Laser cutting method and system

Abstract

The application provides a laser cutting method and system, wherein the method comprises the following steps: when any one of the geometric information of the pipe section and the homing deviation changes, forming a second height difference list based on the B-axis rotation center of the laser processing equipment, a plurality of B-axis angle positions, the changed homing deviation, and the profile of the corresponding pipe section after the change; updating the first height difference list used before any one of the geometric information of the pipe section and the homing deviation changes to the second height difference list; obtaining the corresponding B-axis angle position range based on the B-axis information at the starting point of the empty movement and the B-axis information at the ending point of the empty movement; obtaining the maximum target height difference in the second height difference list; and performing the lifting action of the laser cutting head in the empty movement based on the maximum target height difference. Through the laser cutting method and system, the empty movement efficiency can be improved on the basis of ensuring the safety of the empty movement.

Description

TECHNICAL FIELD

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

[0002] When the laser processing equipment is 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 lifted to a certain height before other axes start to move.

[0003] However, the lifting height adopted by the existing art air movement operation is difficult to balance the safety and efficiency of the air movement operation. SUMMARY

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

[0005] In a first aspect, the present application provides a laser cutting method, comprising:

[0006] When any one of the geometric information of the pipe section and the centering deviation 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 angle positions, the changed centering deviation, and the profile of the corresponding pipe section after the change; wherein the geometric information of the pipe section includes any one of the shape and size of the pipe section, the B-axis angle position is equal to an 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 angle positions; any target height difference is the height difference between the highest point of the profile of the corresponding pipe section after the change and the B-axis rotation center at the corresponding B-axis angle position;

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

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

[0009] The maximum target height difference in the second height difference list is obtained, which is the maximum target height difference among the target height differences corresponding to the B-axis angle position range;

[0010] Based on the maximum target height difference, the lifting operation of the laser cutting head in the air movement operation is performed.

[0011] Optionally, the change of any one of the geometric information of the pipe section and the centering deviation further comprises detecting a change of a processing drawing or detecting a change of the centering deviation.

[0012] Optionally, the method of forming the second height difference list based on the B-axis rotation center of the laser processing equipment, the plurality of B-axis angle positions, the changed centering deviation, and the changed corresponding pipe section profile comprises: discretizing the changed corresponding pipe section profile to obtain a plurality of discrete points; obtaining a target height difference at each of the B-axis angle positions, the target height difference at any one of the B-axis angle positions being a height difference between a highest discrete point of the plurality of discrete points and the B-axis rotation center at the any one of the B-axis angle positions; and forming the second height difference list based on all of the B-axis angle positions and the target height difference at each of the B-axis angle positions.

[0013] Optionally, the method of obtaining the target height difference at any one of the B-axis angle positions comprises: obtaining height differences between all of the discrete points and the B-axis rotation center at the any one of the B-axis angle positions based on the relative positions of the discrete points relative to the geometric center of the pipe section, the position of the B-axis rotation center, the changed centering deviation, and the any one of the B-axis angle positions; and traversing the height differences between all of the discrete points and the B-axis rotation center at the any one of the B-axis angle positions to take the maximum height difference as the target height difference at the any one of the B-axis angle positions.

[0014] Optionally, the plane in which the pipe section is located comprises an orthogonal coordinate system composed of an X-axis and a Y-axis, and the method of obtaining the target height difference at any one of the B-axis angle positions further comprises: obtaining Y-axis coordinate difference values between all of the discrete points and the B-axis rotation center at the any one of the B-axis angle positions based on the relative positions of the discrete points relative to the geometric center of the pipe section, the position of the B-axis rotation center, the changed centering deviation, and the any one of the B-axis angle positions; and traversing the Y-axis coordinate difference values between all of the discrete points and the B-axis rotation center to take the maximum value of the Y-axis coordinate difference values between all of the discrete points and the B-axis rotation center as the target height difference at the any one of the B-axis angle positions.

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

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

[0017] Optionally, the method of performing the empty movement further comprises: when the final lifting height LiftHeight is greater than 0, starting movement of other axes of the laser processing equipment to the end point of the empty movement when the lifting action of the laser cutting head completes the minimum lifting height SafeLiftHeight; and when the final lifting height LiftHeight is less than or equal to 0, directly moving the other axes of the laser processing equipment to the end point of the empty movement.

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

[0019] Optionally, the method of obtaining the corresponding B-axis angle position range based on the B-axis information at the start point of the empty movement and the B-axis information at the end point of the empty movement comprises: obtaining a first B-axis relative coordinate of the B-axis coordinate at the start point of the empty movement relative to the B-axis flattening coordinate; obtaining a second B-axis relative coordinate of the B-axis coordinate at the start point of the empty movement relative to the B-axis flattening coordinate; and determining the B-axis angle position range based on the first B-axis relative coordinate and the second B-axis relative coordinate, wherein 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.

[0020] In a second aspect, the present application provides a laser cutting system employing the laser cutting method according to any one of the preceding aspects.

[0021] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the method according to any one of the preceding aspects when executing the program.

[0022] In a fourth aspect, the present application provides a computer readable storage medium, having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of the preceding aspects.

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

[0024] In the laser cutting method provided by the technical scheme of the present application, when any one of the geometric information of the pipe section and the homing deviation changes, a second height difference list is formed based on the B-axis rotation center of the laser processing equipment, the B-axis angle positions, the changed homing deviation, and the profile of the corresponding pipe section after the change, and the first height difference list used before any one of the geometric information of the pipe section and the homing deviation changes is updated to the second height difference list corresponding to the change. Therefore, when the target height difference is obtained, the combined effects of the changed homing deviation, the profile of the corresponding pipe section after the change, and the B-axis angle positions are considered. On this basis, since the corresponding B-axis angle position range is obtained based on the B-axis information at the start point of the air movement operation and the B-axis information at the end point of the air movement operation, and the maximum target height difference is obtained in the second height difference list to perform the lifting operation of the laser cutting head, the lifting height used in the lifting operation of the laser cutting head is linked to change with respect to the B-axis angle position range corresponding to the air movement operation, so that not only the safety of the air movement operation can be ensured, but also the air movement efficiency is improved. In addition, since the update of the second height difference list is realized by using the time between the change of any one of the geometric information of the pipe section and the homing deviation and the air movement operation, the air movement operation is not affected by the update of the second height difference list, so that the air movement efficiency is improved. In summary, the laser cutting method of the embodiment of the present application can improve the air movement efficiency on the basis of ensuring the safety of the air movement operation. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0026] Figure 1 is a schematic diagram of the lifting height of the laser cutting head in the air movement in an embodiment;

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

[0028] Figure 3 is a schematic diagram of the flow of the laser cutting method in an embodiment of the present application;

[0029] Figure 4 is a schematic diagram of the flow of step S100 in an embodiment of the present application;

[0030] Figure 5 is a schematic diagram of the flow of step S130 in an embodiment of the present application;

[0031] Figure 6 is a schematic diagram of the flow of step S300 in an embodiment of the present application;

[0032] Figure 7 is a schematic diagram of the flow of step S500 in an embodiment of the present application;

[0033] Figure 8 is a schematic diagram of the flow of step S520 in an embodiment of the present application. DETAILED DESCRIPTION

[0034] As described in the background, the lifting height adopted by the air movement of the prior art is difficult to simultaneously consider the safety and efficiency of air movement.

[0035] Specifically, in most actual processing scenarios, the centering deviation between the geometric center of the pipe section and the B-axis rotation center of the laser processing equipment (hereinafter referred to as centering deviation) is relatively small, so as shown in an embodiment in the background, when calculating the lifting height H1 of the laser cutting head, it is assumed that the geometric center C1 of the pipe section coincides with the B-axis rotation center of the laser processing equipment, and the circumradius R0 of the pipe section is taken as the rotation radius of the pipe section, so as to obtain the lifting height H1 of the laser cutting head. Figure 1

[0036] ​However, the pipe section is not actually rotated around the geometric center of the pipe section, but around the B-axis rotation center, and the position of the highest point that the pipe section can reach during rotation is affected by the centering deviation. In the case of small pipe eccentricity, the centering deviation has little effect; but in the case of large pipe eccentricity, if the centering deviation is ignored, there is a high probability that the calculated lifting height will not be high enough, resulting in poor air shift safety.

[0037] To solve the above problems, as shown in Figure 2 In another embodiment, the maximum rotation radius R1 (R1 = R0 + D0) of the pipe section rotating around the B-axis rotation center B1 is obtained through the centering deviation D0 between the geometric center C1 of the pipe section and the B-axis rotation center B1 of the laser processing equipment, and the circumradius R0 of the pipe 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 pipe section does not pass through the rotation angle corresponding to the maximum radius during rotation, there will be excess lifting height, resulting in low air shift efficiency.

[0039] To solve the above problems, the technical scheme of the present application provides a laser cutting method and system, comprising: when any one of the geometric information of the pipe section and the centering deviation changes, forming a second height difference list based on the B-axis rotation center of the laser processing equipment, a plurality of B-axis angle positions, the changed centering deviation, and the profile of the corresponding pipe section after the change; updating the first height difference list used before any one of the geometric information of the pipe section and the centering deviation changes to the second height difference list; based on the B-axis information at the starting point of the air shift operation and the B-axis information at the end point of the air shift operation, obtaining the corresponding B-axis angle position range; obtaining the maximum target height difference in the second height difference list, which is the maximum target height difference among the target height differences corresponding to the B-axis angle position range; based on the maximum target height difference, performing the lifting action of the laser cutting head in the air shift operation. Through the laser cutting method and system, the air shift efficiency can be improved on the basis of ensuring the safety of the air shift operation.

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0041] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present application, and above-mentioned drawings, if any, are used to distinguish between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of data so designated is not meant to limit potentially identical data in order to highlight the presence of certain characteristics preferred in the embodiment of the application described herein. Moreover, the terms "comprises", "comprising", "includes", "including" and the like are intended to cover non-exclusive inclusions, such as for example, processes, methods, systems, products, or devices that comprise a series of steps or units not necessarily presented in their dependent order. Furthermore, the meaning and scope of the terms "comprises", "comprising", "includes", "including" and the like, are specifically intended to cover all elements, for example, processes, methods, systems, products, or devices, up to and including all of the steps or units for which such terms explicitly or implicitly are used.

[0042] The technical solutions of the present application will be described in detail below with specific examples. The following specific examples can be combined with each other, and for the same or similar concepts or processes, some embodiments may not be described again.

[0043] Reference is made to Figure 3 The embodiment of the present application provides a laser cutting method, comprising:

[0044] In step S100, when any one of the geometric information of the pipe section and the homing deviation 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 angle positions, the changed homing deviation, and the profile of the corresponding pipe section after the change.

[0045] In step S200, the first height difference list used before any one of the geometric information of the pipe section and the homing deviation changes is updated to the second height difference list.

[0046] In step S300, based on the B-axis information at the start point of the empty movement and the B-axis information at the end point of the empty movement, a corresponding B-axis angle position range is obtained.

[0047] In step S400, the maximum target height difference in the second height difference list is obtained.

[0048] In step S500, based on the maximum target height difference, a lifting action of the laser cutting head in the empty movement is performed.

[0049] For the convenience of description and understanding, in the embodiment of the present application, the Z-axis is defined as a coordinate axis parallel to the feeding direction, the Z-axis coordinate decreases in 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 either the shape or the 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] Wherein, any target height difference is the height difference between the highest point of the profile of the corresponding pipe cross section and the rotation center of the B-axis after the change at the corresponding B-axis angular position.

[0058] In some embodiments, the B-axis angular position ranges 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] To facilitate subsequent description and understanding of the acquisition process of the target height difference in actual application scenarios, the embodiments of the present invention continue to define the XOY1 rectangular coordinate system and the XOY2 rectangular coordinate system. The plane where the XOY1 rectangular coordinate system and the plane where the XOY2 rectangular coordinate system are located are both on the projection plane or parallel to the projection plane.

[0062] The XOY1 rectangular coordinate system is the mechanical coordinate system of the laser processing equipment and is used to represent its parameters. In this system, the Y-axis corresponds to the direction of the laser cutting head's upward movement. The Y-axis coordinate increases as the height of the laser cutting head increases. The B-axis's rotation center has fixed coordinates in this system.

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

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

[0065] Specifically, the mapping relationship between the XOY2 rectangular coordinate system and the XOY1 rectangular coordinate system is described as follows: the origin O2 of the XOY2 rectangular coordinate system and the fixed coordinates of the B-axis rotation center in the XOY1 rectangular coordinate system have a centering deviation, and the XOY2 rectangular coordinate system rotates around the fixed coordinates of the B-axis rotation center in the XOY1 rectangular coordinate system during the rotation of the B-axis around the B-axis rotation center by 360°.

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

[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 effects of the present application.

[0068] In some embodiments, any one of the geometric information of the pipe section and the centering deviation changes further includes detecting a machining drawing change or detecting a centering deviation change.

[0069] That is to say, when a machining drawing change is detected or a centering deviation change is detected, it is considered that the change occurs in step S100.

[0070] In some embodiments, the geometric information of the pipe section, the contour of the pipe section, the geometric center of the pipe section, and other graphical information of the pipe section can be obtained through the machining drawing.

[0071] In some embodiments, referring to Figure 4 For step S100, based on the B-axis rotation center of the laser machining equipment, the plurality of B-axis angle positions, the changed centering deviation, and the contour of the pipe section after the change, a method for forming a second height difference list includes the following steps:

[0072] Step S110, discretization processing is performed on the profile of the pipe section corresponding to the change, and a plurality of discrete points are obtained;

[0073] Step S120, the target height difference at each B-axis angle position is obtained.

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

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

[0076] In some embodiments, referring to Figure 5 , for 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 pipe section, the position of the B-axis rotation center, the changed homing deviation, and any B-axis angle position, the height difference between all discrete points and the B-axis rotation center at any B-axis angle position is obtained.

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

[0079] That is, in the case of using XOY1 and XOY2 rectangular coordinate systems, by the coordinates of each discrete point and the geometric center of the pipe section in the XOY2 rectangular coordinate system, the coordinates of the position of the B-axis rotation center in the XOY1 rectangular coordinate system, the mapping of the XOY1 and XOY2 rectangular coordinate systems satisfies the changed homing deviation between the geometric center of the pipe section and the position of the B-axis rotation center, and the XOY2 rectangular coordinate system rotates around the fixed coordinates of the B-axis rotation center in the XOY1 rectangular coordinate system at a unit angle to any B-axis angle position, 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, by traversing the Y-axis coordinate height difference between all discrete points and the B-axis rotation center at the any B-axis angle position, the maximum value of the Y-axis coordinate difference between all discrete points and the B-axis rotation center can be obtained, and thus the Y-axis coordinate height difference between the highest discrete point in the plurality of discrete points and the B-axis rotation center, i.e., the target height difference, is obtained.

[0080] Correspondingly, for step S131, based on the relative position of each discrete point relative to the geometric center of the pipe section, the position of the B-axis rotation center, the changed homing deviation, and any B-axis angle position, the height difference between all discrete points and the B-axis rotation center at any B-axis angle position further comprises: based on the relative position of each discrete point relative to the geometric center of the pipe section, the position of the B-axis rotation center, the changed homing deviation, and any B-axis angle position, the Y-axis coordinate difference between all discrete points and the B-axis rotation center at any B-axis angle position.

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

[0082] At this point, the changed second height difference list is formed, and step S200 can be performed to update the first height difference list used before any of the geometric information of the pipe section and the homing deviation is changed 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 of the geometric information of the pipe section and the homing deviation is changed, and the second height difference list refers to the height difference list after any of the geometric information of the pipe section and the homing deviation is changed. The purpose of using "first" and "second" here is to distinguish the height difference lists before and after any of the geometric information of the pipe section and the homing deviation is changed. That is to say, the second height difference list when there is no change each time becomes the first height difference list after the change, and is updated by the newly formed second height difference list.

[0084] In some embodiments, if the laser cutting is in an initial state, an initial second height difference list needs to be initialized. When forming the initial second height difference list, the profile of the pipe section, the geometric center of the pipe section, and other graphical information of the pipe section can be obtained from the processing drawing, and the homing 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 the above formation of the changed second height difference list, which will not be repeated here.

[0085] In some embodiments, the B-axis flatness coordinates are taken as the zero position of the B-axis angle position to determine the B-axis angle positions. Thus, it is more convenient to find the B-axis angle position.

[0086] The B-axis flattening coordinate is a B-axis coordinate formed by flattening the pipe section. For details, please refer to Figure 6 For step S300, the method for obtaining the B-axis angular position range based on the B-axis information at the start point of the empty movement and the B-axis information at the end point of the empty movement includes:

[0087] In step S310, the first B-axis relative coordinate of the B-axis coordinate at the start point of the empty movement relative to the B-axis flattening coordinate is obtained.

[0088] In step S320, the second B-axis relative coordinate of the B-axis coordinate at the end point of the empty movement relative to the B-axis flattening coordinate is obtained.

[0089] In step S330, the B-axis angular position range is determined based on the first B-axis relative coordinate and the second B-axis relative coordinate.

[0090] 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.

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

[0092] For details, please refer to Figure 3 For step S400, the maximum target height difference in the second height difference list is the maximum target height difference among the target height differences corresponding to the B-axis angular position range.

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

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

[0095] After step S400, the corresponding empty movement can be performed.

[0096] Specifically, the empty movement includes:

[0097] In step S500, the lifting movement of the laser cutting head in the empty movement is performed based on the maximum target height difference.

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

[0099] At step S510, based on the maximum target height difference MaxDiffY, the Y-axis coordinate of the B-axis rotation center BCY, and the Y-axis coordinate of the empty movement starting point MSY, the minimum lifting height SafeLiftHeight is obtained, wherein SafeLiftHeight = BCY + MaxDiffY - MSY.

[0100] At step S520, based on the minimum lifting height SafeLiftHeight, the lifting action of the laser cutting head in the empty movement is performed.

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

[0102] By making the lifting height of the lifting action of the laser cutting head above the minimum lifting height SafeLiftHeight, the collision between the laser cutting head and the pipe material when the rotating mechanism rotates to the corresponding B-axis angle position range in the empty movement can be avoided, thereby ensuring the safety of the empty movement.

[0103] In some embodiments, referring to Figure 8 , the method for performing the lifting action of the laser cutting head in the empty movement based on the minimum lifting height SafeLiftHeight at step S520 includes:

[0104] At step S521, based on the minimum lifting height SafeLiftHeight and the preset additional lifting height ExtraLiftHeight, the final lifting height LiftHeight is obtained, wherein LiftHeight = SafeLiftHeight + ExtraLiftHeight.

[0105] When the final lifting height LiftHeight is greater than 0, step S522 is performed, and the lifting action of the laser cutting head in the empty movement is performed according to the final lifting height LiftHeight.

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

[0107] By increasing the additional lifting height ExtraLiftHeight based on the minimum lifting height SafeLiftHeight, the final lifting height LiftHeight in the empty movement can be flexibly adjusted according to the actual working condition required or other needs by the technician.

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

[0109] In some embodiments, please continue to refer to Figure 3 The air movement action further includes:

[0110] When the final lifting height LiftHeight is greater than 0, step S600 is performed, and when the lifting action of the laser cutting head completes the minimum lifting height SafeLiftHeight, the other shafts of the laser processing equipment start to move to the endpoint of the air movement action.

[0111] When the final lifting height LiftHeight is less than or equal to 0, step S700 is performed, and the other shafts of the laser processing equipment directly move to the endpoint of the air movement action.

[0112] Since 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 shafts of the laser processing equipment start to move to the endpoint of the air movement action, therefore, on the basis of ensuring the air movement safety, by executing the remaining lifting action of the laser cutting head and the air movement action of the other shafts of the laser processing equipment in parallel, it is beneficial to further improve the air movement efficiency.

[0113] In the embodiment of the application, when any one of the geometric information of the pipe section and the homing deviation changes, the second height difference list is formed based on the B-axis rotation center of the laser processing equipment, the B-axis angle position, the changed homing deviation, and the profile of the corresponding pipe section after the change, and the first height difference list used before any one of the geometric information of the pipe section and the homing deviation changes is updated to the second height difference list corresponding to the change, so that when the target height difference is obtained, the combined effects of the changed homing deviation, the profile of the corresponding pipe section after the change, and the B-axis angle position are considered. On this basis, since the corresponding B-axis angle position range is obtained based on the B-axis information at the starting point of the air movement action and the B-axis information at the endpoint of the air movement action, 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 is linked to change with respect to the B-axis angle position range corresponding to the air movement action, so that not only the air movement safety can be ensured, but also the air movement efficiency can be improved.

[0114] In addition, since the updating of the second height difference list is realized by the time between the change of any one of the geometric information of the pipe section and the centering deviation and the air movement operation, the air movement operation is not affected by the updating of the second height difference list, thereby facilitating the improvement of the air movement efficiency.

[0115] In conclusion, the laser cutting method of the embodiments of the present application can improve the air movement efficiency on the basis of ensuring the safety of the air movement operation.

[0116] In some embodiments, please continue to refer to Figure 3 The air movement operation further includes: based on the movement of the other axis of the laser processing equipment to the end point of the air movement operation, the laser cutting head is lowered to the height at the air movement end point.

[0117] Correspondingly, the embodiments of the present application also provide a laser cutting system which adopts the laser cutting method as described above. For the system embodiments, since they basically correspond to the method embodiments, the relevant parts are described with reference to the parts of the method embodiments.

[0118] The present application also provides an electronic device, including a processor and a memory; the memory stores a program which can be invoked by the processor; wherein the processor implements the movement control method of the machine tool when executing the program.

[0119] The present application also provides a machine readable storage medium, which stores a program; the program is executed by the processor to implement the movement control method of the machine tool as described in the foregoing embodiments.

[0120] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A laser cutting method, characterized by, The method comprises the following steps: When any one of the geometric information of the pipe section and the centering deviation 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 angle positions, the changed centering deviation, and the profile of the corresponding pipe section after the change; wherein the geometric information of the pipe section includes any one of the shape and size of the pipe section, the B-axis angle position is equal to an 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 angle positions; any target height difference is the height difference between the highest point of the profile of the corresponding pipe section after the change and the B-axis rotation center at the corresponding B-axis angle position; The first height difference list used before any one of the geometric information of the pipe section and the centering deviation changes is updated to the second height difference list; Based on the B-axis information at the start point of the empty movement and the B-axis information at the end point of the empty movement, the corresponding B-axis angle position range is obtained; The maximum target height difference in the second height difference list is obtained, which is the maximum target height difference among the target height differences corresponding to the B-axis angle position range; Based on the maximum target height difference, the lifting action of the laser cutting head in the empty movement is performed.

2. The laser cutting method according to claim 1, characterized in that, The change of any one of the geometric information of the pipe section and the centering deviation further comprises detecting a change in the processing drawing or detecting a change in the centering deviation.

3. The laser cutting method of claim 1, wherein, The method of forming a second height difference list based on the B-axis rotation center of the laser processing equipment, a plurality of B-axis angle positions, the changed centering deviation, and the profile of the corresponding pipe section after the change comprises: Discretization processing is performed on the profile of the corresponding pipe section after the change to obtain a plurality of discrete points; The target height difference at each B-axis angle position is obtained, and the target height difference at any B-axis angle position is the height difference between the highest discrete point among the plurality of discrete points and the B-axis rotation center at the any B-axis angle position; Based on all the B-axis angle positions and the target height difference at each B-axis angle position, the second height difference list is formed.

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

5. The laser cutting method according to claim 4, characterized in that, The plane where the pipe section is located contains an orthogonal coordinate system composed of an X-axis and a Y-axis, and the method of obtaining the target height difference at the any B-axis angle position further comprises: Based on the relative position of each discrete point relative to the geometric center of the pipe section, the position of the B-axis rotation center, the changed centering deviation, and the any B-axis angle position, the Y-axis coordinate difference between all discrete points and the B-axis rotation center at the any B-axis angle position is obtained; The maximum value of the Y-axis coordinate difference between all discrete points and the B-axis rotation center is taken as the target height difference at the any B-axis angle position by traversing the Y-axis coordinate difference between all discrete points and the B-axis rotation center.

6. The laser cutting method of claim 5, wherein, The method for performing the lifting action of the laser cutting head in the empty movement 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 at the starting point of the empty movement, the lowest lifting height SafeLiftHeight is obtained, wherein SafeLiftHeight = BCY + MaxDiffY - MSY; Based on the lowest lifting height SafeLiftHeight, the lifting action of the laser cutting head in the empty movement is performed.

7. The laser cutting method of claim 6, wherein, The method for performing the lifting action of the laser cutting head in the empty movement based on the lowest lifting height SafeLiftHeight includes: Based on the lowest lifting height SafeLiftHeight and a preset additional lifting height ExtraLiftHeight, the final lifting height LiftHeight is obtained, wherein LiftHeight = SafeLiftHeight + ExtraLiftHeight; When the final lifting height LiftHeight is greater than 0, the lifting action of the laser cutting head in the empty movement is performed according to the final lifting height LiftHeight; When the final lifting height LiftHeight is less than or equal to 0, the lifting action of the laser cutting head in the empty movement is not performed.

8. The laser cutting method of claim 7, wherein, The method for performing the empty movement further includes: When the final lifting height LiftHeight is greater than 0, after the lifting action of the laser cutting head completes the lowest lifting height SafeLiftHeight, the other axes of the laser processing equipment start moving to the endpoint of the empty movement; When the final lifting height LiftHeight is less than or equal to 0, the other axes of the laser processing equipment directly move to the endpoint of the empty movement.

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

10. The laser cutting method of claim 1, wherein, The method for obtaining the corresponding B-axis angle position range based on the B-axis information at the starting point of the empty movement and the B-axis information at the endpoint of the empty movement includes: A first B-axis relative coordinate of the B-axis coordinate at the starting point of the empty movement relative to the B-axis flattening coordinate is obtained; A second B-axis relative coordinate of the B-axis coordinate at the endpoint of the empty movement relative to the B-axis flattening coordinate is obtained; Based on the first B-axis relative coordinate and the second B-axis relative coordinate, a B-axis angular position range is determined, which 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 by, The laser cutting method according to any one of claims 1-10.

12. An electronic device, comprising: A computer program product, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1-10 when executing the program.

13. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program product, wherein the processor implements the steps of the method according to any one of claims 1-10 when executing the program.

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