Processing track preprocessing method and device, processing equipment and readable storage medium

Abstract

The application relates to a machining track preprocessing method and device, a machining equipment and a readable storage medium, wherein the method comprises the following steps: acquiring track characteristic parameters and track error constraint values of adjacent sub machining tracks; determining substitute sub machining tracks of the adjacent sub machining tracks based on the track characteristic parameters and the track error constraint values; and determining a preprocessing result of the machining track according to the substitute sub machining tracks. The method effectively improves the track smoothness at the connection of the original tracks, thereby maintaining a larger machining feed speed at the track connection of the adjacent sub machining tracks, while ensuring the continuity of the speed and acceleration at the track connection, improving the abnormal vibration problem of the machine tool caused by uneven track curvature change, and thereby ensuring the laser machining precision while meeting the higher requirements of the laser machining efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser processing, and particularly relates to a processing track preprocessing method and device, a processing equipment and a readable storage medium. BACKGROUND

[0002] With the continuous development of laser processing technology and the continuous enrichment of laser demand, the requirement for laser processing efficiency is higher and higher. In the laser processing process, processing track planning as the core of laser processing control directly affects the laser processing precision.

[0003] In actual processing, most of the processing tracks will include line segments composed of adjacent linear sub-processing tracks with different lengths and line segment corners. Since the track curvature at the track connection will produce a large fluctuation, if the processing is directly performed according to the original processing track, the processing feed speed at the track connection needs to be reduced to avoid abnormal vibration of the machine tool, thereby affecting the laser processing efficiency. SUMMARY

[0004] Therefore, it is necessary to provide a processing track preprocessing method, device, processing equipment and readable storage medium aiming at the above technical problems.

[0005] A processing track preprocessing method applied to a processing track including a plurality of sub-processing tracks, comprising:

[0006] Obtaining a track feature parameter and a track error constraint value of adjacent sub-processing tracks;

[0007] Determining a replacement sub-processing track of adjacent sub-processing tracks based on the track feature parameter and the track error constraint value, the replacement sub-processing track being used to replace adjacent sub-processing tracks and a track connection formed by adjacent sub-processing tracks;

[0008] Determining a preprocessing result of the processing track according to the replacement sub-processing track.

[0009] In one of the embodiments, the obtaining of the track feature parameter and the track error constraint value of adjacent sub-processing tracks is specifically obtaining a track length, a track feature point and a track error constraint value of adjacent sub-processing tracks;

[0010] The determining of the replacement sub-processing track of adjacent sub-processing tracks based on the track feature parameter and the track error constraint value comprises:

[0011] Determining a feature construction pattern of adjacent sub-processing tracks according to the track feature point;

[0012] Determining the replacement sub-processing track according to the track length, the track feature point, the feature construction pattern and the track error constraint value.

[0013] In one of the embodiments, the trajectory feature points include a trajectory start point and a trajectory end point, and the determining of the feature configuration pattern adjacent to the sub-machining trajectory according to the trajectory feature points comprises:

[0014] configuring a trajectory replacement triangle of the adjacent linear sub-machining trajectory according to the trajectory start point and the trajectory end point;

[0015] The determining of the replacement sub-machining trajectory according to the trajectory length, the trajectory feature points, the feature configuration pattern and the trajectory error constraint value comprises:

[0016] The determining of the replacement linear sub-machining trajectory according to the trajectory length, the trajectory start point, the trajectory end point, the trajectory replacement triangle and the trajectory error constraint value comprises:

[0017] In one of the embodiments, the determining of the replacement linear sub-machining trajectory according to the trajectory length, the trajectory start point, the trajectory end point, the trajectory replacement triangle and the trajectory error constraint value comprises:

[0018] determining a connection angle adjacent to the sub-machining trajectory according to the trajectory length, the trajectory start point and the trajectory end point;

[0019] The determining of the replacement linear sub-machining trajectory according to the connection angle, the trajectory length, the trajectory replacement triangle and the trajectory error constraint value comprises:

[0020] In one of the embodiments, the determining of the replacement linear sub-machining trajectory according to the connection angle, the trajectory length, the trajectory replacement triangle and the trajectory error constraint value comprises:

[0021] when the connection angle is a right angle or an acute angle, the determining of the replacement linear sub-machining trajectory according to the trajectory length, a configuration side of the trajectory replacement triangle and the trajectory error constraint value;

[0022] when the connection angle is an obtuse angle, the determining of the replacement linear sub-machining trajectory according to the trajectory length, the configuration side of the trajectory replacement triangle, a configuration angle of the trajectory replacement triangle and the trajectory error constraint value.

[0023] In one of the embodiments, the determining of the replacement linear sub-machining trajectory according to the trajectory length, the configuration side of the trajectory replacement triangle and the trajectory error constraint value comprises:

[0024] obtaining a first numerical comparison relationship of the trajectory length minimum value and the trajectory error constraint value;

[0025] The alternative linear sub-processing trajectory is determined based on the first numerical comparison relationship and the constructed sides of the trajectory replacement triangle.

[0026] In one embodiment, determining the alternative linear sub-processing trajectory based on the trajectory length, the constructed sides of the trajectory replacement triangle, the constructed included angle of the trajectory replacement triangle, and the trajectory error constraint value includes:

[0027] Obtain the target construction angle of the trajectory replacement triangle corresponding to the maximum value of the trajectory length;

[0028] Based on the target construction angle and the trajectory length, a second numerical comparison relationship is determined between the product of the minimum value of the target construction angle and the trajectory length and the trajectory error constraint value.

[0029] The alternative linear sub-processing trajectory is determined based on the second numerical comparison relationship and the constructed sides of the trajectory replacement triangle.

[0030] A machining trajectory preprocessing device, applied to a machining trajectory including multiple sub-machining trajectories, includes:

[0031] The parameter acquisition module is used to acquire the trajectory feature parameters and trajectory error constraint values ​​of adjacent sub-processing trajectories;

[0032] The replacement trajectory determination module, connected to the parameter acquisition module, is used to determine the replacement sub-processing trajectory of the adjacent sub-processing trajectory based on the trajectory feature parameters and the trajectory error constraint value.

[0033] The trajectory processing module, connected to the replacement trajectory determination module, is used to determine the preprocessing result of the processing trajectory based on the replacement sub-processing trajectory.

[0034] A processing apparatus includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the method described above.

[0035] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0036] A computer program product that, when run on a terminal device, causes the terminal device to perform any of the methods described above.

[0037] The beneficial effects of the embodiments provided in this application include:

[0038] The machining track preprocessing method is applied to a machining track including multiple sub machining tracks. According to the track feature parameters and the track error constraint values of adjacent sub machining tracks (such as adjacent linear sub machining tracks), a replacement sub machining track capable of replacing the adjacent sub machining tracks and the track connection thereof (such as a line segment and a line segment corner formed by adjacent linear sub machining tracks with different lengths) is obtained. The machining track is adjusted based on the obtained replacement sub machining track, so that the preprocessing result of the machining track is obtained, that is, the machining track meeting the track error and taking into account the machining feed speed is obtained. Compared with the initial machining track, the adjusted machining track effectively improves the track smoothness at the track connection of the original track, thereby being capable of maintaining a larger machining feed speed at the track connection of the adjacent sub machining tracks, while ensuring the continuity of the speed and acceleration at the track connection, improving the abnormal vibration problem of the machine tool caused by the uneven change of the track curvature, and thereby meeting the higher requirements of the laser processing efficiency while ensuring the laser processing precision. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Figure 1 A flowchart of the machining track preprocessing method in one embodiment;

[0041] Figure 2 A specific flowchart of step 104 in one embodiment;

[0042] Figure 3 A specific flowchart of step 104 in one embodiment;

[0043] Figure 4 A schematic diagram of the machining track preprocessing process in one embodiment;

[0044] Figure 5 A schematic diagram of the machining track preprocessing process in one embodiment;

[0045] Figure 6 A specific flowchart of step 106 in one embodiment;

[0046] Figure 7 A structural schematic block diagram of the machining track preprocessing device in one embodiment;

[0047] Figure 8 A specific structural schematic block diagram of the replacement track determination module 40 in one embodiment;

[0048] Figure 9 a specific structure schematic block diagram of the trajectory determination unit 440 in an embodiment;

[0049] Figure 10 a specific structure schematic block diagram of the trajectory processing module 60 in an embodiment;

[0050] Figure 11 a structure schematic diagram of a machining device in an embodiment. DETAILED DESCRIPTION

[0051] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0052] In addition, the terms "first", "second" are only used for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0053] Figure 1 a flowchart of a machining trajectory preprocessing method in an embodiment.

[0054] In the present embodiment, as shown in Figure 1 the machining trajectory preprocessing method is applied to a machining trajectory including multiple sub-machining trajectories, and the machining trajectory preprocessing method includes steps 102 to 106.

[0055] Step 102, obtaining trajectory feature parameters and trajectory error constraint values of adjacent sub-machining trajectories.

[0056] The machining trajectory can be a laser machining initial planning trajectory or a machining initial planning trajectory. The adjacent sub-machining trajectories can be sub-machining trajectories sharing at least one end point. The trajectory feature parameters include trajectory feature points on the sub-machining trajectory and the trajectory length. The trajectory error constraint value can be a maximum value of the trajectory preprocessing error permitted by the adjacent sub-machining trajectories, which can be specifically applied to a scenario of limiting the maximum value of the trajectory preprocessing error.

[0057] Optionally, the adjacent sub-machining trajectories can be a linear sub-machining trajectory and another linear sub-machining trajectory that connect to form a corner, and the corner is a linear-linear corner. The trajectory feature points include the trajectory starting point and the trajectory ending point of the linear sub-machining trajectory.

[0058] The case of obtaining the track feature parameters and the track error constraint values of the adjacent sub-processing tracks includes: analyzing each of the sub-processing tracks in the processing track by the track analysis module, and obtaining the track feature points, the track lengths, and the track error constraint values of the adjacent sub-processing tracks.

[0059] In step 104, the replacement sub-processing tracks of the adjacent sub-processing tracks are determined based on the track feature parameters and the track error constraint values.

[0060] The replacement sub-processing track can be a sub-processing track that can replace the initial adjacent sub-processing track and the sub-processing track at the joint of the initial adjacent sub-processing track. Alternatively, the replacement sub-processing track can be a sub-processing track for replacing adjacent linear sub-processing tracks with different lengths and line segments and line segment corners formed by the two.

[0061] The case of determining the replacement sub-processing tracks of the adjacent sub-processing tracks based on the track feature parameters and the track error constraint values includes: determining the feature construction graph of the adjacent sub-processing tracks according to the track feature points; and determining the replacement sub-processing tracks according to the track lengths, the track feature points, the feature construction graph, and the track error constraint values.

[0062] The feature construction graph can be generated based on the track feature points of the adjacent sub-processing tracks, and can provide a graph of the replacement sub-processing track of the adjacent sub-processing track. Alternatively, the feature construction graph can be a triangle, or other graphs.

[0063] In step 106, the pre-processing result of the processing track is determined according to the replacement sub-processing track.

[0064] The pre-processing result can be generated based on the replacement sub-processing track and the initial sub-processing track, and can satisfy the track error and take into account the processing feed speed.

[0065] The case of determining the pre-processing result of the processing track according to the replacement sub-processing track includes: constructing the processing track including the replacement sub-processing track according to the processing order of the replaced sub-processing track and the un-replaced sub-processing track corresponding to the replacement sub-processing track.

[0066] When the processing track is pre-processed, each of the sub-processing tracks in the processing track is analyzed by the track analysis module, and the track feature points, the track lengths, and the track error constraint values of the adjacent sub-processing tracks are obtained; the feature construction graph of the adjacent sub-processing tracks is determined according to the track feature points; the replacement sub-processing tracks are determined according to the track lengths, the track feature points, the feature construction graph, and the track error constraint values; and the processing track including the replacement sub-processing track that satisfies the initial condition is constructed according to the processing order of the replaced sub-processing track and the un-replaced sub-processing track corresponding to the replacement sub-processing track.

[0067] The machining track preprocessing method provided in the embodiment is applied to a machining track including a plurality of sub machining tracks. According to the track feature parameters and the track error constraint value of adjacent sub machining tracks (such as adjacent linear sub machining tracks), a replacement sub machining track capable of replacing the adjacent sub machining tracks and the track connection thereof (such as the line segments formed by the adjacent linear sub machining tracks with different lengths and the line segment corners) is obtained. The replacement sub machining track is used to adjust the complete machining track, so that the preprocessing result of the machining track is obtained, that is, the machining track satisfying the track error and taking into account the machining feed speed is obtained. Compared with the initial machining track, the adjusted machining track effectively improves the track smoothness at the track connection of the original track, thereby being capable of maintaining a larger machining feed speed at the track connection of the adjacent sub machining tracks, while ensuring the continuity of the speed and acceleration at the track connection, improving the abnormal vibration problem of the machine tool caused by the uneven change of the track curvature, and thereby ensuring the laser machining precision while meeting the higher requirements of the laser machining efficiency.

[0068] Figure 2 A specific flowchart of step 104 in one embodiment is shown.

[0069] In the embodiment, as shown in Figure 2 , the step 104 includes sub-step 202 to sub-step 204.

[0070] In the sub-step 202, a track replacement triangle of the adjacent linear sub machining tracks is constructed according to the track starting point and the track ending point.

[0071] The track replacement triangle can be generated based on the track starting point and the track feature point of the adjacent sub machining tracks, and can be used as the side length to construct the triangle of the replacement linear sub machining track.

[0072] The case of constructing the track replacement triangle of the adjacent linear sub machining tracks according to the track starting point and the track ending point includes: taking a first linear sub machining track in the adjacent linear sub machining tracks as a first side, taking a second linear sub machining track in the adjacent linear sub machining tracks as a second side, and taking the shortest distance between the starting point of the first linear sub machining track and the ending point of the second linear sub machining track as a third side.

[0073] In the sub-step 204, a replacement linear sub machining track is determined according to the track length, the track starting point, the track ending point, the track replacement triangle, and the track error constraint value.

[0074] According to the trajectory length, the trajectory starting point, the trajectory ending point, the trajectory replacement triangle and the trajectory error constraint value, the case of determining the linear sub-machining trajectory to be replaced comprises: determining the connection angle of adjacent sub-machining trajectories according to the trajectory length, the trajectory starting point and the trajectory ending point; and determining the linear sub-machining trajectory to be replaced according to the connection angle, the trajectory length, the trajectory replacement triangle and the trajectory error constraint value.

[0075] The connection angle can be an angle at a connection position of adjacent linear sub-machining trajectories. Alternatively, the connection angle comprises an acute angle, a right angle and an obtuse angle.

[0076] The process of determining the connection angle of adjacent sub-machining trajectories according to the trajectory length, the trajectory starting point and the trajectory ending point is expressed as follows:

[0077]

[0078] In the formula, the linear sub-machining trajectory L i and L i+1 are two adjacent sub-machining trajectories, P i and P i+1 represent the starting point and the ending point of the linear sub-machining trajectory L i respectively, P i+1 and P i+2 represent the starting point and the ending point of the linear sub-machining trajectory L i+1 respectively, D i =||P i P i+1 || and D i+1 =||P i+1 P i+2 || represent the trajectory length of the linear sub-machining trajectory L i and L i+1 respectively.

[0079] When the machining trajectory is preprocessed, a first linear sub-machining trajectory in adjacent linear sub-machining trajectories is taken as a first side, a second linear sub-machining trajectory in adjacent linear sub-machining trajectories is taken as a second side, and a shortest distance between a starting point of the first linear sub-machining trajectory and an ending point of the second linear sub-machining trajectory is taken as a third side, i.e., a trajectory replacement triangle is constructed; a connection angle of adjacent sub-machining trajectories is determined according to the trajectory length, the trajectory starting point and the trajectory ending point; and a linear sub-machining trajectory to be replaced is determined according to the connection angle, the trajectory length, the trajectory replacement triangle and the trajectory error constraint value.

[0080] The machining track preprocessing method provided in the embodiment is configured by the adjacent linear sub-machining tracks, the track starting point and the track ending point, a track replacement triangle is constructed, and the replacement linear sub-machining track capable of replacing the adjacent sub-machining tracks and the track connection position of the adjacent sub-machining tracks is determined by combining the connection angle, the track length and the track error constraint value, that is, the function of two adjacent linear sub-machining tracks is replaced by using one replacement linear sub-machining track, and then the machining feed speed at the track connection position of the adjacent sub-machining tracks can be maintained to be relatively large, and the continuity of the speed and acceleration at the track connection position can be ensured.

[0081] Figure 3 A specific flowchart of step 104 in an embodiment is shown.

[0082] In the embodiment, as shown in the figure, Figure 3 Step 104 includes sub-step 302 to sub-step 304.

[0083] In sub-step 302, when the connection angle is a right angle or an acute angle, the replacement linear sub-machining track is determined according to the track length, the construction side of the track replacement triangle and the track error constraint value.

[0084] The case of determining the replacement linear sub-machining track according to the track length, the construction side of the track replacement triangle and the track error constraint value includes: obtaining a first numerical comparison relationship of the track length minimum value and the track error constraint value; and determining the replacement linear sub-machining track according to the first numerical comparison relationship and the construction side of the track replacement triangle.

[0085] The construction side of the replacement triangle can be the shortest distance between the track starting point of the first linear sub-machining track and the track ending point of the second linear sub-machining track in the replacement triangle. The track length minimum value can be the smaller value of the track lengths of the adjacent linear sub-machining tracks. The first numerical comparison relationship can be that the track length minimum value is less than the track error constraint value, or the track length minimum value is equal to the track error constraint value, or the track length minimum value is greater than the track error constraint value.

[0086] The case of determining the replacement linear sub-machining track according to the first numerical comparison relationship and the construction side of the track replacement triangle includes: when the track length minimum value is less than or equal to the track error constraint value, the construction side of the track replacement triangle is taken as the replacement linear sub-machining track of the adjacent linear sub-machining tracks.

[0087] Specifically, as shown in the figure, Figure 4 If the connection angle θ of the adjacent linear sub-machining tracks L i and L i+1 is a right angle or an acute angle, that is, θ≤90°, the track starting point of the sub-machining track L i and the track ending point of the sub-machining track Li+1 The endpoint of the trajectory is obtained, which is the construction side of the triangle replaced by the trajectory, i.e., P. i P i+2 Construct an endpoint P i P i+1 P i+2 Replacement triangle ΔP i P i+1 P i+2 If the trajectory length is minimized by D m Less than or equal to the trajectory error constraint value δ max D m ≤δ max This indicates that the trajectory error constraint value δ is satisfied. max In the case of adjacent linear sub-processing trajectories L i and L i+1 The sub-processing trajectory that can be replaced (i.e., the trajectory replaces the construction side P of the triangle) i P i+2 The process replaces the micro-processing trajectory, thus achieving the goal of removing the micro-processing trajectory. If the trajectory length is minimized by D... m Greater than the trajectory error constraint value δ max D m >δ max This indicates that the adjacent linear sub-processing trajectories L i and L i+1 All are long straight lines, eliminating the need for tiny sub-trajectory processing and removal. This is achieved by minimizing the trajectory length D... m and trajectory error constraint value δ max By comparing the values, the adjacent linear sub-processing trajectories L can be determined. i and L i+1 If there are minute trajectory segments, the minute sub-processing trajectories in the processing trajectory can be removed. The adjusted processing trajectory effectively improves the trajectory smoothness at the junction of the original trajectory, thereby maintaining a larger processing feed rate at the junction of adjacent sub-processing trajectories.

[0088] In step 304, when the connecting angle is obtuse, the alternative linear sub-processing trajectory is determined based on the trajectory length, the construction angle of the trajectory replacement triangle, and the trajectory error constraint value.

[0089] The process of determining the alternative linear sub-processing trajectory based on the trajectory length, the construction angle of the trajectory replacement triangle, and the trajectory error constraint value includes: obtaining the target construction angle of the trajectory replacement triangle corresponding to the maximum trajectory length; determining the second numerical comparison relationship between the product of the target construction angle and the minimum trajectory length and the trajectory error constraint value based on the target construction angle and the trajectory length; and determining the alternative linear sub-processing trajectory based on the second numerical comparison relationship and the construction sides of the trajectory replacement triangle.

[0090] The maximum trajectory length can be the larger of the trajectory lengths of adjacent linear sub-processing trajectories. The target construction angle can be the angle corresponding to the maximum trajectory lengths of adjacent linear sub-processing trajectories in the replacement triangle. The second numerical comparison relationship can be that the product of the target construction angle and the minimum trajectory length is less than the trajectory error constraint value, or the product of the target construction angle and the minimum trajectory length is equal to the trajectory error constraint value, or the product of the target construction angle and the minimum trajectory length is greater than the trajectory error constraint value.

[0091] Based on the second numerical comparison relationship and the construction side of the trajectory replacement triangle, the cases in which the alternative linear sub-processing trajectory is determined include: when the product of the target construction angle and the minimum value of the trajectory length is less than or equal to the trajectory error constraint value, the construction side of the trajectory replacement triangle is used as the alternative linear sub-processing trajectory of the adjacent linear sub-processing trajectory.

[0092] Specifically, such as Figure 5 As shown, if adjacent linear sub-processing trajectories L i and L i+1 The included angle θ of the connection is obtuse, i.e., θ > 90°, and the machining trajectory L of the connector is... i The trajectory starting point and sub-processing trajectory L i+1 The endpoint of the trajectory is obtained, which is the construction side of the triangle replaced by the trajectory, i.e., line segment P. i P i+2 Construct an endpoint P i P i+1 P i+2 Replacement triangle ΔP i P i+1 P i+2 Next, calculate the adjacent linear sub-processing trajectories L. i and L i+1 The included angle α of the target structure corresponding to the longer side, such as Figure 5 As shown, the angle α corresponding to the target construction angle is ∠P. i+1 P i P i+2 and ∠P i+1 P i+2 P i Then, if the product of the target construction angle and the minimum trajectory length is less than or equal to the trajectory error constraint value, i.e., D... m sin(α)≤δ max Under the condition that the trajectory error constraint value δ is satisfied max In the case of adjacent linear sub-processing trajectories L i and L i+1 The sub-processing trajectory that can be replaced (i.e., the trajectory replaces the construction side P of the triangle) i P i+2) is replaced, so as to achieve the purpose of removing the micro trajectory segment. If D m sin(a) > δ max , it indicates that the adjacent linear sub-machining trajectories L i and L i+1 are long straight lines, and there is no need to perform micro sub-machining trajectory elimination. By comparing the numerical values of the product D m sin(a) of the target angle and the trajectory length minimum value and the trajectory error constraint value δ max , it can be judged whether there is a micro trajectory segment in the adjacent linear sub-machining trajectories L i and L i+1 , the micro sub-machining trajectory in the machining trajectory is removed, the adjusted machining trajectory effectively improves the trajectory smoothness at the connection of the original trajectory, and then a larger machining feed speed can be maintained at the connection of the adjacent sub-machining trajectories.

[0093] The machining trajectory preprocessing method provided in the embodiment is for different connection angles formed by adjacent linear sub-machining trajectories. By comparing the numerical values of the trajectory length minimum value D m and the trajectory error constraint value δ max , or comparing the numerical values of the product D m sin(a) of the target angle and the trajectory length minimum value and the trajectory error constraint value δ max , it can be judged whether there is a micro trajectory segment in the adjacent linear sub-machining trajectories L i and L i+1 , and the micro sub-machining trajectory in the machining trajectory is removed, which improves the implementability of the machining trajectory preprocessing method and expands the actual application range.

[0094] Figure 6 is a specific flowchart of step 106 in an embodiment.

[0095] In the embodiment, as shown in Figure 6 , the step 106 includes a sub-step 602 to a sub-step 604.

[0096] The sub-step 602 acquires a trajectory sorting result of a plurality of replacement sub-machining trajectories.

[0097] The sub-step 602 determines a preprocessing result of the machining trajectory according to the trajectory sorting result.

[0098] The trajectory sorting result can be a trajectory planning sorting of the replaced sub-machining trajectory corresponding to the replacement sub-machining trajectory. The preprocessing result can be that the adjacent sub-machining trajectories in the machining trajectory are partially replaced by the replacement sub-machining trajectory, or the adjacent sub-machining trajectories in the machining trajectory are completely replaced by the replacement sub-machining trajectory.

[0099] According to the trajectory sorting result, the case of determining the preprocessing result of the machining trajectory includes: according to the trajectory sorting result, sequentially reconnecting the replaced sub-machining trajectory and the sub-machining trajectory not replaced, and constructing the machining trajectory with the replaced sub-machining trajectory and the initial sub-machining trajectory.

[0100] The machining trajectory preprocessing method provided in the embodiment can sequentially connect the replaced sub-machining trajectory and the sub-machining trajectory not replaced based on the trajectory planning sorting of the replaced sub-machining trajectory, and can guarantee the feasibility of the re-constructed machining trajectory.

[0101] It should be understood that, although each step in the above flowchart is sequentially displayed according to the arrow prompt, these steps are not necessarily sequentially executed in the order of the arrow prompt. Unless explicitly stated herein, the execution of these steps does not have strict order restrictions, and these steps can be executed in other orders. Moreover, at least one sub-step in the above can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least one part of other steps or sub-steps or stages of other steps. It should be noted that different embodiments described above can be combined with each other.

[0102] Figure 7 The structure of the machining trajectory preprocessing device in one embodiment is shown in the schematic block diagram.

[0103] In the embodiment, as shown in the schematic block diagram, Figure 7 the machining trajectory preprocessing device is applied to a machining trajectory including multiple sub-machining trajectories, and the machining trajectory preprocessing device includes a parameter acquisition module 20, a replacement trajectory determination module 40, and a trajectory processing module 60.

[0104] The parameter acquisition module 20 is configured to acquire the trajectory feature parameters and the trajectory error constraint values of adjacent sub-machining trajectories.

[0105] The replacement trajectory determination module 40 is connected with the parameter acquisition module 20 and is configured to determine the replaced sub-machining trajectory of the adjacent sub-machining trajectories based on the trajectory feature parameters and the trajectory error constraint values.

[0106] The trajectory processing module 60 is connected with the replacement trajectory determination module 40 and is configured to determine the preprocessing result of the machining trajectory according to the replaced sub-machining trajectory.

[0107] In the embodiment, each module is configured to execute the steps in the corresponding embodiment in Figure 1 , and specific reference can be made to the related descriptions in the corresponding embodiments in Figure 1 and Figure 1 , which will not be described herein again.

[0108] The processing track preprocessing device provided in the embodiment obtains the track feature parameters and the track error constraint values of adjacent sub-processing tracks through the parameter acquisition module 20; the replacement track determination module 40 connected with the parameter acquisition module 20 determines the replacement sub-processing track of the adjacent sub-processing track based on the track feature parameters and the track error constraint values; and the track processing module 60 connected with the replacement track determination module 40 determines the preprocessing result of the processing track according to the replacement sub-processing track.

[0109] The processing track preprocessing device provided in the embodiment is applied to a processing track including a plurality of sub-processing tracks, and according to the track feature parameters and the track error constraint values of adjacent sub-processing tracks (such as adjacent linear sub-processing tracks), a replacement sub-processing track capable of replacing the adjacent sub-processing track and the track connection thereof (such as the line segment and the line segment corner formed by the adjacent linear sub-processing tracks with different lengths) is obtained, and the replacement sub-processing track is used to adjust and process the complete processing track, so as to obtain the preprocessing result of the processing track, that is, to obtain the processing track meeting the track error and taking into account the processing feed speed. Compared with the initial processing track, the adjusted processing track effectively improves the track smoothness at the track connection of the original track, and thus can maintain a larger processing feed speed at the track connection of the adjacent sub-processing tracks, while ensuring the continuity of the speed and acceleration at the track connection, improving the abnormal vibration problem of the machine tool caused by the uneven change of the track curvature, and thus ensuring the laser processing precision while meeting the higher requirements of the laser processing efficiency.

[0110] Figure 8 The specific structure of the replacement track determination module 40 in one embodiment is shown in the schematic block diagram.

[0111] In the embodiment, as shown in Figure 8 , the replacement track determination module 40 includes a replacement graph determination unit 420 and a replacement track determination unit 440.

[0112] The replacement graph determination unit 420 is configured to construct a track replacement triangle of the adjacent linear sub-processing track according to the track starting point and the track ending point.

[0113] The replacement track determination unit 440 is connected with the replacement graph determination unit 420 and is configured to determine the replacement linear sub-processing track according to the track length, the track starting point, the track ending point, the track replacement triangle and the track error constraint value.

[0114] In the embodiment, each unit is configured to perform the steps in the corresponding embodiment, and specific reference can be made to the related descriptions in the embodiments of Figure 2 and Figure 2 . Figure 2 .

[0115] Figure 9 is a specific structure schematic block diagram of the alternative trajectory determining unit 440 in one embodiment.

[0116] In the embodiment, as shown in the figure, Figure 9 the alternative trajectory determining unit 440 includes a first alternative trajectory determining sub-unit 442 and a second alternative trajectory determining sub-unit 444.

[0117] The first alternative trajectory determining sub-unit 442 is configured to determine an alternative linear sub-machining trajectory according to the trajectory length, the construction side of the trajectory-replaced triangle and the trajectory error constraint value when the joint included angle is a right angle or an acute angle.

[0118] The second alternative trajectory determining sub-unit 444 is connected with the first alternative trajectory determining sub-unit 442 and is configured to determine an alternative linear sub-machining trajectory according to the trajectory length, the construction included angle of the trajectory-replaced triangle and the trajectory error constraint value when the joint included angle is an obtuse angle.

[0119] The units in the embodiment are configured to perform the steps in the corresponding embodiments in the method, and specific reference can be made to the related descriptions in the corresponding embodiments in the method and will not be repeated here. Figure 3 Figure 3 Figure 3 The units in the embodiment are configured to perform the steps in the corresponding embodiments in the method, and specific reference can be made to the related descriptions in the corresponding embodiments in the method and will not be repeated here.

[0120] Figure 10 is a specific structure schematic block diagram of the trajectory processing module 60 in one embodiment.

[0121] In the embodiment, as shown in the figure, Figure 10 the trajectory processing module 60 includes a trajectory sorting obtaining unit 620 and a trajectory processing unit 640.

[0122] The trajectory sorting obtaining unit 620 is configured to obtain a trajectory sorting result of a plurality of alternative sub-machining trajectories.

[0123] The trajectory processing unit 640 is connected with the trajectory sorting obtaining unit 620 and is configured to determine a preprocessing result of a machining trajectory according to the trajectory sorting result.

[0124] The units in the embodiment are configured to perform the steps in the corresponding embodiments in the method, and specific reference can be made to the related descriptions in the corresponding embodiments in the method and will not be repeated here. Figure 6 Figure 6 Figure 6 The units in the embodiment are configured to perform the steps in the corresponding embodiments in the method, and specific reference can be made to the related descriptions in the corresponding embodiments in the method and will not be repeated here.

[0125] The units in the above embodiments are configured to perform the steps in the corresponding embodiments, and specific reference can be made to the related descriptions in the corresponding embodiments and will not be repeated here.

[0126] ​​​​The division of each module in the machining track preprocessing device is only for illustration, and in other embodiments, the machining track preprocessing device can be divided into different modules as needed to complete all or part of the functions of the machining track preprocessing device.

[0127] The specific limitations of the machining track preprocessing device can refer to the limitations of the machining track preprocessing method described above, which will not be repeated here. Each module in the machining track preprocessing device can be implemented by software, hardware, and combinations thereof, in whole or in part. Each module described above can be embedded in or independent of the processor in the machining device in hardware form, or can be stored in the memory of the machining device in software form, so that the processor invokes and executes the operations corresponding to each module.

[0128] Figure 11 Fig. 1 is a schematic structural diagram of a machining device in one embodiment.

[0129] In the present embodiment, as shown in Figure 11 , the machining device includes a memory A1 and a processor A2, and can further include a display screen A3, a communications interface, and a bus. Optionally, the machining device can be a laser machining device.

[0130] The memory A1, the processor A2, the display screen A3, and the communications interface can communicate with each other through the bus; the display screen A3 is configured to display a user operation interface preset in an initial setting mode, and the display screen A3 can also display a process control window; the communications interface can transmit information; the memory A1 stores a computer program, and the processor A2 can invoke the logical instructions in the memory A1 to execute the method in the above embodiment.

[0131] In addition, the logical instructions in the memory A1 described above can be implemented in the form of a software function unit and sold or used as an independent workpiece, which can be stored in a computer-readable storage medium.

[0132] The memory A1, as a computer-readable storage medium, can be configured to store software programs, computer executable programs, such as program instructions or modules corresponding to the method in the embodiments of the present application. The processor A2 executes the software programs, instructions, or modules stored in the memory A1 to perform function applications and data processing, i.e., to implement the method in the above embodiment.

[0133] The memory A1 includes a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application program required by a function; and the data storage area can store data created according to the use of the terminal device, etc. In addition, the memory A1 can include a high-speed random access memory, and can also include a non-volatile memory.

[0134] The processor A2 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.

[0135] The embodiments of the present application also provide a computer readable storage medium. One or more non-volatile computer readable storage media storing computer executable instructions that, when executed by one or more processors, cause the processors to perform the method in the above embodiments.

[0136] The embodiments of the present application also provide a computer program product, which, when running on a terminal device, causes the terminal device to perform the method in the above embodiments.

[0137] The processing track preprocessing method and device, the processing equipment and the readable storage medium provided by the above embodiments are applied to a processing track including a plurality of sub-processing tracks, according to the track feature parameters and the track error constraint values of adjacent sub-processing tracks (such as adjacent linear sub-processing tracks), a replacement sub-processing track capable of replacing the adjacent sub-processing tracks and the track connection thereof (such as a line segment and a line segment corner formed by adjacent linear sub-processing tracks with different lengths) is obtained, and the complete processing track is adjusted based on the obtained replacement sub-processing track, so as to obtain a preprocessing result of the processing track, that is, a processing track meeting the track error and taking into account the processing feed speed. Compared with the initial processing track, the adjusted processing track effectively improves the track smoothness at the track connection of the original track, and thus can maintain a larger processing feed speed at the track connection of the adjacent sub-processing tracks, while ensuring the continuity of the speed and acceleration at the track connection, improving the abnormal vibration problem of the machine tool caused by the uneven change of the track curvature, and thus meeting the higher requirements of laser processing efficiency while ensuring the laser processing precision, which has important economic value and practical value.

[0138] As used herein, any reference to memory, storage, database, or other medium can include non-volatile and / or volatile memory. Non-volatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM), which acts as external cache. By way of illustration, and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), Rambus DRAM (RDRAM), direct Rambus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM).

[0139] The technical features of the above-described embodiments can be combined in any manner, and for the sake of brevity, not all possible combinations are described, but it is understood that the scope of the present specification includes all possible combinations.

[0140] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.

Claims

1. A machining trajectory preprocessing method applied to a machining trajectory including a plurality of sub machining trajectories, characterized in that, Comprising: acquiring a track feature parameter and a track error constraint value of adjacent sub-processing tracks; determining a replacement sub-processing track of adjacent sub-processing tracks based on the track feature parameter and the track error constraint value, the replacement sub-processing track being used to replace adjacent sub-processing tracks and a track connection formed by adjacent sub-processing tracks; determining a preprocessing result of the processing track according to the replacement sub-processing track; the acquisition of the track feature parameter and the track error constraint value of adjacent sub-processing tracks is specifically: acquiring the track length, the track feature point and the track error constraint value of adjacent sub-processing tracks; the determination of the replacement sub-processing track of adjacent sub-processing tracks based on the track feature parameter and the track error constraint value comprises: determining a feature construction pattern of adjacent sub-processing tracks according to the track feature point; determining the replacement sub-processing track according to the track length, the track feature point, the feature construction pattern and the track error constraint value.

2. The machining trajectory preprocessing method according to claim 1, characterized in that, The track feature point comprises a track starting point and a track ending point, and the determination of the feature construction pattern of adjacent sub-processing tracks according to the track feature point comprises: constructing a track replacement triangle of adjacent linear sub-processing tracks according to the track starting point and the track ending point; the determination of the replacement sub-processing track according to the track length, the track starting point, the track ending point, the track replacement triangle and the track error constraint value comprises: determining a replacement linear sub-processing track according to the track length, the track starting point, the track ending point, the track replacement triangle and the track error constraint value.

3. The machining trajectory preprocessing method according to claim 2, characterized in that, the determination of the replacement linear sub-processing track according to the track length, the track starting point, the track ending point, the track replacement triangle and the track error constraint value comprises: determining an adjacent connection angle of the sub-processing tracks according to the track length, the track starting point and the track ending point; determining the replacement linear sub-processing track according to the adjacent connection angle, the track length, the track replacement triangle and the track error constraint value.

4. The machining trajectory preprocessing method according to claim 3, characterized in that, the determination of the adjacent connection angle of the sub-processing tracks according to the track length, the track starting point and the track ending point comprises: wherein and denote the start point and the end point of the linear sub-machining trajectory , and denote the start point and the end point of the linear sub-machining trajectory , and denote the start point and the end point of the linear sub-machining trajectory and denote the length of the linear sub-machining trajectory and are two adjacent sub-machining trajectories.

5. The machining trajectory preprocessing method according to claim 3, characterized in that, the determination of the replacement linear sub-processing track according to the adjacent connection angle, the track length, the track replacement triangle and the track error constraint value comprises: when the adjacent connection angle is a right angle or an acute angle, determining the replacement linear sub-processing track according to the track length, a construction side of the track replacement triangle and the track error constraint value; when the adjacent connection angle is an obtuse angle, determining the replacement linear sub-processing track according to the track length, the construction side of the track replacement triangle, a construction angle of the track replacement triangle and the track error constraint value.

6. The machining trajectory preprocessing method according to claim 5, characterized in that, the determination of the replacement linear sub-processing track according to the track length, the construction side of the track replacement triangle and the track error constraint value comprises: obtaining a first numerical comparison relationship of the trajectory length minimum value and the trajectory error constraint value; determining the alternative linear sub-processing trajectory according to the first numerical comparison relationship and a construction side of the trajectory replacement triangle.

7. The machining trajectory preprocessing method according to claim 5, wherein, The determining the alternative linear sub-processing trajectory according to the trajectory length, the construction side of the trajectory replacement triangle, the construction included angle of the trajectory replacement triangle and the trajectory error constraint value comprises: obtaining a target construction included angle of the trajectory replacement triangle corresponding to the trajectory length maximum value; determining a second numerical comparison relationship of a product value of the target construction included angle and the trajectory length minimum value and the trajectory error constraint value according to the target construction included angle and the trajectory length; determining the alternative linear sub-processing trajectory according to the second numerical comparison relationship and the construction side of the trajectory replacement triangle.

8. A machining track preprocessing apparatus applied to a machining track including a plurality of sub machining tracks, characterized by, comprise: a parameter acquisition module, configured to acquire a trajectory feature parameter and a trajectory error constraint value of adjacent sub-processing trajectories; a replacement trajectory determination module, connected with the parameter acquisition module, configured to determine an alternative sub-processing trajectory of the adjacent sub-processing trajectories based on the trajectory feature parameter and the trajectory error constraint value; a trajectory processing module, connected with the replacement trajectory determination module, configured to determine a preprocessing result of the processing trajectory according to the alternative sub-processing trajectory. The acquiring the trajectory feature parameter and the trajectory error constraint value of the adjacent sub-processing trajectories specifically comprises: acquiring a trajectory length, a trajectory feature point and a trajectory error constraint value of the adjacent sub-processing trajectories. The determining the alternative sub-processing trajectory of the adjacent sub-processing trajectories based on the trajectory feature parameter and the trajectory error constraint value comprises: determining a feature construction graph of the adjacent sub-processing trajectories according to the trajectory feature point; determining the alternative sub-processing trajectory according to the trajectory length, the trajectory feature point, the feature construction graph and the trajectory error constraint value.

9. A processing apparatus characterized by comprising: The computer program is executed by the processor to implement the method in any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method in any one of claims 1 to 7.

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