Laser cutting method and system

Abstract

The application provides a laser cutting method and system suitable for a laser processing device with a corresponding B-axis stroke, wherein the method comprises: obtaining a second initial B-axis position corresponding to a second cutting track based on a first attitude angle, a first B-axis position, the second cutting track, and a preset B-axis movement logic; if the second initial B-axis position is out of the range of the B-axis stroke, obtaining a second corrected B-axis position corresponding to the starting point of the second cutting track based on the second initial B-axis position and a preset rotation correction angle; and performing laser cutting of a current processing task based on the preset B-axis movement logic, the second cutting track, and the second corrected B-axis position. Thus, the B-axis action in the processing process is optimized, the processing interruption is reduced, and the processing requirement of continuous processing in the automatic processing process is better met.

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] Laser processing refers to a method of using a converged laser beam to process materials, and a laser processing device generally includes a laser, a processing machine table, an optical fiber, and a laser processing head.

[0003] The existing types of laser processing devices include chuck machine types and rotary table machine types.

[0004] The laser cutting head of the chuck machine type remains stationary, and the material (pipe, etc.) is clamped by the chuck and rotated and pulled to perform cutting. The rotary table machine type moves the laser head through the optical fiber and feeds the material through the feeding support (without rotation) to perform cutting.

[0005] Among them, the rotating mechanism of the chuck machine type is a chuck, and the B-axis (hereinafter referred to as B-axis) of the chuck machine type is a chuck rotating shaft. The rotating mechanism of the rotary table machine type is a rotary table, and the B-axis of the rotary table machine type is a rotary table rotating shaft.

[0006] However, due to the feedback limitation of the B-axis encoder and the length limitation of the optical fiber of the rotary table machine type, the B-axis stroke often needs to be limited within an interval, and cannot be rotated infinitely. Therefore, during the laser processing, the processing is easily interrupted due to the B-axis position exceeding the range of the B-axis stroke. SUMMARY

[0007] The present application provides a laser cutting method, which optimizes the B-axis action during processing, reduces the interruption of processing, and better meets the continuous processing requirements of the automatic processing process.

[0008] In a first aspect, the present application provides a laser cutting method suitable for a laser processing device having a corresponding B-axis stroke, the laser cutting method comprising:

[0009] Based on the first attitude angle, the first B-axis position, the second cutting trajectory, and the preset B-axis motion logic, a second initial B-axis position corresponding to the second cutting trajectory is obtained;

[0010] If the second initial B-axis position exceeds the range of the B-axis stroke, a second corrected B-axis position corresponding to the starting point of the second cutting trajectory is obtained based on the second initial B-axis position and a preset rotation correction angle, and laser cutting of the current processing task is performed based on the preset B-axis motion logic, the second cutting trajectory, and the second corrected B-axis position.

[0011] The first attitude angle is a preset attitude angle of a laser cutting head in the laser processing device if there is no processing task before the current processing task, and the first B-axis position is a preset B-axis position; the first attitude angle is an attitude angle of the laser cutting head at an end position of a previous processing task if there is the previous processing task before the current processing task, and the first B-axis position is a corresponding B-axis position at the end position of the previous processing task; and the second cutting track is a cutting track in the current processing task.

[0012] Optionally, the method for obtaining the second initial B-axis position corresponding to the second cutting track comprises: obtaining an attitude angle of the laser cutting head on the second cutting track based on the second cutting track; obtaining a second initial B-axis position corresponding to a start point of the second cutting track based on the first attitude angle, the first B-axis position, the preset B-axis motion logic, and the attitude angle of the laser cutting head at the start point of the second cutting track; and obtaining the second initial B-axis position corresponding to the second cutting track based on the preset B-axis motion logic, the second initial B-axis position corresponding to the start point of the second cutting track, and the attitude angle of the laser cutting head on the second cutting track.

[0013] Optionally, the method for obtaining the attitude angle of the laser cutting head on the second cutting track comprises: obtaining a two-dimensional normal vector of a three-dimensional normal vector of the second cutting track on a projection plane, the projection plane being perpendicular to a feeding direction of the laser processing device; and sampling the two-dimensional normal vector of the second cutting track on the projection plane based on a bow error to obtain an attitude angle of the laser cutting head at each of a plurality of sampling points, the plurality of sampling points including the start point of the second cutting track.

[0014] Optionally, the method for obtaining the second initial B-axis position corresponding to the second cutting track comprises: sorting m sampling points, m being a natural number greater than 3; obtaining a second initial B-axis position corresponding to an nth sampling point based on the preset B-axis motion logic, the second initial B-axis position corresponding to an (n-1)th sampling point, an attitude angle of the laser cutting head at the (n-1)th sampling point, and an attitude angle of the laser cutting head at the nth sampling point, wherein 2≤n≤m, n being a natural number, and when n=2, the (n-1)th sampling point is the start point of the second cutting track; and obtaining the second initial B-axis position corresponding to the second cutting track based on the second initial B-axis positions corresponding to the m sampling points, the second initial B-axis position corresponding to the second cutting track being a B-axis position range with the second initial B-axis position corresponding to the start point of the second cutting track as a start point.

[0015] Optionally, the second initial B-axis position corresponding to the second cutting track is a B-axis position range with the second initial B-axis position BCur corresponding to the starting point of the second cutting track as the starting point; if the second initial B-axis position exceeds the range of the B-axis stroke, the method for obtaining the second corrected B-axis position corresponding to the starting point of the second cutting track based on the second initial B-axis position and a preset rotation correction angle includes: obtaining a first correction angle value ExtRotation0 based on the relationship between the second initial B-axis position corresponding to the starting point of the second cutting track and the B-axis stroke and a first preset correction angle; obtaining a second correction angle value ExtRotation1 based on the relationship between the second initial B-axis position corresponding to the second cutting track other than the starting point of the second cutting track and the B-axis stroke and a second preset correction angle; superimposing the second initial B-axis position BCur corresponding to the starting point of the second cutting track on the first correction angle value ExtRotation0 to form a second intermediate B-axis position; superimposing the second initial B-axis position corresponding to the second cutting track, the first correction angle value ExtRotation0 and the second correction angle value ExtRotation1 to form a second intermediate B-axis position range; if at least one of the first correction angle value ExtRotation0 and the second correction angle value ExtRotation1 is not 0°, and the second intermediate B-axis position and the second intermediate B-axis position range are both within the range of the B-axis stroke, obtaining the second corrected B-axis position BAdj corresponding to the starting point of the second cutting track based on the second initial B-axis position BCur corresponding to the starting point of the second cutting track, the first correction angle value ExtRotation0 and the second correction angle value ExtRotation1, wherein BAdj = BCur + ExtRotation0 + ExtRotation1.

[0016] Optionally, the method for forming the first correction angle value ExtRotation0 based on the relationship between the second initial B-axis position corresponding to the start point of the second cutting track and the B-axis stroke range and the first preset correction angle comprises: if the second initial B-axis position corresponding to the start point of the second cutting track is beyond the range of the B-axis stroke, forming the first correction angle value based on the first preset correction angle and the corresponding correction direction; if the second initial B-axis position corresponding to the start point of the second cutting track is within the range of the B-axis stroke, the first correction angle value is 0°; wherein if the second initial B-axis position corresponding to the start point of the second cutting track is beyond the positive limit of the B-axis stroke, the correction direction corresponding to the first preset correction angle is reverse; if the second initial B-axis position corresponding to the start point of the second cutting track is beyond the negative limit of the B-axis stroke, the correction direction corresponding to the first preset correction angle is forward.

[0017] Optionally, the method for forming the second correction angle value ExtRotation1 based on the relationship between the second initial B-axis position corresponding to the second cutting track other than the start point of the second cutting track and the B-axis stroke range and the second preset correction angle comprises: if the second initial B-axis position corresponding to the second cutting track other than the start point of the second cutting track is beyond the range of the B-axis stroke, forming the second correction angle value based on the second preset correction angle and the corresponding correction direction; if the second initial B-axis position corresponding to the second cutting track other than the start point of the second cutting track is within the range of the B-axis stroke, the second correction angle value is 0°; wherein if the second initial B-axis position corresponding to the second cutting track other than the start point of the second cutting track is beyond the positive limit of the B-axis stroke, the correction direction corresponding to the second preset correction angle is reverse; if the second initial B-axis position corresponding to the second cutting track other than the start point of the second cutting track is beyond the negative limit of the B-axis stroke, the correction direction corresponding to the second preset correction angle is forward.

[0018] Optionally, the first preset correction angle is equal to the second preset correction angle, and the first preset correction angle and the second preset correction angle are both 360°.

[0019] Optionally, the method further comprises: if any of the second intermediate B-axis position and the second intermediate B-axis position range is beyond the range of the B-axis stroke, suspending the current machining task.

[0020] Optionally, the method further comprises: before the second correction angle value is acquired, determining whether the second intermediate B-axis position is within the range of the B-axis stroke; if not, the current machining task is terminated; before the second correction B-axis position corresponding to the second cutting trajectory starting point is acquired based on the second initial B-axis position corresponding to the second cutting trajectory starting point, the first correction angle value, and the second correction angle value, determining whether the second intermediate B-axis position range is within the range of the B-axis stroke; if not, the current machining task is terminated.

[0021] Optionally, the method further comprises: if the second initial B-axis position is within the range of the B-axis stroke, performing laser cutting of the current machining task based on the preset B-axis motion logic, the second cutting trajectory, and the second initial B-axis position corresponding to the second cutting trajectory starting point.

[0022] Optionally, the preset B-axis motion logic comprises: within the range of the B-axis stroke, the rotating mechanism of the laser processing equipment moves in an arc motion between any two B-axis positions, and when the B-axis position is at 180°, the rotating mechanism moves to 0 position in the B-axis stroke.

[0023] In a second aspect, the present application provides a laser cutting system suitable for a laser processing equipment having a corresponding B-axis stroke, wherein the laser cutting system adopts the laser cutting method according to any one of the above.

[0024] In a third aspect, the present application provides 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 the method according to any one of the above when executing the program.

[0025] In a fourth aspect, the present application provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program implements the steps of the method according to any one of the above when executed by a processor.

[0026] Compared with the prior art, the technical scheme of the present application has the following beneficial effects:

[0027] The laser cutting method and system provided by the technical scheme of the present application can adjust and optimize the B-axis action for the current processing task before each time of processing the current processing task in the automatic processing process, thereby reducing the processing interruption and better meeting the processing requirement of continuous processing in the automatic processing process. Moreover, the B-axis action for the current processing task is optimized by forming the second modified B-axis position corresponding to the starting point of the second cutting track, that is, the adjustment required for the two B-axis actions from the first B-axis position to the second initial B-axis position corresponding to the starting point of the second cutting track and from the starting point of the second cutting track to the second initial B-axis position corresponding to the completion of the entire second cutting track is concentrated in the process from the first B-axis position to the second modified B-axis position corresponding to the starting point of the second cutting track, so that the B-axis action optimization required for the two B-axis actions can be directly and once completed in the process to the starting point of the current processing task (i.e., the starting point of the second cutting track), and the B-axis action does not need to be adjusted in the process of cutting according to the second cutting track, thereby improving the processing efficiency while reducing the processing interruption. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical schemes in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0029] Figure 1 FIG. 1 is a flowchart of the laser cutting method of the embodiment of the present application;

[0030] Figure 2 FIG. 2 is a schematic diagram of the B-axis stroke, the second cutting track and the laser cutting head in the embodiment of the present application;

[0031] Figure 3 FIG. 3 is a schematic diagram of the first B-axis position and the second initial B-axis position corresponding to the second cutting track after the B-axis stroke is developed in the embodiment of the present application;

[0032] Figure 4 FIG. 4 is a flowchart of step S100 in the embodiment of the present application;

[0033] Figure 5 is a flowchart of step S110 in the embodiment of the present application;

[0034] Figure 6 is a flowchart of step S130 in the embodiment of the present application;

[0035] Figure 7 is a flowchart of step S200 in the embodiment of the present application;

[0036] Figure 8 is a flowchart of step S210 in the embodiment of the present application;

[0037] Figure 9 is a flowchart of step S220 in the embodiment of the present application;

[0038] Figure 10 is a flowchart of step S250 and step S400 in the embodiment of the present application;

[0039] Figure 11 is a second modified B-axis position diagram after B-axis stroke expansion in the embodiment of the present application. DETAILED DESCRIPTION

[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 some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0041] The terms "first", "second", "third", "fourth" and the like (if any) in the description, claims and above drawings of the present application are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

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

[0043] Referring to Figure 1 The laser cutting method provided by the embodiment of the present application comprises the following steps:

[0044] In step S100, a second initial B-axis position corresponding to the second cutting track is obtained based on the first attitude angle, the first B-axis position, the second cutting track, and a preset B-axis movement logic.

[0045] In step S200, if the second initial B-axis position is out of the range of the B-axis stroke, a second corrected B-axis position corresponding to the starting point of the second cutting track is obtained based on the second initial B-axis position and a preset rotation correction angle.

[0046] In step S300, laser cutting of the current machining task is performed based on the preset B-axis movement logic, the second cutting track, and the second corrected B-axis position.

[0047] Referring to Figure 2 The laser cutting method in the embodiment of the present application is used for a laser machining device, and the laser machining device has a corresponding B-axis stroke.

[0048] In some embodiments, the laser machining device is a rotary table type, the rotating mechanism of the laser machining device is a rotary table, and the B-axis is the rotary axis of the rotary table.

[0049] In other embodiments, the laser machining device is a chuck type, the rotating mechanism of the laser machining device is a chuck, and the B-axis is the rotary axis of the chuck.

[0050] The B-axis stroke corresponding to the laser machining device is the rotation angle range of the B-axis. Correspondingly, the B-axis stroke has a positive limit and a negative limit.

[0051] The following will be described in detail with reference to the accompanying drawings.

[0052] Referring to Figure 3 , Figure 3 The first B-axis position, the second cutting track, and the corresponding relationship between the starting point of the second cutting track and the developed B-axis stroke are schematically represented in the figure.

[0053] Specifically, the first B-axis position and the first attitude angle are determined based on whether there is a previous machining task before the current machining task:

[0054] If there is no machining task before the current machining task, the first attitude angle is a preset attitude angle of the laser cutting head in the laser machining device, and the first B-axis position is a preset B-axis position.

[0055] If there is a previous machining task before the current machining task, the first attitude angle is the attitude angle of the laser cutting head at the end position of the previous machining task, and the first B-axis position is the corresponding B-axis position at the end position of the previous machining task.

[0056] That is to say, the first B-axis position and the first attitude angle are preset without a previous machining task. In the case of a previous machining task, the first B-axis position and the first attitude angle are determined based on a first cutting trajectory, wherein the first cutting trajectory is a cutting trajectory in the previous machining task.

[0057] Similarly, the second cutting trajectory is a cutting trajectory in the current machining task.

[0058] In some embodiments, the preset B-axis movement logic comprises: in the B-axis stroke range, the rotating mechanism of the laser processing equipment moves between any two B-axis positions in an arc, and when the B-axis position is at 180°, the rotating mechanism moves to the 0 position in the B-axis stroke.

[0059] The 0 position in the B-axis stroke refers to the middle B-axis position between the positive limit and the negative limit of the B-axis stroke.

[0060] Since the rotating mechanism moves in an arc between any two B-axis positions in the B-axis stroke range, the B-axis action can always be completed in the shortest path without exceeding the B-axis stroke range, thereby improving the cutting efficiency.

[0061] Please refer to Figure 4 , for step S100, based on the first attitude angle, the first B-axis position, the second cutting trajectory, and the preset B-axis movement logic, the method for obtaining the second initial B-axis position corresponding to the second cutting trajectory comprises: step S110, based on the second cutting trajectory, obtaining the attitude angle of the laser cutting head on the second cutting trajectory.

[0062] Please refer to Figure 5 , for step S110, based on the second cutting trajectory, the method for obtaining the attitude angle of the laser cutting head on the second cutting trajectory comprises:

[0063] Step S111, obtaining a two-dimensional normal vector of a three-dimensional normal vector of the second cutting trajectory on the projection plane;

[0064] Step S112, based on the sag error, sampling the two-dimensional normal vector of the second cutting trajectory on the projection plane to obtain the attitude angle of the laser cutting head at each sampling point in the plurality of sampling points.

[0065] The plurality of sampling points include the starting point of the second cutting trajectory.

[0066] In addition, the projection plane is perpendicular to the feeding direction of the laser processing equipment.

[0067] Please continue to refer to Figure 4, the method for obtaining the second initial B-axis position corresponding to the second cutting track based on the first attitude angle, the first B-axis position, the second cutting track, and the preset B-axis motion logic further includes: step S120, obtaining the second initial B-axis position corresponding to the starting point of the second cutting track based on the first attitude angle, the first B-axis position, the preset B-axis motion logic, and the attitude angle of the laser cutting head at the starting point of the second cutting track.

[0068] Specifically, by the first attitude angle, the first B-axis position, and the attitude angle of the laser cutting head at the starting point of the second cutting track, the second initial B-axis position BCur corresponding to the starting point of the second cutting track can be calculated according to the preset B-axis motion logic without adjustment and optimization.

[0069] Please continue to refer to Figure 4 , the method for obtaining the second initial B-axis position corresponding to the second cutting track based on the first attitude angle, the first B-axis position, the second cutting track, and the preset B-axis motion logic further includes: step S130, obtaining the second initial B-axis position corresponding to the second cutting track based on the preset B-axis motion logic, the second initial B-axis position corresponding to the starting point of the second cutting track, and the attitude angle of the laser cutting head on the second cutting track.

[0070] Please refer to Figure 6 Further, the method for obtaining the second initial B-axis position corresponding to the second cutting track based on the preset B-axis motion logic, the second initial B-axis position corresponding to the starting point of the second cutting track, and the attitude angle of the laser cutting head on the second cutting track includes:

[0071] Step S131, sorting the m sampling points;

[0072] Step S132, obtaining the second initial B-axis position corresponding to the nth sampling point based on the preset B-axis motion logic, the second initial B-axis position corresponding to the (n-1)th sampling point, the attitude angle of the laser cutting head at the (n-1)th sampling point, and the attitude angle of the laser cutting head at the nth sampling point.

[0073] Step S133, obtaining the second initial B-axis position corresponding to the second cutting track based on the second initial B-axis positions corresponding to the m sampling points.

[0074] Wherein, m is the number of sampling points, and m is a natural number greater than 3. n is a natural number, and 2≤n≤m.

[0075] In addition, when n=2, the (n-1)th sampling point is the starting point of the second cutting track.

[0076] That is to say, similar to the way of obtaining the second initial B-axis position BCur corresponding to the starting point of the second cutting track, the second initial B-axis position corresponding to each sampling point can be obtained by repeating step S132 on the basis of step S131.

[0077] On this basis, a corresponding B-axis position change range can be obtained through the second initial B-axis position corresponding to each sampling point. Thus, through the B-axis position change range and the second initial B-axis position BCur, the second initial B-axis position corresponding to the second cutting track can be constituted without adjustment and optimization.

[0078] That is to say, the second initial B-axis position corresponding to the second cutting track refers to the B-axis position range with the second initial B-axis position BCur corresponding to the starting point of the second cutting track as the starting point.

[0079] Please refer to Figure 7 For step S200, if the second initial B-axis position exceeds the range of the B-axis stroke, the method for obtaining the second corrected B-axis position corresponding to the starting point of the second cutting track based on the second initial B-axis position and the preset rotation correction angle includes: step S210, obtaining a first correction angle value based on the relationship between the second initial B-axis position corresponding to the starting point of the second cutting track and the B-axis stroke and the first preset correction angle.

[0080] Please refer to Figure 8 Further, for step S210, the method for obtaining the first correction angle value based on the relationship between the second initial B-axis position corresponding to the starting point of the second cutting track and the B-axis stroke and the first preset correction angle includes:

[0081] Step S211, determining whether the second initial B-axis position corresponding to the starting point of the second cutting track exceeds the range of the B-axis stroke;

[0082] If yes, steps S212 and S213 are executed, and if no, step S214 is executed.

[0083] Step S212, obtaining a corresponding correction direction based on the direction in which the second initial B-axis position corresponding to the starting point of the second cutting track exceeds the limit: if the second initial B-axis position corresponding to the starting point of the second cutting track exceeds the positive limit of the B-axis stroke, the corresponding correction direction is reverse; if the second initial B-axis position corresponding to the starting point of the second cutting track exceeds the negative limit of the B-axis stroke, the corresponding correction direction is forward;

[0084] Step S213, forming the first correction angle value based on the first preset correction angle and the corresponding correction direction;

[0085] Step S214, determining that the first correction angle value is 0°.

[0086] wherein the preset rotation correction angle comprises a first preset correction angle.

[0087] In some embodiments, the first preset correction angle is 360°. Thus, the first preset correction angle is set as the minimum rotation angle, and therefore, it is beneficial to reduce the rotation angle needed to be adjusted when correcting the second corrected B-axis position corresponding to the starting point of the second cutting track, thereby improving the processing efficiency.

[0088] Correspondingly, when the correction direction is reverse, the first correction angle value is -360°; and when the correction direction is forward, the first correction angle value is +360°.

[0089] In some other embodiments, the first preset correction angle can also be other integer multiples of 360° according to actual conditions.

[0090] Please continue to refer to Figure 7 , for step S200, if the second initial B-axis position exceeds the range of the B-axis stroke, based on the second initial B-axis position and the preset rotation correction angle, the method for obtaining the second corrected B-axis position corresponding to the starting point of the second cutting track further comprises: step S220, based on the relationship between the second initial B-axis position corresponding to the second cutting track other than the starting point of the second cutting track and the B-axis stroke, and the second preset correction angle, obtaining the second correction angle value.

[0091] Please refer to Figure 9 , further, for step S220, based on the relationship between the second initial B-axis position corresponding to the second cutting track other than the starting point of the second cutting track and the B-axis stroke, and the second preset correction angle, the method for obtaining the second correction angle value comprises:

[0092] Step S221, determining whether the second initial B-axis position corresponding to the second cutting track other than the starting point of the second cutting track exceeds the range of the B-axis stroke;

[0093] If yes, steps S222 and S223 are executed, and if no, step S224 is executed.

[0094] Step S222, based on the limit direction of the second initial B-axis position corresponding to the second cutting track other than the starting point of the second cutting track, obtaining the corresponding correction direction: if the second initial B-axis position corresponding to the second cutting track other than the starting point of the second cutting track exceeds the positive limit of the B-axis stroke, the corresponding correction direction is reverse; and if the second initial B-axis position corresponding to the second cutting track other than the starting point of the second cutting track exceeds the negative limit of the B-axis stroke, the corresponding correction direction is forward;

[0095] Step S223, based on the second preset correction angle and the corresponding correction direction, forming the second correction angle value;

[0096] Step S244, determine the second correction angle value as 0°.

[0097] The preset rotation correction angle further includes a second preset correction angle.

[0098] In some embodiments, the second preset correction angle is the same as the first preset correction angle, both of which are 360°. In this way, the second correction B-axis position corresponding to the second cutting track starting point can be formed by the smallest rotation angle, thereby facilitating further improvement of the machining efficiency.

[0099] Correspondingly, when the correction direction is reverse, the second correction angle value is -360°; and when the correction direction is forward, the second correction angle value is +360°.

[0100] In some other embodiments, the second preset correction angle can also be other integer multiples of 360° according to actual conditions.

[0101] In some other embodiments, the second preset correction angle can also be different from the first preset correction angle, for example, one of them is 360°, and the other is 2 or 3 times of 360°.

[0102] Please continue to refer to Figure 7 For step S200, if the second initial B-axis position exceeds the range of the B-axis stroke, the method for obtaining the second correction B-axis position corresponding to the second cutting track starting point based on the second initial B-axis position and the preset rotation correction angle further includes: step S230, superimposing the second initial B-axis position corresponding to the second cutting track starting point with the first correction angle value to form a second intermediate B-axis position.

[0103] By obtaining the second intermediate B-axis position, the B-axis position to which the first stage of B-axis action (i.e. from the first B-axis position to the second initial B-axis position corresponding to the second cutting track starting point) needs to be adjusted can be obtained in the case that the second initial B-axis position corresponding to the second cutting track starting point exceeds the range of the B-axis stroke.

[0104] Specifically, BMid0 = BCur + ExtRotation0

[0105] BMid0 is the second intermediate B-axis position, BCur is the second initial B-axis position corresponding to the second cutting track starting point, and ExtRotation0 is the first correction angle value.

[0106] Please continue to refer to Figure 7For step S200, if the second initial B-axis position is out of the range of the B-axis stroke, the method of obtaining the second corrected B-axis position corresponding to the starting point of the second cutting track based on the second initial B-axis position and the preset rotation correction angle further includes: step S240, superimposing the second initial B-axis position corresponding to the second cutting track, the first correction angle value, and the second correction angle value to form a second intermediate B-axis position range.

[0107] By obtaining the second intermediate B-axis position range, the B-axis position range that needs to be adjusted for the second stage of B-axis action (i.e., the stage of B-axis action from the second initial B-axis position corresponding to the starting point of the second cutting track to the entire second cutting track) can be obtained in the case that the second initial B-axis position corresponding to the second cutting track is out of the range of the B-axis stroke.

[0108] Specifically, BMid1 = BCur + ExtRotation0 + ExtRotation1 + BCRan.

[0109] BMid1 is the second intermediate B-axis position range, ExtRotation1 is the second correction angle value, and BCRan is the second initial B-axis position corresponding to the second cutting track.

[0110] It should be noted that BMid1 and BCRan both refer to a range.

[0111] Please continue to refer to Figure 7 For step S200, if the second initial B-axis position is out of the range of the B-axis stroke, the method of obtaining the second corrected B-axis position corresponding to the starting point of the second cutting track based on the second initial B-axis position and the preset rotation correction angle further includes: step S250, if at least one of the first correction angle value and the second correction angle value is not 0°, and the second intermediate B-axis position and the second intermediate B-axis position range are both within the range of the B-axis stroke, then based on the second initial B-axis position corresponding to the starting point of the second cutting track, the first correction angle value, and the second correction angle value, the second corrected B-axis position BAdj corresponding to the starting point of the second cutting track is obtained, wherein,

[0112] BAdj = BCur + ExtRotation0 + ExtRotation1.

[0113] Please refer to Figure 10In some embodiments, for step S250, if at least one of the first correction angle value and the second correction angle value is not 0°, and both the second intermediate B-axis position and the second intermediate B-axis position range are within the range of the B-axis stroke, the method for obtaining the second corrected B-axis position BAdj corresponding to the second cutting trajectory starting point based on the second initial B-axis position corresponding to the second cutting trajectory starting point, the first correction angle value, and the second correction angle value further comprises:

[0114] Step S251: determining whether the second intermediate B-axis position is within the range of the B-axis stroke:

[0115] If not, step S252 is performed to suspend the current machining task;

[0116] If yes, step S253 is performed to determine whether the second intermediate B-axis position range is within the range of the B-axis stroke:

[0117] If not, step S254 is performed to suspend the current machining task;

[0118] If yes, step S255 is performed to determine whether at least one of the first correction angle value and the second correction angle value is not 0°:

[0119] If yes, step S256 is performed to obtain the second corrected B-axis position BAdj corresponding to the second cutting trajectory starting point based on the second initial B-axis position corresponding to the second cutting trajectory starting point, the first correction angle value, and the second correction angle value, wherein BAdj = BCur + ExtRotation0 + ExtRotation1.

[0120] In steps S251 to S256, when at least one of the first correction angle value and the second correction angle value is not 0°, it can be determined that the second initial B-axis position is out of the range of the B-axis stroke. On this basis, based on steps S251 to S254, the current machining task can be suspended when either the second intermediate B-axis position or the second intermediate B-axis position range is out of the range of the B-axis stroke. Thus, it can be determined in advance that the second cutting trajectory cannot be machined by improving the B-axis action, avoiding the situation of machining interruption during the current machining task, thereby improving the machining efficiency and reducing the problems of waste and yield reduction.

[0121] It should be understood that the above embodiments only arrange steps S200 and the steps below for convenience of description, and the order of steps S200 and the steps below can be changed in actual application, and the order of the steps only needs to meet the requirement that the input data of the current step has been obtained before the current step is performed.

[0122] In other embodiments, after step S230 and before step S240, step S252 is performed to determine whether the second intermediate B-axis position is within the range of the B-axis stroke; if not, step S253 is performed to suspend the current machining task. Thus, by advancing the determination process of the second intermediate B-axis position, the machining efficiency is better improved.

[0123] Please continue to refer to Figure 1 and Figure 11 For step S300, laser cutting of the current machining task is performed based on the preset B-axis motion logic, the second cutting trajectory, and the second corrected B-axis position.

[0124] Specifically, in the B-axis action of step S300, based on the preset B-axis motion logic, the rotating mechanism will move to the second corrected B-axis position by optimal arc motion (as shown in Figure 11 or by optimal arc motion superimposed by 360° of an integer multiple.

[0125] In addition, for ease of explanation and understanding, Figure 11 the first B-axis position to the second initial B-axis position is adjusted to the process from the first B-axis position to the second corrected B-axis position.

[0126] In the laser cutting method provided by the embodiments of the present application, before the laser cutting of the current machining task is performed, the relationship between the second initial B-axis position of the current machining task and the B-axis stroke is predicted, and in the case that the second initial B-axis position of the current machining task exceeds the range of the B-axis stroke, the second corrected B-axis position corresponding to the starting point of the second cutting trajectory is obtained based on the second initial B-axis position and the preset rotating correction angle, and the laser cutting of the current machining task is performed based on the preset B-axis motion logic, the second cutting trajectory, and the second corrected B-axis position. Therefore, in the automatic machining process, the B-axis action for the current machining task can be adjusted and optimized before the current machining task is performed each time, so that the interruption of machining is reduced, and the machining requirement of continuous machining in the automatic machining process is better met.

[0127] Moreover, since the B-axis action of the current machining task is optimized by forming the second modified B-axis position corresponding to the second cutting trajectory starting point, that is, the adjustment required for the two B-axis actions from the first B-axis position to the second initial B-axis position corresponding to the second cutting trajectory starting point and from the second initial B-axis position corresponding to the completion of the entire second cutting trajectory starting point is concentrated in the process of the first B-axis position to the second modified B-axis position corresponding to the second cutting trajectory starting point, the B-axis action optimization required for covering the two B-axis actions can be directly and one-time completed in the process to the starting point of the current machining task, that is, the starting point of the second cutting trajectory, so that the B-axis action does not need to be adjusted again in the process of cutting according to the second cutting trajectory, thereby improving the machining efficiency while reducing the machining interruption.

[0128] Please continue to refer to Figure 1 The laser cutting method further includes: step S400, if the second initial B-axis position is within the B-axis stroke range, performing laser cutting of the current machining task based on the preset B-axis motion logic, the second cutting trajectory, and the second initial B-axis position corresponding to the second cutting trajectory starting point.

[0129] In some embodiments, step S400 is further based on step S255.

[0130] Specifically, based on step S255, it is determined whether at least one of the first correction angle value and the second correction angle value is not 0°: if not, step S400 is executed to perform laser cutting of the current machining task based on the preset B-axis motion logic, the second cutting trajectory, and the second initial B-axis position corresponding to the second cutting trajectory starting point.

[0131] In other embodiments, step S400 can also be independently determined and executed, that is, step S400 and steps S200 to S300 can be parallel steps.

[0132] Correspondingly, the embodiment of the present application also provides a laser cutting system for a laser machining device having a corresponding B-axis stroke, which adopts the laser cutting method as described above. For the system embodiment, since it basically corresponds to the method embodiment, the relevant parts are described with reference to the part of the method embodiment.

[0133] The present application also provides an electronic device comprising a processor and a memory; the memory stores a program that can be called by the processor; wherein the processor implements the laser cutting method in the foregoing embodiments when executing the program.

[0134] The application further provides a machine readable storage medium, which stores a program, and the program is executed by a processor to realize the laser cutting method in the foregoing embodiments.

[0135] 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 for 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 suitable for a laser machining apparatus having a corresponding B-axis stroke, characterized by, The laser cutting method comprises: based on the first attitude angle, the first B-axis position, the second cutting track, and the preset B-axis motion logic, obtaining a second initial B-axis position corresponding to the second cutting track; if the second initial B-axis position exceeds the range of the B-axis stroke, based on the second initial B-axis position and a preset rotation correction angle, obtaining a second corrected B-axis position corresponding to the starting point of the second cutting track; and based on the preset B-axis motion logic, the second cutting track and the second corrected B-axis position, performing laser cutting of the current machining task; wherein, if there is no machining task before the current machining task, the first attitude angle is a preset attitude angle of a laser cutting head in the laser machining equipment, and the first B-axis position is a preset B-axis position; if there is a previous machining task before the current machining task, the first attitude angle is the attitude angle of the laser cutting head at the end position of the previous machining task, and the first B-axis position is the corresponding B-axis position at the end position of the previous machining task; the second cutting track is a cutting track in the current machining task.

2. The laser cutting method according to claim 1, characterized in that, The method for obtaining the second initial B-axis position corresponding to the second cutting track comprises: based on the second cutting track, obtaining the attitude angle of the laser cutting head on the second cutting track; based on the first attitude angle, the first B-axis position, the preset B-axis motion logic, and the attitude angle of the laser cutting head at the starting point of the second cutting track, obtaining the second initial B-axis position corresponding to the starting point of the second cutting track; based on the preset B-axis motion logic, the second initial B-axis position corresponding to the starting point of the second cutting track, and the attitude angle of the laser cutting head on the second cutting track, obtaining the second initial B-axis position corresponding to the second cutting track.

3. The laser cutting method according to claim 2, characterized in that, The method for obtaining the attitude angle of the laser cutting head on the second cutting track comprises: obtaining a two-dimensional normal vector of a three-dimensional normal vector of the second cutting track on a projection plane, the projection plane being perpendicular to the feeding direction of the laser machining equipment; based on the bow error, sampling the two-dimensional normal vector of the second cutting track on the projection plane to obtain the attitude angle of the laser cutting head at each sampling point in a plurality of sampling points, the plurality of sampling points including the starting point of the second cutting track.

4. The laser cutting method according to claim 3, characterized in that, The method for obtaining the second initial B-axis position corresponding to the second cutting track comprises: sorting m sampling points, m being a natural number greater than 3; based on the preset B-axis motion logic, the second initial B-axis position corresponding to the (n-1)th sampling point, the attitude angle of the laser cutting head at the (n-1)th sampling point, and the attitude angle of the laser cutting head at the nth sampling point, obtaining the second initial B-axis position corresponding to the nth sampling point, wherein 2≤n≤m, n is a natural number, and when n=2, the (n-1)th sampling point is the starting point of the second cutting track; Based on the second initial B-axis positions corresponding to the m sampling points, a second initial B-axis position corresponding to the second cutting track is obtained, and the second initial B-axis position corresponding to the second cutting track is a B-axis position range with the second initial B-axis position corresponding to the starting point of the second cutting track as a starting point.

5. The laser cutting method of claim 2, wherein, The second initial B-axis position corresponding to the second cutting track is a B-axis position range with the second initial B-axis position BCur corresponding to the starting point of the second cutting track as a starting point. If the second initial B-axis position exceeds the range of the B-axis stroke, a method for obtaining a second corrected B-axis position corresponding to the starting point of the second cutting track based on the second initial B-axis position and a preset rotation correction angle includes: Based on the relationship between the second initial B-axis position corresponding to the starting point of the second cutting track and the B-axis stroke and a first preset correction angle, a first correction angle value ExtRotation0 is obtained. Based on the relationship between the second initial B-axis positions corresponding to the second cutting track other than the starting point of the second cutting track and the B-axis stroke and a second preset correction angle, a second correction angle value ExtRotation1 is obtained. The second initial B-axis position BCur corresponding to the starting point of the second cutting track is superimposed with the first correction angle value ExtRotation0 to form a second intermediate B-axis position. The second initial B-axis positions corresponding to the second cutting track, the first correction angle value ExtRotation0, and the second correction angle value ExtRotation1 are superimposed to form a second intermediate B-axis position range. If at least one of the first correction angle value ExtRotation0 and the second correction angle value ExtRotation1 is not 0°, and the second intermediate B-axis position and the second intermediate B-axis position range are both within the range of the B-axis stroke, a second corrected B-axis position BAdj corresponding to the starting point of the second cutting track is obtained based on the second initial B-axis position BCur corresponding to the starting point of the second cutting track, the first correction angle value ExtRotation0, and the second correction angle value ExtRotation1, where BAdj = BCur + ExtRotation0 + ExtRotation1.

6. The laser cutting method of claim 5, wherein, The method for obtaining the first correction angle value ExtRotation0 based on the relationship between the second initial B-axis position corresponding to the starting point of the second cutting track and the B-axis stroke and a first preset correction angle includes: If the second initial B-axis position corresponding to the starting point of the second cutting track exceeds the range of the B-axis stroke, the first correction angle value is formed based on the first preset correction angle and a corresponding correction direction. If the second initial B-axis position corresponding to the starting point of the second cutting track is within the range of the B-axis stroke, the first correction angle value is 0°. If the second initial B-axis position corresponding to the starting point of the second cutting track exceeds the positive limit of the B-axis stroke, the correction direction corresponding to the first preset correction angle is reverse; if the second initial B-axis position corresponding to the starting point of the second cutting track exceeds the negative limit of the B-axis stroke, the correction direction corresponding to the first preset correction angle is positive.

7. The laser cutting method of claim 6, wherein, The method for forming the second correction angle value ExtRotation1 based on the relationship between the second initial B-axis position corresponding to the second cutting track other than the starting point of the second cutting track and the B-axis stroke, and a second preset correction angle comprises: If the second initial B-axis position corresponding to the starting point of the second cutting track exceeds the range of the B-axis stroke, a second correction angle value is formed based on the second preset correction angle and the corresponding correction direction; If the second initial B-axis position corresponding to the starting point of the second cutting track is within the range of the B-axis stroke, the second correction angle value is 0°; If the second initial B-axis position corresponding to the starting point of the second cutting track exceeds the positive limit of the B-axis stroke, the correction direction corresponding to the second preset correction angle is reverse; if the second initial B-axis position corresponding to the starting point of the second cutting track exceeds the negative limit of the B-axis stroke, the correction direction corresponding to the second preset correction angle is positive.

8. The laser cutting method of claim 5, wherein, The first preset correction angle is equal to the second preset correction angle, and both the first preset correction angle and the second preset correction angle are 360°.

9. The laser cutting method of claim 5, wherein, Further comprising: If any of the second intermediate B-axis position and the second intermediate B-axis position range is outside the range of the B-axis stroke, the current machining task is aborted.

10. The laser cutting method of claim 9, wherein, Further comprising: Before the second correction angle value is obtained, it is judged whether the second intermediate B-axis position is within the range of the B-axis stroke; if not, the current machining task is aborted; Before the second intermediate B-axis position corresponding to the starting point of the second cutting track is obtained based on the second initial B-axis position corresponding to the starting point of the second cutting track, the first correction angle value, and the second correction angle value, it is judged whether the second intermediate B-axis position range is within the range of the B-axis stroke; if not, the current machining task is aborted.

11. The laser cutting method of claim 1, wherein, Further comprising: If the second initial B-axis position is within the range of the B-axis stroke, laser cutting of the current machining task is performed based on the preset B-axis motion logic, the second cutting track, and the second initial B-axis position corresponding to the starting point of the second cutting track.

12. The laser cutting method according to any one of claims 1 to 11, characterized in that, The preset B-axis motion logic comprises: within the range of the B-axis stroke, the rotating mechanism of the laser processing equipment moves in an inferior arc between any two B-axis positions, and when the B-axis position is at 180°, the rotating mechanism moves to 0 position in the B-axis stroke.

13. A laser cutting system adapted for a laser machining apparatus having a corresponding B-axis stroke, characterized by, The laser cutting method as claimed in any one of claims 1-12 is adopted.

14. An electronic device, comprising: Computer program product comprising a memory, a processor and a program stored on the memory and loadable in the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 12 when executing the program.

15. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program product, when executed by the processor, implements the steps of the method according to any one of claims 1 to 12.

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