Laser cutting method and system

Abstract

The invention provides a laser cutting method and system.The method comprises the steps that when any one of geometric information and centering deviation of the section of a pipe changes, the centering deviation of the section of the pipe is determined on the basis of the B-axis rotation center of laser machining equipment, a plurality of B-axis angle positions, the changed centering deviation and the profile of the section of the corresponding pipe after changing; forming a second height difference list; updating a first height difference list adopted before any one of the geometric information and the centering deviation of the pipe section is changed into a second height difference list; acquiring a corresponding B-axis angle position range based on the B-axis information at the starting point of the null movement and the B-axis information at the ending point of the null movement; obtaining the maximum target height difference in the second height difference list; and based on the maximum target height difference, the laser cutting head is lifted in the empty movement process. By means of the laser cutting method and system, on the basis that the safety of aerial movement is guaranteed, the aerial movement efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of machine tool control, and in particular to a laser cutting method and system. Background Art

[0002] When the laser processing equipment is moving in the state of clamping the pipe, in order to ensure that the laser cutting head of the laser processing equipment does not collide with the pipe, the laser cutting head is usually raised to a certain height before the other axes start moving.

[0003] However, the lifting height used in the prior art air movement is difficult to take into account both the safety and efficiency of the air movement. Summary of the invention

[0004] The present invention provides a laser cutting method and system to improve the efficiency of idle movement while ensuring the safety of idle movement.

[0005] A first aspect of the present invention provides a laser cutting method, comprising:

[0006] When any one of the geometric information and the centering deviation of the tube cross section changes, a second height difference list is formed based on the B-axis rotation center of the laser processing equipment, a plurality of B-axis angular positions, the centering deviation after the change, and the contour of the corresponding tube cross section after the change; wherein the geometric information of the tube cross section includes any one of the shape and size of the tube cross section, the B-axis angular position is equal to a positive integer multiple of a unit angle, and the second height difference list includes a plurality of target height differences corresponding to the plurality of B-axis angular positions one by one, and any target height difference is the height difference between the highest point of the contour of the corresponding tube cross section after the change and the B-axis rotation center at the corresponding B-axis angular position;

[0007] Updating the first height difference list used before any one of the geometric information of the pipe cross section and the centering deviation changes to the second height difference list;

[0008] Based on the B-axis information at the starting point of the idle movement and the B-axis information at the end point of the idle movement, the corresponding B-axis angle position range is obtained;

[0009] Obtaining a maximum target height difference in the second height difference list, where the maximum target height difference is the largest target height difference among the target height differences corresponding to the B-axis angular position range;

[0010] Based on the maximum target height difference, the laser cutting head is lifted up during the idle movement.

[0011] Optionally, the change in either the geometric information of the tube cross section or the centering deviation further includes: detecting a change in a processing drawing or detecting a change in the centering deviation.

[0012] Optionally, the method for forming a second height difference list based on the B-axis rotation center of the laser processing equipment, several B-axis angular positions, the centering deviation after the change, and the contour of the corresponding tube cross section after the change includes: discretizing the contour of the tube cross section corresponding to the change to obtain several discrete points; obtaining the target height difference at each of the B-axis angular positions, the target height difference at any B-axis angular position being: the height difference between the highest discrete point among the several discrete points and the B-axis rotation center at any B-axis angular position; forming the second height difference list based on all the B-axis angular positions and the target height difference at each of the B-axis angular positions.

[0013] Optionally, the method for obtaining the target height difference at any B-axis angular position includes: obtaining the height difference between all discrete points and the B-axis rotation center at any B-axis angular position based on the relative position of each discrete point relative to the geometric center of the tube cross section, the position of the B-axis rotation center, the centering deviation after the change, and the any B-axis angular position; traversing the height differences between all discrete points and the B-axis rotation center at any B-axis angular position, and taking the maximum height difference as the target height difference at any B-axis angular position.

[0014] Optionally, the plane where the tube cross section is located includes a rectangular coordinate system formed by an X-axis and a Y-axis, and the method for obtaining the target height difference at any B-axis angle position further includes: based on the relative position of each discrete point relative to the geometric center of the tube cross section, the position of the B-axis rotation center, the centering deviation after the change, and the any B-axis angle position, obtaining the Y-axis coordinate difference between all discrete points and the B-axis rotation center at any B-axis angle position; traversing the Y-axis coordinate difference between all discrete points and the B-axis rotation center, and taking the maximum value of the Y-axis coordinate difference between all discrete points and the B-axis rotation center as the target height difference at any B-axis angle position.

[0015] Optionally, the method for lifting the laser cutting head in the idle movement based on the maximum target height difference includes: obtaining the minimum lifting height SafeLiftHeight based on the maximum target height difference MaxDiffY, the Y-axis coordinate BCY of the B-axis rotation center, and the Y-axis coordinate MSY at the starting point of the idle movement, wherein SafeLiftHeight = BCY + MaxDiffY - MSY; and performing the lifting action of the laser cutting head in the idle movement based on the minimum lifting height SafeLiftHeight.

[0016] Optionally, the method for performing the lifting action of the laser cutting head in the idle movement based on the minimum lifting height SafeLiftHeight includes: obtaining the final lifting height LiftHeight based on the minimum lifting height SafeLiftHeight and a preset additional lifting height ExtraLiftHeight, wherein LiftHeight = SafeLiftHeight + ExtraLiftHeight; when the final lifting height LiftHeight is greater than 0, performing the lifting action of the laser cutting head in the idle movement according to the final lifting height LiftHeight; when the final lifting height LiftHeight is less than or equal to 0, not performing the lifting action of the laser cutting head in the idle movement.

[0017] Optionally, the method for performing the idling action also includes: when the final lifting height LiftHeight is greater than 0, when the lifting action of the laser cutting head completes the minimum lifting height SafeLiftHeight, the other axes of the laser processing equipment begin to move toward the end point of the idling action; when the final lifting height LiftHeight is less than or equal to 0, the other axes of the laser processing equipment move directly to the end point of the idling action.

[0018] Optionally, the unit angle is 0.1°; and the range of the B-axis angular position is within 360°.

[0019] Optionally, the method for obtaining the corresponding B-axis angular position range based on the B-axis information at the starting point of the idle move and the B-axis information at the end point of the idle move includes: obtaining a first B-axis relative coordinate of the B-axis coordinate at the starting point of the idle move relative to the B-axis leveling coordinate; obtaining a second B-axis relative coordinate of the B-axis coordinate at the starting point of the idle move relative to the B-axis leveling coordinate; and determining the B-axis angular position range based on the first B-axis relative coordinate and the second B-axis relative coordinate, the B-axis angular position range including all B-axis angular positions from the first B-axis relative coordinate to the second B-axis relative coordinate.

[0020] A second aspect of the present invention provides a laser cutting system, wherein the laser cutting system adopts any of the laser cutting methods described above.

[0021] According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above methods when executing the program.

[0022] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in any of the above methods are implemented.

[0023] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0024] In the laser cutting method provided by the technical solution of the present invention, when any one of the geometric information and the centering deviation of the tube cross section changes, a second height difference list is formed based on the B-axis rotation center of the laser processing equipment, a plurality of B-axis angular positions, the centering deviation after the change, and the contour of the corresponding tube cross section after the change, and the first height difference list used before the geometric information and the centering deviation of the tube cross section change is updated to the corresponding second height difference list after the change. Therefore, when obtaining the target height difference, the combined influence of the centering deviation after the change, the contour of the corresponding tube cross section after the change, and the B-axis angular position are comprehensively considered. On this basis, the corresponding B-axis angular position range is obtained based on the B-axis information at the starting point of the idle movement and the B-axis information at the end point of the idle movement, and the maximum target height difference is obtained in the second height difference list to perform the lifting action of the laser cutting head. Therefore, the lifting height adopted by the lifting action of the laser cutting head changes in linkage with the B-axis angular position range corresponding to the idle movement, thereby not only ensuring the safety of the idle movement, but also being conducive to improving the efficiency of the idle movement. In addition, since the second height difference list is updated by using the time between when any one of the geometric information of the pipe cross section and the centering deviation changes and when the idle movement operation is performed, the idle movement operation is not affected by the update of the second height difference list, thereby facilitating the improvement of the idle movement efficiency. In summary, the laser cutting method of the embodiment of the present invention can improve the idle movement efficiency on the basis of ensuring the safety of the idle movement operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 This is a schematic diagram of the lifting height of the laser cutting head in an idling action in one embodiment;

[0027] Figure 2 is a schematic diagram of the lifting height of the laser cutting head in an idling action in another embodiment;

[0028] Figure 3 is a schematic flow chart of a laser cutting method according to an embodiment of the present invention;

[0029] Figure 4 is a schematic flow chart of step S100 in one embodiment of the present invention;

[0030] Figure 5 is a flow chart of step S130 in one embodiment of the present invention;

[0031] Figure 6 is a flow chart of step S300 in one embodiment of the present invention;

[0032] Figure 7 is a flow chart of step S500 in one embodiment of the present invention;

[0033] Figure 8 It is a flowchart of step S520 in one embodiment of the present invention. DETAILED DESCRIPTION

[0034] As described in the background art, the lifting height used in the conventional idle movement is difficult to take into account both the safety and efficiency of the idle movement.

[0035] Specifically, in most actual processing scenarios, the centering deviation between the geometric center of the tube section and the B-axis rotation center of the laser processing equipment (hereinafter referred to as the centering deviation) is relatively small. Figure 1 In one embodiment shown in , when calculating the lifting height H1 of the laser cutting head, it is assumed that the geometric center C1 of the tube cross section coincides with the B-axis rotation center of the laser processing equipment, and the circumscribed circle radius R0 of the tube cross section is used as the rotation radius of the tube cross section, thereby obtaining the lifting height H1 of the laser cutting head.

[0036] However, the pipe section does not actually rotate around its geometric center, but around the B-axis rotation center. During the rotation process, the position of the highest point that the pipe section can reach will be affected by the centering deviation. In the scenario where the pipe eccentricity is small, the centering deviation has little effect; but in the scenario where the pipe eccentricity is large, if the centering deviation is ignored, there is a high probability that the calculated lifting height is not high enough, resulting in poor safety of empty movement.

[0037] In order to solve the above problems, Figure 2 As shown in, in another embodiment, the maximum rotation radius R1 (R1=R0+D0) of the tube section rotating around the B-axis rotation center B1 is obtained by the centering deviation D0 between the geometric center C1 of the tube section and the B-axis rotation center B1 of the laser processing equipment, and the circumscribed circle radius R0 of the tube section, and the lifting height H2 of the laser cutting head is always calculated based on the maximum rotation radius R1.

[0038] However, if the maximum rotation radius R1 is always used to calculate the lifting height of the laser cutting head, when the tube cross section does not pass the rotation angle corresponding to the maximum radius during rotation, redundant lifting height will be generated, resulting in low idle movement efficiency.

[0039] In order to solve the above problems, the technical solution of the present invention provides a laser cutting method and system, including: when any one of the geometric information and the centering deviation of the tube cross section changes, a second height difference list is formed based on the B-axis rotation center of the laser processing equipment, a number of B-axis angular positions, the centering deviation after the change, and the contour of the corresponding tube cross section after the change; the first height difference list used before the geometric information and the centering deviation of the tube cross section change is updated to the second height difference list; based on the B-axis information at the starting point of the idle movement and the B-axis information at the end point of the idle movement, the corresponding B-axis angular position range is obtained; the maximum target height difference is obtained in the second height difference list, and the maximum target height difference is the largest target height difference among the target height differences corresponding to the B-axis angular position range; based on the maximum target height difference, the laser cutting head is lifted up during the idle movement. Through the laser cutting method and system, the idle movement efficiency can be improved on the basis of ensuring the safety of the idle movement.

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0043] Please refer to Figure 3 , an embodiment of the present invention provides a laser cutting method, comprising:

[0044] Step S100, when any one of the geometric information and the centering deviation of the tube cross section changes, a second height difference list is formed based on the B-axis rotation center of the laser processing equipment, a plurality of B-axis angular positions, the changed centering deviation, and the corresponding profile of the tube cross section after the change;

[0045] Step S200, updating the first height difference list used before any one of the geometric information of the pipe cross section and the centering deviation changes to a second height difference list;

[0046] Step S300, based on the B-axis information at the starting point of the idle movement and the B-axis information at the end point of the idle movement, the corresponding B-axis angle position range is acquired;

[0047] Step S400, obtaining the maximum target height difference in the second height difference list;

[0048] Step S500, based on the maximum target height difference, performing an upward movement of the laser cutting head in an idle movement.

[0049] For ease of explanation and understanding, in the embodiment of the present invention, the Z axis is defined as a coordinate axis parallel to the feeding direction, the Z axis coordinate decreases toward the feeding direction, and the plane perpendicular to the Z axis is the projection plane.

[0050] In addition, the rotation axis of the rotating mechanism of the laser processing equipment is called the B-axis: when the laser processing equipment is a turntable model, the rotating mechanism of the laser processing equipment is the turntable, and the B-axis is the turntable rotation axis; when the laser processing equipment is a chuck model, the rotating mechanism of the laser processing equipment is the chuck, and the B-axis is the chuck rotation axis.

[0051] The B-axis rotation center of the laser processing equipment refers to the rotation center of the B-axis when it rotates. The B-axis rotation center is a machine equipment parameter of the laser processing equipment.

[0052] The pipe cross section is the cross section of the pipe on the projection plane.

[0053] Centering deviation is the deviation between the geometric center of the tube section and the center of rotation of the B axis.

[0054] Please continue to refer to Figure 3 In step S100 , the geometric information of the pipe cross section includes any one of the shape and size of the pipe cross section.

[0055] The second height difference list includes: a plurality of target height differences corresponding one-to-one to a plurality of B-axis angular positions.

[0056] The B-axis angular position is equal to a positive integer multiple of a unit angle.

[0057] Among them, any target height difference is the height difference between the highest point of the contour of the corresponding pipe cross section after the change at the corresponding B-axis angular position and the B-axis rotation center.

[0058] In some embodiments, the range of the B-axis angular position is within 360°.

[0059] In some embodiments, the unit angle is 0.1°.

[0060] Correspondingly, several B-axis angular positions are: 0.1°, 0.2°, 0.3°, ..., 359.9°, 360°.

[0061] In order to facilitate the subsequent description and understanding of the acquisition process of the target height difference in actual application scenarios, the XOY1 rectangular coordinate system and the XOY2 rectangular coordinate system are further defined in the embodiment of the present invention. The plane where the XOY1 rectangular coordinate system is located and the plane where the XOY2 rectangular coordinate system is located are both on the projection plane or parallel to the projection plane.

[0062] Among them, the XOY1 rectangular coordinate system is the mechanical coordinate system of the laser processing equipment, which is used to reflect the relevant parameters of the laser processing equipment. In the XOY1 rectangular coordinate system, the Y-axis direction is the direction in which the laser cutting head is lifted, and the Y-axis coordinate increases as the height of the laser cutting head increases. The B-axis rotation center has a fixed coordinate in the XOY1 rectangular coordinate system.

[0063] The XOY2 rectangular coordinate system is a drawing coordinate system used by technicians to draw in CAD to form processing drawings. In the XOY2 rectangular coordinate system, the X-axis direction is the horizontal direction, the Y-axis direction is the vertical direction, and the Y-axis coordinate increases as the vertical height increases. The geometric center of the pipe cross section coincides with the origin O2 of the XOY2 rectangular coordinate system. The geometric information and contour of the pipe cross section can be directly reflected in the XOY2 rectangular coordinate system.

[0064] In addition, there is a mapping relationship between the XOY1 rectangular coordinate system and the XOY2 rectangular coordinate system.

[0065] Specifically, the mapping relationship between the two is explained by taking the mapping of the XOY2 rectangular coordinate system to the XOY1 rectangular coordinate system as an example: there is a centering deviation between the origin O2 of the XOY2 rectangular coordinate system and the fixed coordinate of the B-axis rotation center in the XOY1 rectangular coordinate system, and, during the process of the B-axis rotating 360° around the B-axis rotation center, the XOY2 rectangular coordinate system rotates around the fixed coordinate of the B-axis rotation center in the XOY1 rectangular coordinate system.

[0066] Correspondingly, there is a mapping relationship between the XOY1 rectangular coordinate system and the XOY2 rectangular coordinate system. In the XOY1 rectangular coordinate system, any target height difference refers to: at the B-axis angle position corresponding to the any target height difference, the Y-axis coordinate height difference between the Y-axis coordinate of the highest point of the contour of the corresponding pipe cross section after the change and the Y-axis coordinate of the B-axis rotation center.

[0067] It should be understood that, in actual application scenarios, the coordinate system can be defined according to actual needs, and the definition of the coordinate system does not affect the technical effect of the present invention.

[0068] In some embodiments, the change in either the geometric information of the tube cross section or the centering deviation further includes: detecting a change in the processing drawing or detecting a change in the centering deviation.

[0069] That is, when a change in the processing drawing is detected, or a change in the centering deviation is detected, it is regarded as a change in step S100.

[0070] In some embodiments, the geometric information of the tube cross section, the outline of the tube cross section, the geometric center of the tube cross section and other graphic information of the tube cross section can be obtained through the processing drawings.

[0071] In some embodiments, please refer to Figure 4 For step S100, based on the B-axis rotation center of the laser processing equipment, a plurality of B-axis angular positions, the changed centering deviation, and the corresponding tube cross-section profile after the change, a method for forming a second height difference list includes:

[0072] Step S110, discretizing the contour of the corresponding pipe cross section after the change to obtain a number of discrete points;

[0073] Step S120, obtaining the target height difference at each B-axis angle position;

[0074] Step S130 : forming a second height difference list based on all B-axis angle positions and the target height difference at each B-axis angle position.

[0075] The target height difference at any B-axis angular position is: the height difference between the highest discrete point among a plurality of discrete points and the B-axis rotation center at any B-axis angular position.

[0076] In some embodiments, please refer to Figure 5 , with respect to step S130, the method for obtaining the target height difference at any B-axis angle position includes:

[0077] Step S131, based on the relative position of each discrete point relative to the geometric center of the tube cross section, the position of the B-axis rotation center, the centering deviation after the change, and any B-axis angular position, obtain the height difference between all discrete points and the B-axis rotation center at any B-axis angular position;

[0078] Step S132, traversing the height differences between all discrete points at any B-axis angle position and the B-axis rotation center, and taking the maximum height difference as the target height difference at any B-axis angle position.

[0079] That is to say, when the XOY1 rectangular coordinate system and the XOY2 rectangular coordinate system are used, the coordinates of the geometric center of each discrete point and the pipe cross section in the XOY2 rectangular coordinate system, and the coordinates of the position of the B-axis rotation center in the XOY1 rectangular coordinate system, after mapping the XOY1 rectangular coordinate system and the XOY2 rectangular coordinate system, the geometric center of the pipe cross section and the position of the B-axis rotation center have a changed centering deviation, and when the XOY2 rectangular coordinate system is rotated to any B-axis angle position around the fixed coordinates of the B-axis rotation center in the XOY1 rectangular coordinate system at a unit angle, the Y-axis coordinate height difference between all discrete points and the B-axis rotation center at the any B-axis angle position can be obtained. Therefore, the maximum value of the Y-axis coordinate difference between all discrete points and the B-axis rotation center can be obtained by traversing the Y-axis coordinate height difference between all discrete points and the B-axis rotation center at any B-axis angle position, thereby correspondingly obtaining the Y-axis coordinate height difference between the highest discrete point among a number of discrete points and the B-axis rotation center, that is, the target height difference.

[0080] Correspondingly, for step S131, based on the relative position of each discrete point relative to the geometric center of the tube cross section, the position of the B-axis rotation center, the centering deviation after the change, and any B-axis angular position, obtaining the height difference between all discrete points and the B-axis rotation center at any B-axis angular position further includes: based on the relative position of each discrete point relative to the geometric center of the tube cross section, the position of the B-axis rotation center, the centering deviation after the change, and any B-axis angular position, obtaining the Y-axis coordinate difference between all discrete points and the B-axis rotation center at any B-axis angular position.

[0081] Correspondingly, for step S132, traversing the height differences between all discrete points and the B-axis rotation center at any B-axis angle position, and taking the maximum height difference as the target height difference at any B-axis angle position further includes: traversing the Y-axis coordinate differences between all discrete points and the B-axis rotation center, taking the maximum value of the Y-axis coordinate differences between all discrete points and the B-axis rotation center as the target height difference at any B-axis angle position.

[0082] At this point, the changed second height difference list is formed, and step S200 can be executed to update the first height difference list used before any one of the geometric information of the pipe cross section and the centering deviation changes to the second height difference list.

[0083] It should be noted that the first height difference list refers to the height difference list before any one of the geometric information of the pipe cross-section and the centering deviation changes, and the second height difference list refers to the height difference list after any one of the geometric information of the pipe cross-section and the centering deviation changes. The purpose of using "first" and "second" here is to distinguish the height difference lists before and after any one of the geometric information of the pipe cross-section and the centering deviation changes, that is, each time the second height difference list when there is no change becomes the first height difference list after the change, and is updated by the latest formed second height difference list.

[0084] In some embodiments, if the laser cutting is in the initial state, an initial second height difference list needs to be initialized. When forming the initial second height difference list, the contour of the tube cross section, the geometric center of the tube cross section and other graphic information of the tube cross section can be obtained through the processing drawing, and the centering deviation is a preset parameter, which is usually set to 0. The specific method of forming the initial second height difference list can refer to the description of each step in forming the second height difference list after the change, which will not be repeated here.

[0085] In some embodiments, the B-axis leveling coordinate is used as the zero position of the B-axis angular position to determine a plurality of B-axis angular positions, thereby making it easier to find the B-axis angular position.

[0086] The B-axis flattening coordinate is a B-axis coordinate formed by flattening the pipe cross section. Figure 6 For step S300, based on the B-axis information at the starting point of the idle movement and the B-axis information at the end point of the idle movement, the method for obtaining the corresponding B-axis angle position range includes:

[0087] Step S310, obtaining a first B-axis relative coordinate of the B-axis coordinate at the starting point of the idle movement relative to the B-axis leveling coordinate;

[0088] Step S320, obtaining a second B-axis relative coordinate of the B-axis coordinate at the starting point of the idle shift end point relative to the B-axis leveling coordinate;

[0089] Step S330 , determining a B-axis angular position range based on the first B-axis relative coordinate and the second B-axis relative coordinate.

[0090] The B-axis angle position range includes all B-axis angle positions from the first B-axis relative coordinate to the second B-axis relative coordinate.

[0091] In other embodiments, other positions may also be defined as the zero position of the B-axis angular position.

[0092] Please continue to refer to Figure 3 For step S400, in the second height difference list, the maximum target height difference is obtained, and the maximum target height difference is the largest target height difference among the target height differences corresponding to the B-axis angle position range.

[0093] That is, by searching and comparing the target height differences corresponding to all B-axis angle positions included in the B-axis angle position range in the second height difference list, the maximum target height difference corresponding to the B-axis angle position range can be determined.

[0094] It should be understood that, in actual application scenarios, steps S100 to S400 do not form a real rotation action, but are a simulation calculation process for obtaining the maximum target height difference.

[0095] After step S400 , a corresponding idle move operation may be performed.

[0096] Specifically, the empty move actions include:

[0097] S500, based on the maximum target height difference, the laser cutting head is lifted up during the air movement.

[0098] In some embodiments, please refer to Figure 7 , with respect to step S500, based on the maximum target height difference, the method for lifting the laser cutting head in the idle movement includes:

[0099] Step S510, based on the maximum target height difference MaxDiffY, the Y-axis coordinate BCY of the B-axis rotation center, and the Y-axis coordinate MSY of the starting point of the idle movement, the minimum lift height SafeLiftHeight is obtained, wherein SafeLiftHeight = BCY + MaxDiffY - MSY;

[0100] Step S520, based on the minimum lifting height SafeLiftHeight, performing a lifting action of the laser cutting head in the idle movement action.

[0101] It should be understood that, since the minimum lift height SafeLiftHeight is obtained by calculation through the Y-axis coordinate, the minimum lift height SafeLiftHeight may be greater than 0, equal to 0, or less than 0.

[0102] By making the lifting height of the laser cutting head above the minimum lifting height SafeLiftHeight, the collision between the laser cutting head and the pipe when the rotating mechanism rotates within the corresponding B-axis angular position range during the idle movement can be avoided, thereby ensuring the safety of the idle movement.

[0103] In some embodiments, please refer to Figure 8 , with respect to step S520, based on the minimum lifting height SafeLiftHeight, the method for performing the lifting action of the laser cutting head in the idle movement action includes:

[0104] Step S521, based on the minimum lifting height SafeLiftHeight and the preset extra lifting height ExtraLiftHeight, obtaining the final lifting height LiftHeight, wherein LiftHeight=SafeLiftHeight+ExtraLiftHeight;

[0105] When the final lifting height LiftHeight is greater than 0, executing step S522, performing a lifting action of the laser cutting head in the idle movement action according to the final lifting height LiftHeight;

[0106] When the final lifting height LiftHeight is less than or equal to 0, step S523 is executed to not perform the lifting action of the laser cutting head in the idle movement.

[0107] By adding the extra lift height ExtraLiftHeight based on the minimum lift height SafeLiftHeight, technicians can flexibly adjust the final lift height LiftHeight in the evacuation operation according to actual working conditions or other needs.

[0108] It should be noted that when the final lifting height LiftHeight is less than or equal to 0, it means that the original position of the laser cutting head is high enough, so there is no need to perform a lifting action, thereby better saving the idle movement time and improving the idle movement efficiency.

[0109] In some embodiments, please refer to Figure 3 , air move actions also include:

[0110] When the final lifting height LiftHeight is greater than 0, step S600 is executed, and when the lifting action of the laser cutting head completes the minimum lifting height SafeLiftHeight, the other axes of the laser processing equipment start to move toward the end point of the idling action;

[0111] When the final lifting height LiftHeight is less than or equal to 0, step S700 is executed, and the other axes of the laser processing equipment move directly to the end point of the idling action.

[0112] Because when the final lifting height LiftHeight is greater than 0, when the lifting action of the laser cutting head completes the minimum lifting height SafeLiftHeight, the other axes of the laser processing equipment begin to move toward the end point of the idle movement action. Therefore, on the basis of ensuring the safety of the idle movement, by executing the remaining lifting action of the laser cutting head and the idle movement actions of other axes of the laser processing equipment in parallel, it is beneficial to further improve the idle movement efficiency.

[0113] In the embodiment of the present invention, when any one of the geometric information and the centering deviation of the tube cross section changes, a second height difference list is formed based on the B-axis rotation center of the laser processing equipment, a plurality of B-axis angular positions, the centering deviation after the change, and the profile of the corresponding tube cross section after the change, and the first height difference list used before the geometric information and the centering deviation of the tube cross section change is updated to the second height difference list corresponding to the change. Therefore, when obtaining the target height difference, the combined influence of the centering deviation after the change, the profile of the corresponding tube cross section after the change, and the B-axis angular position are comprehensively considered. On this basis, the corresponding B-axis angular position range is obtained based on the B-axis information at the starting point of the idle movement and the B-axis information at the end point of the idle movement, and the maximum target height difference is obtained in the second height difference list to perform the lifting action of the laser cutting head. Therefore, the lifting height used in the lifting action of the laser cutting head changes in conjunction with the B-axis angular position range corresponding to the idle movement, thereby not only ensuring the safety of the idle movement, but also being conducive to improving the efficiency of the idle movement.

[0114] In addition, since the second height difference list is updated by utilizing the time between changes in either the geometric information of the pipe cross section or the centering deviation and the idle movement, the idle movement is not affected by the update of the second height difference list, thereby facilitating improvement of the idle movement efficiency.

[0115] In summary, the laser cutting method of the embodiment of the present invention can improve the efficiency of the idle movement while ensuring the safety of the idle movement action.

[0116] In some embodiments, please refer to Figure 3 The idle movement operation also includes: step S800, based on the movement of other axes of the laser processing equipment to the end point of the idle movement operation, the laser cutting head descends to the height of the idle movement end point.

[0117] Accordingly, an embodiment of the present invention further provides a laser cutting system, which adopts the laser cutting method as described above. As for the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can be referred to the partial description of the method embodiment.

[0118] The present invention also provides an electronic device, comprising a processor and a memory; the memory stores a program that can be called by the processor; wherein when the processor executes the program, the motion control method of the machine tool in the aforementioned embodiment is implemented.

[0119] The present invention also provides a machine-readable storage medium on which a program is stored. When the program is executed by a processor, the motion control method of the machine tool in the aforementioned embodiment is implemented.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser cutting method, characterized in that: include: When any one of the geometric information and the centering deviation of the tube cross section changes, a second height difference list is formed based on the B-axis rotation center of the laser processing equipment, a plurality of B-axis angular positions, the centering deviation after the change, and the contour of the corresponding tube cross section after the change; wherein the geometric information of the tube cross section includes any one of the shape and size of the tube cross section, the B-axis angular position is equal to a positive integer multiple of a unit angle, and the second height difference list includes a plurality of target height differences corresponding to the plurality of B-axis angular positions one by one, and any target height difference is the height difference between the highest point of the contour of the corresponding tube cross section after the change and the B-axis rotation center at the corresponding B-axis angular position; Updating the first height difference list used before any one of the geometric information of the pipe cross section and the centering deviation changes to the second height difference list; Based on the B-axis information at the starting point of the idle movement and the B-axis information at the end point of the idle movement, the corresponding B-axis angle position range is obtained; Acquire a maximum target height difference in the second height difference list, where the maximum target height difference is the largest target height difference among the target height differences corresponding to the B-axis angular position range; Based on the maximum target height difference, the laser cutting head is lifted up during the idle movement.

2. The laser cutting method according to claim 1, characterized in that: The change in either the geometric information of the pipe cross section or the centering deviation further includes: detecting a change in the processing drawing or detecting a change in the centering deviation.

3. The laser cutting method according to claim 1, characterized in that: The method for forming the second height difference list based on the B-axis rotation center of the laser processing equipment, a plurality of B-axis angular positions, the changed centering deviation, and the changed corresponding tube cross-section profile includes: Discretize the contour of the tube cross section corresponding to the change to obtain a number of discrete points; Obtaining a target height difference at each B-axis angular position, wherein the target height difference at any B-axis angular position is: a height difference between a highest discrete point among the plurality of discrete points and a rotation center of the B-axis at the any B-axis angular position; The second height difference list is formed based on all the B-axis angular positions and the target height difference at each of the B-axis angular positions.

4. The laser cutting method according to claim 3, characterized in that: The method for obtaining the target height difference at any B-axis angle position includes: Based on the relative position of each discrete point relative to the geometric center of the tube cross section, the position of the B-axis rotation center, the centering deviation after the change, and any B-axis angular position, the height difference between all discrete points and the B-axis rotation center at any B-axis angular position is obtained; The height differences between all discrete points at any B-axis angular position and the B-axis rotation center are traversed, and the maximum height difference is taken as the target height difference at any B-axis angular position.

5. The laser cutting method according to claim 4, characterized in that: The plane where the pipe cross section is located includes a rectangular coordinate system composed of an X-axis and a Y-axis. The method for obtaining the target height difference at any B-axis angular position further includes: Based on the relative position of each discrete point relative to the geometric center of the tube cross section, the position of the B-axis rotation center, the centering deviation after the change, and any B-axis angular position, the Y-axis coordinate difference between all discrete points and the B-axis rotation center at any B-axis angular position is obtained; The Y-axis coordinate differences between all discrete points and the B-axis rotation center are traversed, and the maximum value of the Y-axis coordinate differences between all discrete points and the B-axis rotation center is taken as the target height difference at any B-axis angle position.

6. The laser cutting method according to claim 5, characterized in that: The method for performing the lifting action of the laser cutting head in the idle movement action based on the maximum target height difference includes: Based on the maximum target height difference MaxDiffY, the Y-axis coordinate BCY of the B-axis rotation center, and the Y-axis coordinate MSY of the starting point of the idle movement, the minimum lifting height SafeLiftHeight is obtained, wherein SafeLiftHeight=BCY+MaxDiffY-MSY; Based on the minimum lifting height SafeLiftHeight, the lifting action of the laser cutting head in the idling action is performed.

7. The laser cutting method according to claim 6, characterized in that: The method for performing the lifting action of the laser cutting head in the idle movement action based on the minimum lifting height SafeLiftHeight includes: Based on the minimum lifting height SafeLiftHeight and the preset extra lifting height ExtraLiftHeight, obtaining a final lifting height LiftHeight, wherein LiftHeight=SafeLiftHeight+ExtraLiftHeight; When the final lifting height LiftHeight is greater than 0, the lifting action of the laser cutting head in the idle movement is performed according to the final lifting height LiftHeight; When the final lifting height LiftHeight is less than or equal to 0, the laser cutting head is not lifted during the idle movement.

8. The laser cutting method according to claim 7, characterized in that: The method for performing the idle movement operation further includes: When the final lifting height LiftHeight is greater than 0, when the lifting action of the laser cutting head completes the minimum lifting height SafeLiftHeight, the other axes of the laser processing equipment start to move toward the end point of the idling action; When the final lifting height LiftHeight is less than or equal to 0, the other axes of the laser processing equipment move directly to the end point of the idling action.

9. The laser cutting method according to claim 1, characterized in that: The unit angle is 0.1°; the range of the B-axis angle position is within 360°.

10. The laser cutting method according to claim 1, characterized in that: The method for obtaining the corresponding B-axis angle position range based on the B-axis information at the starting point of the idle movement and the B-axis information at the end point of the idle movement includes: Acquire a first B-axis relative coordinate of the B-axis coordinate at the starting point of the idle movement relative to the B-axis leveling coordinate; Acquire a second B-axis relative coordinate of the B-axis coordinate at the starting point of the idle shift endpoint relative to the B-axis leveling coordinate; The B-axis angular position range is determined based on the first B-axis relative coordinate and the second B-axis relative coordinate, and the B-axis angular position range includes all B-axis angular positions from the first B-axis relative coordinate to the second B-axis relative coordinate.

11. A laser cutting system, characterized in that: The laser cutting method as described in any one of claims 1 to 10 is adopted.

12. An electronic device, characterized in that: The method comprises a memory, a processor and a program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the methods of claims 1 to 10 when executing the program.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

Images