include:

[0086] Step S110: obtaining a to-be-machined trajectory;

[0087] Step S120: performing interpolation operation on the to-be-machined trajectory by an interpolation algorithm to obtain position information in a machine coordinate system; wherein the machine coordinate system is a machine tool coordinate system of a machine tool where a tool is located;

[0088] Step S130: converting the position information into coordinate information in a workpiece coordinate system to obtain first coordinate information corresponding to the to-be-machined trajectory; wherein the workpiece coordinate system is established based on a to-be-machined workpiece.

[0089] The numerical control device data-encrypts the space between the start point and the end point of the trajectory described by the program segment according to the information of the input part program, thereby forming the required contour trajectory. This "data-encryption" function is called "interpolation". If the trajectory points are directly extracted from the to-be-machined trajectory to determine the position information, the trajectory of the tool movement may not be smooth enough, resulting in a shape that does not meet the requirements. Therefore, after the host computer obtains the NC program file and compiles the to-be-machined trajectory of the tool, the interpolation algorithm can be used to perform interpolation operation on the to-be-machined trajectory to determine the position information of more trajectory points, so that the to-be-machined trajectory can be better represented, and the shape cut by the subsequent tool is smoother.

[0090] When determining the position information of each trajectory point on the machining trajectory, since the machining trajectory itself is set for the CNC machine tool, the obtained position information is based on the CNC machine tool's own mechanical coordinate system. If the subsequent follow-up control is directly performed using the mechanical coordinate system, the accuracy may be low, and the calculation difficulty will increase. Therefore, in order to achieve control more accurately and conveniently, the position information in the original mechanical coordinate system can be transformed to better fit the situation of the workpiece itself. Therefore, before executing step S130, a workpiece coordinate system can be established based on the workpiece, and then the position information located in the mechanical coordinate system can be converted into coordinate information in the workpiece coordinate system, thereby obtaining the first coordinate information corresponding to the machining trajectory. When establishing the workpiece coordinate system, the mechanical position of the workpiece can be determined by the workpiece positioning function of the CNC machine tool, and then the workpiece coordinate system can be established and activated.

[0091] In a specific implementation, the cutting tool can be an integral structure, whose position and angle can be adjusted by a special adjustment mechanism. Alternatively, it can consist of two parts: one is the part that performs the cutting, namely the cutting tip, and controlling the spatial movement of the cutting tip is equivalent to controlling the spatial movement of the cutting tool; the other is the part that adjusts the angle of the cutting tip, namely the oscillating head, and adjusting the angle of the cutting tip is equivalent to controlling the angle change of the cutting tool.

[0092] Specifically, the cutting tool may include a cutting tip, and the first coordinate information is the spatial coordinate information based on the cutting tip. The spatial coordinate information of the cutting tip may include X-axis coordinate, Y-axis coordinate, and Z-axis coordinate. To better distinguish and illustrate the changes in coordinate data, the X-axis coordinate of the first coordinate information is defined as the first X-axis coordinate x1, the Y-axis coordinate is defined as the first Y-axis coordinate y1, and the Z-axis coordinate of the first coordinate information is defined as the first Z-axis coordinate z1. Then, the first coordinate information can be represented as (x1, y1, z1).

[0093] Furthermore, the cutting tool may also include a swivel head disposed at the tip of the tool for adjusting the angle of the tip. The spatial coordinate information of the tool tip may also include A-axis coordinates and B-axis coordinates. Similarly, here the A-axis coordinate of the first coordinate information is defined as the first A-axis coordinate a1, and the B-axis coordinate is defined as the first B-axis coordinate b1, then the first coordinate information can be represented as (x1, y1, z1, a1, b1). This embodiment uses this first coordinate information as an example for specific explanation.

[0094] like Figure 2 The diagram shows the first position of the tool. The Z-axis coordinate in the first coordinate information, namely the first Z-axis coordinate z1, can determine the position change of the tool in the vertical direction.

[0095] Step S200: Determine the second Z-axis coordinate based on the preset follow-up height and the first Z-axis coordinate to obtain the second coordinate information, so as to realize the tool trajectory follow-up.

[0096] Specifically, step S200 may include:

[0097] Step S210: When the tool tip moves horizontally according to the first X-axis coordinate and the first Y-axis coordinate in the first coordinate information to realize tool trajectory tracking, the distance from the workpiece to be processed to the tool tip is detected in real time to obtain the feedback height;

[0098] Step S220: Adjust the first Z-axis coordinate according to the feedback height and the preset follow-up height to obtain the second Z-axis coordinate;

[0099] Step S230: Replace the first Z-axis coordinate in the first coordinate information with the second Z-axis coordinate to obtain the second coordinate information of the tool tip;

[0100] Step S240: Control the movement of the tool tip based on the second coordinate information to achieve tool trajectory follow-up.

[0101] Trajectory tracking refers to a control method that tracks and controls the motion trajectory of a controlled object, enabling the object to move along a predetermined path. In this case, the cutting tool is the controlled object. For example... Figure 2 As shown, the first X-axis coordinate and the first Y-axis coordinate in the first coordinate information can determine the trajectory change and control of the tool tip in the horizontal direction, and realize the tool trajectory tracking. However, the distance between the tool tip and the workpiece 10 to be processed is determined by the first Z-axis coordinate z1 in the first coordinate information.

[0102] In this embodiment, assuming that the tool tip is directly controlled to move according to the first coordinate information (x1, y1, z1, a1, b1), only the basic movement and trajectory tracking of the original machining path can be achieved. However, in actual machining, since the workpiece is not completely flat or horizontal, simply achieving basic movement and trajectory tracking can easily lead to the tool colliding with the workpiece. Therefore, a preset follow-up height is set to avoid the tool colliding with the workpiece. This preset follow-up height can be set according to the specific material type or deformation degree of the workpiece.

[0103] Furthermore, step S240 may include:

[0104] Step S241: Based on the second X-axis coordinate and the second Y-axis coordinate in the second coordinate information, control the tool tip to move in the horizontal direction, and at the same time control the tool tip to move in the vertical direction based on the second Z-axis coordinate in the second coordinate information, so as to realize the tool trajectory follow-up.

[0105] After the host computer obtains the first coordinate information (x1, y1, z1, a1, b1), the distance from the workpiece to the tool tip can be detected in real time by the numerical control machine, and the feedback height is obtained; then, the first Z-axis coordinate is adjusted according to the feedback height and the preset follow-up height, and the second Z-axis coordinate is obtained, so that the distance between the tool tip and the surface of the workpiece is the preset follow-up height, and when the tool tip performs trajectory tracking in the horizontal direction, the tool tip is controlled to move in the vertical direction synchronously, so that the distance between the tool tip and the surface of the workpiece is always kept at the preset follow-up height. The trajectory tracking of the tool tip in the horizontal direction includes that the tool tip moves in the horizontal direction according to the second X-axis coordinate and the second Y-axis coordinate in the second coordinate information, and the control of the tool tip to move in the vertical direction includes that the tool tip moves in the vertical direction according to the second Z-axis coordinate, so that the trajectory follow-up of the tool tip can be realized.

[0106] As shown in Figure 3 FIG. 2 is a second position diagram of the tool, and H in the figure represents the distance between the tool tip and the workpiece 10, which is determined by the Z-axis coordinate of the tool tip. In this embodiment, a capacitor device can be arranged on the tool shaft of the tool to detect the distance from the workpiece to the tool tip in real time, feed back to the controller of the numerical control machine, and then be transmitted to the host computer to adjust the size of H. When the second Z-axis coordinate is used to replace the first Z-axis coordinate in the first coordinate information to obtain the second coordinate information of the tool tip, the first X-axis coordinate x1, the first Y-axis coordinate y1, the first A-axis coordinate a1 and the first B-axis coordinate b1 in the first coordinate information (x1, y1, x1, a1, b1) can remain unchanged, and based on this, the second coordinate information is actually (x1, y1, z2, a1, b1), that is, the tool tip only changes in height, and the specific performance of controlling the tool tip to move based on the second coordinate information is that the tool tip moves in the vertical direction. Figure 2 and Figure 3 It can be seen that z1 changes to z2, and the height H is the preset follow-up height. In combination with the trajectory tracking realized by the tool, the tool can also realize follow-up control, that is, the trajectory follow-up of the tool is further realized.

[0107] In the laser processing process of this embodiment, the distance between the tool tip of the laser tool and the workpiece is kept constant, the axial position of the tool tip is adjusted in real time as the surface of the workpiece changes, and the distance between the tool tip and the workpiece is kept constant. The effect of not changing. Moreover, this embodiment can consider the real-time distance from the workpiece to the tool tip, adjust the first Z-axis coordinate based on the feedback height and the preset follow-up height, rather than directly adjusting according to the preset follow-up height, which can ensure the accuracy of the follow-up height and meet the actual situation.

[0108] Step S300: The second coordinate information is transformed according to the real-time shape of the workpiece to be processed to obtain the third coordinate information, so as to realize the tool tip follow-up.

[0109] Specifically, step S300 may include:

[0110] Step S310: When the tool tip moves according to the second coordinate information to realize the tool trajectory follow, the deformation of the workpiece surface is detected in real time.

[0111] Step S320: When deformation of the workpiece surface is detected, the second rotation axis coordinate in the second coordinate information is adjusted so that the tool tip axis is perpendicular to the workpiece surface, and the third rotation axis coordinate of the tool tip is obtained.

[0112] Step S330: Adjust the second X-axis coordinate, second Y-axis coordinate and second Z-axis coordinate in the second coordinate information to keep the distance between the tool tip and the plate surface at the preset follow-up height, and obtain the third X-axis coordinate, third Y-axis coordinate and third Z-axis coordinate of the tool tip;

[0113] Step S340: Based on the third rotation axis coordinate, the third X-axis coordinate, the third Y-axis coordinate, and the third Z-axis coordinate, obtain the third coordinate information of the tool tip, and control the movement of the tool tip based on the third coordinate information to realize the tool tip follow-up.

[0114] Specifically, the deformation of the workpiece surface can be determined by the feedback height obtained from the CNC machine tool. For example, it can be determined by whether the feedback height changes or exceeds a preset threshold range. When the host computer detects deformation of the workpiece surface, the tool may not be able to react in time during trajectory tracking and follow-up, resulting in a collision with the workpiece. Therefore, a further step is proposed to realize tool tip follow-up.

[0115] like Figure 4 The diagram shows the third position of the cutting tool, where the workpiece 10 to be processed is deformed. In this embodiment, if the cutting tool is controlled based on the aforementioned second coordinate information (x1, y1, z2, a1, b1), the cutting tool will... Figure 3 The image shows a vertically downward position. If this position is maintained vertically downwards indefinitely, it may lead to... Figure 4The tool collides with the workpiece 10 to be processed or causes a processing deviation such as an oblique cut or a skew cut when the tool is deformed, so on the basis that the distance between the tool tip and the workpiece 10 to be processed reaches the preset follow-up height, the angle of the tool tip can also be adjusted, so that the axial line of the tool tip is perpendicular to the surface of the workpiece 10 to be processed or the angle between the axial line of the tool tip and the surface of the workpiece 10 to be processed is increased. The angle of the tool tip can be adjusted, and specifically, the second rotation axis coordinate in the second coordinate information can be adjusted, including adjusting the A-axis coordinate a1, i.e., the second A-axis coordinate, and the B-axis coordinate b1, i.e., the second B-axis coordinate, to obtain the adjusted A-axis coordinate a2 and the adjusted B-axis coordinate b2 as the third A-axis coordinate and the third B-axis coordinate of the tool tip, so as to obtain the third rotation axis coordinate of the tool tip. If only the angle of the tool tip is adjusted without adjusting the spatial position of the tool tip, the tool trajectory follow-up is likely to be interrupted, i.e., the distance between the tool tip and the workpiece 10 to be processed does not meet the preset follow-up height, and thus a collision may occur. Therefore, while adjusting the second rotation axis coordinate, i.e., the second A-axis coordinate and the second B-axis coordinate, the X-axis coordinate x1 in the second coordinate information, i.e., the second X-axis coordinate, the Y-axis coordinate y1, i.e., the second Y-axis coordinate, and the second Z-axis coordinate z2 can also be adjusted correspondingly, so that the distance between the tool tip and the surface of the workpiece 10 to be processed is kept at the preset follow-up height. At this time, the adjusted X-axis coordinate x2, the adjusted Y-axis coordinate y2, and the adjusted Z-axis coordinate z3 can be used as the third X-axis coordinate, the third Y-axis coordinate, and the third Z-axis coordinate of the tool tip. Finally, the third rotation axis coordinate, i.e., the third A-axis coordinate a2 and the third B-axis coordinate b2, and the third X-axis coordinate x2, the third Y-axis coordinate y2, and the third Z-axis coordinate z3 of the tool tip constitute complete spatial coordinate information, i.e., the third coordinate information is obtained. As shown in two examples in FIG. 8, Figure 4 the presentation effect of the converted third coordinate information, Figure 4 the tool in the coordinate information no longer vertically downward as shown in FIG. 6, Figure 3 but the axial line is perpendicular to the surface of the workpiece 10 to be processed or the tangent line of the surface of the workpiece 10 to be processed, and the distance between the tool tip and the surface of the workpiece 10 to be processed is kept at H.

[0116] Step S400: controlling the tool to move based on the third coordinate information to process the workpiece to be processed.

[0117] Specifically, the rotation axis includes an A-axis and / or a B-axis, and step S400 can include:

[0118] Step S410: adjusting the angle of the tool tip based on the third A-axis coordinate and / or the third B-axis coordinate, controlling the tool tip to move in the horizontal direction based on the third X-axis coordinate and the third Y-axis coordinate, and controlling the tool tip to move in the vertical direction based on the third Z-axis coordinate, so as to process the workpiece to be processed.

[0119] After the host computer obtains the third coordinate information, the host computer generates corresponding control instructions according to the third coordinate information and sends the control instructions to the numerical control machine tool to control the tool to move, for example Figure 4 In the two examples in the foregoing description, when the tool moves, the tool processes the workpiece according to the to-be-processed track, and in this process, the distance H between the tool tip and the to-be-processed workpiece 10 is the preset follow-up height. When the plate surface of the to-be-processed workpiece 10 is deformed due to heat, the tool can be axially perpendicular to the plate surface of the to-be-processed workpiece 10 or the tangent of the plate surface, and the distance H between the tool tip and the to-be-processed workpiece 10 is still the preset follow-up height.

[0120] In an implementation, before the step S200 of determining the second Z-axis coordinate according to the preset follow-up height and the first Z-axis coordinate to obtain the second coordinate information to realize the track follow-up of the tool, the method can further include the following steps:

[0121] S500: determining the initial Z-axis coordinate according to the preset compensation height;

[0122] S600: obtaining the start point coordinate information according to the initial Z-axis coordinate and the first coordinate information;

[0123] S700: controlling the tool to move to the start point of the to-be-processed track based on the start point coordinate information.

[0124] Specifically, before the tool processes the to-be-processed workpiece according to the set to-be-processed track, the height of the tool tip can be determined first. Specifically, the first Z-axis coordinate obtained can be compensated according to the preset compensation height, so that the tool tip is at a safe height above the to-be-processed workpiece when the tool is at the start point of the to-be-processed track. The preset compensation height can be set on the human-computer interaction interface of the host computer. The preset compensation height can be an empirical value, for example, a value corresponding to a safe processing range. In this embodiment, the cover deviation is less than 6 mm, and the processing is safe. Therefore, the preset compensation height can also be set to 6 mm.

[0125] Optionally, when processing of one contour of the to-be-processed workpiece is completed and the next contour is to be processed, the preset compensation height can be adjusted to avoid the problem of the start point being out of position and colliding with the plate. The tool tip can reach the safe height of the plate surface before processing, including realizing track tracking, track follow-up, and tool tip follow-up.

[0126] When the host computer determines the initial Z-axis coordinate according to the preset compensation height, the preset compensation height can be directly used as the distance between the tool tip and the to-be-processed workpiece to obtain the initial Z-axis coordinate. Alternatively, the initial Z-axis coordinate can be determined based on the preset compensation height and the first Z-axis coordinate in the first coordinate information. This mode can refer to the mode of determining the second Z-axis coordinate according to the preset follow-up height and the first Z-axis coordinate, which will not be described herein again.

[0127] In this embodiment, after the initial Z-axis coordinate z0 is obtained by adjusting the Z-axis coordinate according to the preset compensation height, step S200 can be directly executed to adjust the initial Z-axis coordinate z0 according to the preset follow-up height to obtain the second Z-axis coordinate z2, so as to obtain the second coordinate information (x1, y1, z2, a1, b1) in combination with the first X-axis coordinate x1, the first Y-axis coordinate y1, the first A-axis coordinate a1 and the first B-axis coordinate b1; or step S200 can be executed after steps S600 and S700 are executed, the tool is aligned to the starting point of the to-be-processed track and waits, and step S200 is executed only after the subsequent instruction is received by the upper computer. In the implementation mode in which step S200 is directly executed, the Z-axis coordinate is first adjusted according to the preset compensation height, and then the Z-axis coordinate is adjusted again based on the feedback height and the preset follow-up height during the movement of the tool tip in the horizontal direction along the track, so as to obtain the second coordinate information of the tool tip, so as to control the movement of the tool tip in the vertical direction at a certain track point based on the second coordinate information, and keep the distance between the tool tip and the to-be-processed workpiece at a constant height. In the implementation mode in which step S200 is executed after steps S600 and S700 are executed, the tool can be aligned to the starting point of the track before the tool processes the to-be-processed workpiece along the set to-be-processed track, in order to start processing after the tool tip is at the safety height above the to-be-processed workpiece at the starting point, the starting point coordinate information of the tool tip can be obtained according to the initial Z-axis coordinate z0 and the first coordinate information, and then the tool is controlled to move to the starting point of the to-be-processed track based on the starting point coordinate information, wherein the starting point coordinate information is obtained based on the first coordinate information, and only the first Z-axis coordinate z1 of the tool tip is adjusted, so that the actually obtained starting point coordinate information is (x1, y1, z0, a1, b1).

[0128] At the starting point of the to-be-processed track, the A-axis and the B-axis of the tool tip are in the zero-return state, the tool is in a vertical downward posture, and the position of the tool tip in the horizontal direction is determined by the first X-axis coordinate x1 and the first Y-axis coordinate y1, and the height in the vertical direction can be any value, but if the tool is too high, the laser temperature may not be enough during laser processing, and if the tool is too low, the tool may be damaged or the laser temperature may be too high, etc. By setting a safety height at the starting point, the above problems can be avoided.

[0129] In this embodiment, the tool is first controlled to move to the starting point of the to-be-processed track to maintain an initial state of a safety height, and then the tool is controlled to move along the track according to steps S200, S300 and S400 to realize track tracking, track follow-up and tool tip follow-up.

[0130] Optionally, the tool can start the laser output at the starting point of the to-be-processed trajectory, that is, the starting point of the contour to be cut. The tool runs along the to-be-processed trajectory at a constant height of the plate surface to realize trajectory tracking, trajectory following and tool tip following. After the tool runs to the end point of the to-be-processed trajectory, it is considered that the cutting of the current contour is completed. At this time, the laser output can be turned off, and the trajectory following and tool tip following functions can be turned off. The Z-axis of the tool is lifted to a safe height, which can be the minimum safe height for each contour. The A-axis and the B-axis of the tool are adjusted to the tool return position, and then the spatial position of the tool is moved to the starting point of the next contour. The remaining contours are processed in the same way, and the processing of multiple contours on the to-be-processed workpiece is completed. Optionally, the preset parameters can also be adjusted based on the effect of the processed contour, and the adjustment takes effect in real time to optimize the subsequent processing effect.

[0131] As shown in Figure 5 The present effect of the tool movement is shown in the contrast schematic diagram. P represents a trajectory point on the to-be-processed trajectory, 20 and 30 respectively represent different position state diagrams of the tool when the tool realizes trajectory following, and 30 and 31 respectively represent different angle state diagrams of the tool when the tool realizes tool tip following based on the trajectory point P.

[0132] The preferred specific implementation process in the embodiment is as follows:

[0133] The host computer obtains the to-be-processed trajectory, performs interpolation operation on the to-be-processed trajectory through an interpolation algorithm to obtain position information in the mechanical coordinate system, and then converts the position information into coordinate information in the workpiece coordinate system to obtain first coordinate information (x1, y1, z1, a1, b1).

[0134] The host computer determines an initial Z-axis coordinate z0 according to a preset compensation height, and obtains starting point coordinate information (x1, y1, z0, a1, b1) of the tool tip based on the initial Z-axis coordinate and the first coordinate information, so as to control the tool movement to the starting point of the to-be-processed trajectory.

[0135] The initial Z-axis coordinate z0 is adjusted to obtain a second Z-axis coordinate z2 according to the feedback height and the preset following height, the second Z-axis coordinate z2 is replaced by the initial Z-axis coordinate z0 to obtain second coordinate information (x1, y1, z2, a1, b1) of the tool tip, and the movement of the tool tip in the vertical direction is controlled based on the second Z-axis coordinate z2 to realize the trajectory following of the tool, as shown in Figure 5 from 20 to 30 in

[0136] When the tool realizes trajectory follow-up, the deformation of the plate surface of the workpiece to be processed is detected in real time, and when the deformation of the plate surface of the workpiece to be processed is detected, the A-axis coordinate a1 and / or the B-axis coordinate b1 in the second coordinate information are adjusted to make the tool tip axial direction perpendicular to the plate surface, to obtain the third A-axis coordinate and the third B-axis coordinate (a2, b2) of the tool tip, and the X-axis coordinate x1, the Y-axis coordinate y1 and the second Z-axis coordinate z2 in the second coordinate information are adjusted to keep the distance between the tool tip and the plate surface at a preset follow-up height, to obtain the third Z-axis coordinate, the third Y-axis coordinate and the third Z-axis coordinate (x2, y2, z3) of the tool tip, so as to obtain the third coordinate information (x2, y2, z3, a2, b2) of the tool tip, to realize the follow-up of the tool tip, such as Figure 5 in the middle of 30 to 31;

[0137] Finally, the tool tip is controlled to move based on the third coordinate information (x2, y2, z3, a2, b2), specifically, the angle of the tool tip is adjusted based on the third A-axis coordinate a2 and the third B-axis coordinate b2, the tool tip is controlled to move in the horizontal direction based on the third X-axis coordinate x2 and the third Y-axis coordinate y2, and the tool tip is controlled to move in the vertical direction based on the third Z-axis coordinate z3, so that the workpiece to be processed can be machined.

[0138] It should be noted that the transformation of the tool in the above Figure 5 The transformation of the tool in the above

[0139] More implementation details in the specific implementation of the above method steps can be found in the description of the specific implementation in Example 1, which will not be repeated here for the sake of brevity of the description.

[0140] The follow-up control method provided in this embodiment proposes a tool control method combining trajectory tracking, trajectory follow-up and height control, which can ensure that the tool tip moves along the trajectory during machining, and when the workpiece to be processed is deformed due to heat, the follow-up height between the tool tip and the workpiece to be processed can be adjusted to ensure that the machining is carried out at a safe height, and at the same time, the tool axial direction can be perpendicular to the plate surface of the workpiece to be processed, to ensure the accuracy of machining and avoid oblique cutting and skew cutting of the tool.

[0141] Example Three

[0142] Based on the same inventive concept, a first embodiment of the head machining method is proposed, which can be applied to a numerical control machine tool for setting profile cutting of a workpiece to be processed, or an upper computer for controlling a numerical control machine tool.

[0143] The head machining method provided in this embodiment will be described in detail as follows, which can include:

[0144] Step S1: setting laser processing parameters and preset follow-up height;

[0145] Step S2: controlling the tool to move according to the preset follow-up height through the specific embodiments of the follow-up control method of the application;

[0146] Step S3: during the movement of the tool, controlling the tool to emit laser according to the laser processing parameters to process the to-be-processed head.

[0147] The laser processing parameters can include laser cutting speed, power, frequency, duty cycle, gas type, gas pressure, focal point, piercing mode, acceleration, internal and external compensation, contour jumping mode, cutting precision, preset follow-up height, etc., which can be set by the user through the upper computer. The preset follow-up height can be a default value or a user-set value. Optionally, other preset parameters such as preset compensation height, to-be-processed trajectory, and other data related to head processing can also be set through the upper computer, which is not limited here.

[0148] Further, after the step S3 "during the movement of the tool, controlling the tool to emit laser according to the laser processing parameters to process the to-be-processed head", the head processing method can further include:

[0149] Step S4: when the to-be-processed head is processed, controlling the tool to stop emitting laser and adjusting the position of the tool so that the cutting edge of the tool is away from the to-be-processed head and the swing of the tool returns to the initial position.

[0150] Specifically, when the to-be-processed head is processed, the upper computer can control the tool to stop emitting laser and adjust the position of the tool, such as increasing the Z-axis coordinate to lift the Z-axis of the tool to a safe height so that the cutting edge of the tool is away from the to-be-processed head, and returning the A-axis and B-axis of the tool to make the swing of the tool return to the initial position, such as a drooping state, which can be set as needed.

[0151] It should be noted that the functions that can be achieved by each step of the head processing method provided in the embodiment and the technical effects achieved thereby can refer to the description of the specific embodiments of the follow-up control method of the application. For the sake of brevity of the description, it will not be described here.

[0152] Embodiment Four

[0153] Based on the same inventive concept, the embodiment provides a head processing system, which can include:

[0154] The numerical control machine tool is provided with a tool and fixed with a to-be-processed head.

[0155] The host computer comprises a processor and a memory, and the memory stores a head machining program, and the head machining program is executed by the processor to realize all or part of the steps of the head machining method.

[0156] The tool can include a tool tip and a swing head arranged at an end of the tool tip, and the swing head is used to adjust the angle of the tool tip.

[0157] It should be noted that the functions and technical effects of the devices in the head machining system provided in the embodiment can be referred to the description of the specific embodiments of the head machining method of the application, and will not be described here for the sake of brevity of the description.

[0158] Embodiment five

[0159] Based on the same inventive concept, the embodiment provides a computer readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card memory (SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic memory, a magnetic disk, an optical disk, a server, etc., and the storage medium stores a computer program, the computer program can be executed by one or more processors, and the computer program can realize all or part of the steps of each embodiment of the follow-up control method when executed by the processor.

[0160] It should be noted that the above-mentioned embodiment numbers of the application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above embodiments are only optional embodiments of the application, and do not limit the patent scope of the application, and any equivalent structure or equivalent flow conversion made by using the content of the application specification and drawings, or directly or indirectly applied in other related technical fields, are included in the patent protection scope of the application.

Claims

1. A follow-up control method characterized by, The method comprises the following steps: acquiring a to-be-processed trajectory and first coordinate information corresponding to the to-be-processed trajectory; wherein the first coordinate information comprises a first Z-axis coordinate; determining a second Z-axis coordinate according to a preset follow-up height and the first Z-axis coordinate, obtaining second coordinate information, so as to realize trajectory follow-up of a tool; converting the second coordinate information according to a real-time plate surface shape of a to-be-processed workpiece, obtaining third coordinate information, so as to realize tool tip follow-up of the tool; controlling the tool to move based on the third coordinate information, so as to process the to-be-processed workpiece; the tool comprises a tool tip, and the first coordinate information is spatial coordinate information based on the tool tip; the step of determining the second Z-axis coordinate according to the preset follow-up height and the first Z-axis coordinate, and obtaining the second coordinate information, so as to realize the trajectory follow-up of the tool, comprises the following steps: when the tool tip moves in a horizontal direction according to the first X-axis coordinate and the first Y-axis coordinate in the first coordinate information, realizing trajectory tracking of the tool, detecting a distance from the to-be-processed workpiece to the tool tip in real time, and obtaining a feedback height; adjusting the first Z-axis coordinate according to the feedback height and the preset follow-up height, and obtaining a second Z-axis coordinate; replacing the first Z-axis coordinate in the first coordinate information with the second Z-axis coordinate, and obtaining second coordinate information of the tool tip; controlling the tool tip to move based on the second coordinate information, so as to realize the trajectory follow-up of the tool.

2. The follow-up control method according to claim 1, characterized by, Before the step of determining the second Z-axis coordinate according to the preset follow-up height and the first Z-axis coordinate, and obtaining the second coordinate information, so as to realize the trajectory follow-up of the tool, the follow-up control method further comprises the following steps: determining an initial Z-axis coordinate according to a preset compensation height; obtaining starting point coordinate information according to the initial Z-axis coordinate and the first coordinate information; controlling the tool to move to a starting point of the to-be-processed trajectory based on the starting point coordinate information.

3. The follow-up control method according to claim 1, characterized by, The step of controlling the tool tip to move based on the second coordinate information, so as to realize the trajectory follow-up of the tool, comprises the following steps: controlling the tool tip to move in a horizontal direction based on a second X-axis coordinate and a second Y-axis coordinate in the second coordinate information, and controlling the tool tip to move in a vertical direction based on the second Z-axis coordinate in the second coordinate information, so as to realize the trajectory follow-up of the tool.

4. The follow-up control method according to claim 1, characterized by, The step of converting the second coordinate information according to a real-time plate surface shape of a to-be-processed workpiece, obtaining third coordinate information, so as to realize tool tip follow-up of the tool, comprises the following steps: when the tool tip moves according to the second coordinate information, realizing the trajectory follow-up of the tool, detecting whether the plate surface of the to-be-processed workpiece deforms in real time; when it is detected that the plate surface of the to-be-processed workpiece deforms, adjusting a second rotation axis coordinate in the second coordinate information, so that the tool tip is axially perpendicular to the plate surface, and obtaining a third rotation axis coordinate of the tool tip; adjusting a second X-axis coordinate, a second Y-axis coordinate and the second Z-axis coordinate in the second coordinate information, so that the distance between the tool tip and the plate surface is kept at the preset follow-up height, to obtain a third X-axis coordinate, a third Y-axis coordinate and a third Z-axis coordinate of the tool tip; obtaining third coordinate information of the tool tip according to the third rotation axis coordinate, the third X-axis coordinate, the third Y-axis coordinate and the third Z-axis coordinate, to control the tool tip to move based on the third coordinate information, so as to realize the follow-up of the tool tip of the tool.

5. The follow-up control method according to claim 4, characterized by, The rotation axis includes an A-axis and / or a B-axis, and the step of controlling the tool to move based on the third coordinate information to machine the workpiece to be machined includes: adjusting the angle of the tool tip based on a third A-axis coordinate and / or a third B-axis coordinate, controlling the tool tip to move in a horizontal direction based on the third X-axis coordinate and the third Y-axis coordinate, and controlling the tool tip to move in a vertical direction based on the third Z-axis coordinate, so as to machine the workpiece to be machined.

6. A method of processing a head, characterized by, comprising: setting a laser machining parameter and a preset follow-up height; controlling the tool to move according to the follow-up control method in any one of claims 1 to 5 based on the preset follow-up height; during the movement of the tool, controlling the tool to emit laser light according to the laser machining parameter, to machine the workpiece to be machined.

7. The method of claim 6, wherein the head processing method further comprises: After the step of controlling the tool to emit laser light according to the laser machining parameter to machine the workpiece to be machined during the movement of the tool, the workpiece machining method further comprises: when the machining of the workpiece to be machined is completed, controlling the tool to stop emitting laser light, and adjusting the position of the tool, so that the tool tip of the tool is away from the workpiece to be machined, and the swing of the tool returns to the initial position.

8. A head processing system characterized by, comprising: a numerical control machine tool, the numerical control machine tool being provided with a tool, and being fixed with a workpiece to be machined; a host computer, the host computer comprising a processor and a memory, and the memory being stored with a workpiece machining program, and the workpiece machining program being executed by the processor to realize the workpiece machining method in claim 6 or 7.

9. A computer-readable storage medium, characterized in that, The storage medium is stored with a computer program, and the computer program is executed by one or more processors to realize the follow-up control method in any one of claims 1 to 5 or the workpiece machining method in claim 6 or 7.

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