Laser pipe cutting machine control method and device, laser pipe cutting machine and storage medium

Abstract

The application provides a laser pipe cutting machine control method, device, laser pipe cutting machine and storage medium. The method comprises the following steps: drawing a pre-avoiding area and an alarm area for each auxiliary support; if the movable chuck enters the pre-avoiding area, the auxiliary support moves to an avoiding position; if the movable chuck enters the alarm area and the auxiliary support is not in the avoiding position, the movable chuck stops moving and an alarm is given; a plurality of contours are processed in turn in the reverse direction of the first direction, the point closest to the movable chuck on the contour is the farthest point, after the current contour processing is completed, it is judged whether the movable chuck penetrates the pre-avoiding area of the adjacent auxiliary support when processing the farthest point of the next contour, if yes, the auxiliary support avoids and remains before processing the next contour, otherwise, the auxiliary support remains to support during processing the next contour. The laser pipe cutting machine control method can ensure the posture stability of the cutting point and ensure the processing quality.

Description

Technical Field

[0001] The present application belongs to the field of laser processing technology, and more specifically, relates to a laser tube cutting machine control method, device, laser tube cutting machine and storage medium. Background Art

[0002] Because laser tube cutting machines process tubes of varying cross-sections and lengths, to ensure the stability of the tube's posture during processing, a certain number of auxiliary supports must be distributed along the length of the tube to complement the chuck and prevent it from shaking. In related technologies, a clearance zone is set in front of the auxiliary supports. When the chuck moves into the clearance zone, the auxiliary supports will move out of the way to prevent collision between the chuck and the auxiliary support mechanism.

[0003] However, in the middle of processing, if the chuck first enters the avoidance area and then exits the avoidance area, after the auxiliary support drops, the length of the unsupported area of ​​the pipe is greater than the distance between the two auxiliary supports. The unsupported area is too long, and the posture stability of the cutting point cannot be ensured during the processing of the pipe. Moreover, the moment when the auxiliary support drops is when the pipe is in the middle of cutting the contour. When the auxiliary support drops in the middle of cutting the contour, it will affect the processing accuracy, and a mutation point may occur, which will greatly reduce the processing quality. Summary of the Invention

[0004] The embodiment of the present application provides a control method for a laser tube cutting machine, which can ensure the stability of the posture of the cutting point and ensure the processing quality.

[0005] The technical solution adopted in the embodiment of the present application is to provide a control method for a laser tube cutting machine, which is applicable to the laser tube cutting machine. The laser tube cutting machine includes a fixed chuck, a movable chuck, and a plurality of auxiliary supports. The movable chuck, the auxiliary supports, and the fixed chuck are arranged in sequence. The auxiliary supports can support the tube in a supporting position or avoid the movable chuck in an avoidance position. The direction from the movable chuck to the fixed chuck is defined as a first direction. The method includes the following steps:

[0006] Defining a pre-avoidance zone and a warning zone for each auxiliary support, which are the pre-avoidance zone, the warning zone and the corresponding auxiliary support in order along the first direction;

[0007] detecting the position of the movable chuck to determine whether the movable chuck enters the pre-avoidance zone, and if so, controlling the auxiliary support to move to the avoidance position;

[0008] If the movable chuck enters the alarm area, the position of the auxiliary support is further detected. If the auxiliary support is not in the avoidance position, the movable chuck is controlled to stop moving and an alarm is issued.

[0009] Multiple contours are processed in sequence in the opposite direction of the first direction, and the point on the contour closest to the movable chuck is the farthest point. After the current contour processing is completed, it is determined whether the movable chuck penetrates the pre-avoidance area of ​​the adjacent auxiliary support when processing to the farthest point of the next contour. If so, this auxiliary support avoids and maintains before the next contour processing; otherwise, this auxiliary support maintains support during the processing of the next contour.

[0010] Furthermore, the plurality of contours are processed in sequence in the direction opposite to the first direction, the point on the contour closest to the movable chuck is the farthest point, and after the current contour processing is completed, it is determined whether the movable chuck penetrates the pre-avoidance area of ​​the adjacent auxiliary support when processing to the farthest point of the next contour. If so, the auxiliary support avoids and maintains before the next contour processing; otherwise, the auxiliary support maintains support during the processing of the next contour, specifically comprising:

[0011] After the current processing is completed, the distance value ΔX between the end point of the current processing and the farthest point of the next contour in the first direction is obtained;

[0012] determining whether the movable chuck penetrates a pre-avoidance zone of an adjacent auxiliary support after the movable chuck moves ΔX along the first direction;

[0013] If so, this auxiliary support will be avoided and maintained before the next contour processing;

[0014] If not, this auxiliary support remains as support during the machining of the next contour.

[0015] Furthermore, before processing the first contour, the end of the tube away from the movable chuck is first processed;

[0016] After the end processing, the next contour is the first contour, and the distance value between the end point of the end processing and the farthest point of the first contour in the first direction is obtained as ΔX.

[0017] Furthermore, after the auxiliary support is avoided and maintained before the next contour processing, during the next contour processing, the moving speed of the movable chuck along the first direction can reach the maximum speed allowed by the machine tool.

[0018] Furthermore, the time taken for the auxiliary support to move from the supporting position to the avoiding position is less than the time taken for the movable chuck to pass through the pre-avoidance area.

[0019] The embodiment of the application further provides a laser pipe cutting machine control device, which is used for a laser pipe cutting machine, the laser pipe cutting machine comprises a fixed chuck, a movable chuck and a plurality of auxiliary supports, the auxiliary supports can support a pipe in a supporting position or avoid the movable chuck in an avoiding position, a direction from the movable chuck to the fixed chuck is a first direction, and the device comprises:

[0020] a region division module, which is used for demarcating a pre-avoiding region and an alarm region for each auxiliary support, and the pre-avoiding region, the alarm region and the corresponding auxiliary support are sequentially arranged along the first direction;

[0021] a pre-avoiding module, which is used for controlling the auxiliary support to move to the avoiding position when the movable chuck enters the pre-avoiding region;

[0022] an alarm module, which is used for controlling the movable chuck to stop moving and alarming when the movable chuck enters the alarm region and the auxiliary support is not in the avoiding position;

[0023] a processing avoiding judgment module, which comprises a processing submodule and an avoiding judgment submodule, the processing submodule is used for controlling a plurality of contours to be sequentially processed along a reverse direction of the first direction, and a point closest to the movable chuck on the contour is a farthest point; and the avoiding judgment submodule is used for judging whether the movable chuck penetrates the pre-avoiding region of an adjacent auxiliary support when processing the farthest point of a next contour after processing of a current contour is completed, if yes, the auxiliary support avoids and remains before processing of the next contour, and if not, the auxiliary support remains to support in a processing process of the next contour.

[0024] The embodiment of the application further provides a laser pipe cutting machine, which comprises a laser head, a fixed chuck, a movable chuck and a plurality of auxiliary supports, the movable chuck, the auxiliary supports, the fixed chuck and the laser head are sequentially arranged, the auxiliary supports can support a pipe in a supporting position or avoid the movable chuck in an avoiding position, and the laser pipe cutting machine further comprises a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to enable the processor to execute the method.

[0025] The embodiment of the application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method.

[0026] The laser pipe cutting machine control method provided by the embodiment of the application has the following beneficial effects:

[0027] 1. In the laser tube cutting machine control method of the embodiment of the present application, a pre-avoidance zone and an alarm zone are set on one side of the auxiliary support. When the movable chuck enters the pre-avoidance zone, the auxiliary support can avoid it. When the movable chuck enters the alarm and the auxiliary support is not in the said avoidance position, the movable chuck stops moving and an alarm is sounded to avoid collision.

[0028] 2. When processing multiple contours of a pipe in sequence, after each contour processing is completed, it is determined whether the active chuck will penetrate the pre-avoidance area when processing to the farthest point of the next contour. If it penetrates the pre-avoidance area, it means that the active chuck and the auxiliary support will interfere with each other during the processing of the contour, so the auxiliary support needs to be moved to the avoidance position. At the same time, in order to avoid sudden changes caused by the auxiliary support to the avoidance position during processing, the auxiliary support needs to be avoided and maintained before processing the contour. At this time, the length of the unsupported area of ​​the pipe is less than the distance between the two auxiliary supports, the pipe is well supported, the posture of the cutting point is stable, and the cutting quality is good. If it does not penetrate the avoidance area, it means that during the processing of the contour, the active chuck will not enter the alarm area and will not collide with the auxiliary support. Therefore, the auxiliary support does not need to be avoided and the support is maintained. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] Figure 1 Flowchart of the laser tube cutting machine control method provided in an embodiment of the present application;

[0031] Figure 2 A schematic structural diagram of a laser tube cutting machine provided in an embodiment of the present application;

[0032] Figure 3 A schematic diagram of the movable chuck according to an embodiment of the present application entering the pre-avoidance zone;

[0033] Figure 4 A schematic diagram of the movable chuck provided in an embodiment of the present application first entering the pre-avoidance zone and then exiting the pre-avoidance zone;

[0034] Figure 5 A schematic diagram of the contour to be processed on the pipe provided in an embodiment of the present application.

[0035] Among them, the reference numerals in the figures are:

[0036] 11. Fixed chuck; 12. Movable chuck; 13. First auxiliary support; 131. First pre-avoidance zone; 132. First alarm zone; 14. Second auxiliary support; 141. Second pre-avoidance zone; 142. Second alarm zone; 15. Third auxiliary support; 151. Third pre-avoidance zone; 152. Third alarm zone; 16. Cutting head;

[0037] 20. Pipe; 21. Profile 1; 22. Profile 2; 23. Profile 3; 24. Profile 4; 25. End; 26. Unsupported area. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0039] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0040] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0042] See also Figure 1 , the laser tube cutting machine control method provided in the embodiment of the present application is now described.

[0043] The laser tube cutting machine control method provided in the embodiment of the present application is applicable to the laser tube cutting machine.

[0044] Reference Figure 2The laser tube cutting machine includes a fixed chuck 11, a movable chuck 12 and multiple auxiliary supports. The movable chuck 12, the auxiliary supports and the fixed chuck 11 are arranged in sequence. The auxiliary supports can support the tube 20 in the supporting position or avoid the movable chuck 12 in the avoidance position. The direction from the movable chuck 12 to the fixed chuck 11 is the first direction.

[0045] The fixed chuck 11 can be a mechanical fixture, similar to a fixture with claws. Its function is to firmly secure one end of the tube 20 during the laser cutting process, maintaining a relatively stable position during processing. The fixed chuck 11 can also rotate the tube 20. For example, a common three-jaw chuck clamps or releases the tube 20 by uniformly contracting or expanding its three jaws toward the center. In a laser tube cutting machine, it is typically installed at a fixed location on the equipment, providing a stable support point for the tube 20.

[0046] The movable chuck 12 is also a chuck structure, but unlike the fixed chuck 11, it can be moved under a specific drive (such as an X-axis drive), thereby driving the tube 20 to feed in the X direction. It can also rotate synchronously with the rotation of the fixed chuck 11. For example, it can be a motor-driven chuck that can precisely control the movement distance and speed of the tube 20 in the X-axis direction according to the control system's instructions. During the laser tube cutting process, it is responsible for transporting the tube 20 to the appropriate processing position. As the tube 20 rotates, it needs to work in conjunction with the fixed chuck 11 to ensure smooth rotation of the tube 20.

[0047] Reference Figure 2 , the auxiliary support can be a supporting device with a lifting mechanism, such as a lifting rod driven by a cylinder or a servo motor. The number of auxiliary supports is multiple, such as 2, 3, 4 or even more. In the embodiment of the present application, 3 auxiliary supports are used as an example for illustration. When the pipe 20 may sag due to its long length or poor rigidity during processing, the auxiliary support can rise to the supporting position to provide an upward supporting force for the pipe 20 to offset the influence of other forces such as gravity and rotational clamping force on the pipe 20 during the feeding process, thereby ensuring the stability of the posture of the pipe 20 during processing. When the movable chuck 12 needs to be moved to the position of the auxiliary support, the auxiliary support can be lowered to the avoidance position to avoid collision with the movable chuck 12.

[0048] The direction from the movable chuck 12 to the fixed chuck 11 is the first direction. For example, if the movable chuck 12 is located on the left side of the fixed chuck 11, the first direction is from left to right. Of course, it is also possible that the movable chuck 12 is located on the right side of the fixed chuck 11, in which case the first direction is from right to left.

[0049] Reference Figure 2 In the embodiment of the present application, the first direction is explained from left to right, and the movable chuck 12 is located on the left side of the fixed chuck 11 and can move to the right close to the fixed chuck 11.

[0050] In order to support the pipe 20 between the movable chuck 12 and the fixed chuck 11, it can be understood that each auxiliary support is also provided on the left side of the fixed chuck 11. When the movable chuck 12 moves to the farthest from the fixed chuck 11, each auxiliary support is located between the movable chuck 12 and the fixed chuck 11.

[0051] Reference Figure 2 As can be understood, the auxiliary supports are arranged at equal intervals along the length of the tube 20, with a spacing of D0. This spacing D0 prevents the tube 20 from shaking when supported, ensuring cutting accuracy. If the length of the unsupported area of ​​the tube 20 is greater than D0, the tube 20 will be difficult to stabilize during cutting, resulting in reduced cutting accuracy.

[0052] In addition, the laser tube cutting machine further includes a cutting head 16 , which is arranged on a side of the fixed chuck 11 away from the movable chuck 12 (ie, the right side) and is used for cutting the tube 20 .

[0053] Therefore, in the laser tube cutting machine's machine coordinate system, the fixed chuck 11 rotates about its own axis, the movable chuck 12 translates along the X-axis (left-right), and the cutting head 16 translates along the Y-axis (forward-backward) and parallel to the Z-axis (up-down) and is located to the left of the fixed chuck 11. For example, the three auxiliary supports are, from left to right, the first auxiliary support 13, the second auxiliary support 14, and the third auxiliary support 15.

[0054] Reference Figure 1 , the method comprises the following steps:

[0055] S10: Delineating a pre-avoidance zone and a warning zone for each auxiliary support, which are the pre-avoidance zone, the warning zone, and the corresponding auxiliary support in order along the first direction.

[0056] Reference Figure 3 The pre-avoidance zone is an area defined along the X-axis, in the direction from the movable chuck 12 to the fixed chuck 11, and located in front of the auxiliary support. When the movable chuck 12 enters this area, it means it is approaching the auxiliary support, and the control system will issue a command to move the auxiliary support to the avoidance position.

[0057] The alarm zone is an area closer to the auxiliary support. When the movable chuck 12 enters the alarm zone and the auxiliary support is not in the avoidance position, in order to prevent a collision accident, the movable chuck 12 will stop moving and send out an alarm signal.

[0058] In the embodiment of the present application, for an auxiliary support, the auxiliary support is located to the right of its alarm zone, and its pre-avoidance zone is located to the right of its alarm zone. That is, from left to right, the pre-avoidance zone, the alarm zone, and the auxiliary support are located in order.

[0059] Reference Figure 2 and Figure 3 In the machine tool coordinate system, before machining, the X-axis coordinate of the movable chuck 12 is X0, and the X-axis coordinate of the first auxiliary support 13 is X1. Therefore, the first pre-avoidance zone 131 is X11-X12, and the first alarm zone 132 is X12-X1. Similarly, the X-axis coordinate of the second auxiliary support 14 is X2, then the second pre-avoidance zone 141 is X21-X22, and the second alarm zone 142 is X22-X2. The X-axis coordinate of the third auxiliary support 15 is X3, then the third pre-avoidance zone 151 is X31-X32, and the third alarm zone 152 is X32-X3.

[0060] S20: Detect the position of the movable chuck and determine whether the movable chuck 12 enters the pre-avoidance zone. If so, control the auxiliary support to move to the avoidance position.

[0061] Reference Figure 3 When the laser tube cutting machine starts working, the movable chuck 12 moves along the first direction. If the movable chuck 12 enters the pre-avoidance zone, the corresponding auxiliary support will receive the instruction and move to the avoidance position to make room for the movable chuck 12 to continue moving.

[0062] It is understandable that when the movable chuck 12 enters the pre-avoidance zone, the speed of the movable chuck 12 and the avoidance speed of the auxiliary support need to cooperate with each other. The speed of the movable chuck 12 is usually determined by the processing requirements and the performance of the X-axis drive system. For example, in high-precision processing, the speed of the movable chuck 12 may be relatively slow to ensure cutting accuracy; while in the case of pursuing processing efficiency, the speed may be appropriately increased. The avoidance speed of the auxiliary support depends on its drive mechanism. Ideally, the avoidance speed of the auxiliary support should be fast enough to ensure that the auxiliary support can be completely moved to the avoidance position before the movable chuck 12 reaches a position where a collision may occur.

[0063] The auxiliary support's avoidance time is the time it takes from receiving the avoidance command to fully moving to the avoidance position. This time includes the drive mechanism's response time and the actual movement time. The auxiliary support's avoidance time must be less than the time it takes for the movable chuck 12 to enter and exit the pre-avoidance zone to ensure avoidance is completed before the movable chuck 12 reaches a potential collision position.

[0064] When the active chuck 12 moves, its own X-axis coordinate will change. When the X-axis coordinate of the active chuck 12 is equal to X11, it means that the active chuck 12 enters the pre-avoidance area of the first auxiliary support 13, and the first auxiliary support 13 starts to avoid. The X-axis coordinate of the active chuck 12 gradually approaches X12 from X11, and when it becomes X12, the first auxiliary support 13 should have been in the avoidance position. Similarly, when the active chuck 12 enters the pre-avoidance area of other auxiliary supports, the corresponding auxiliary supports will also be avoided.

[0065] S30: If the active chuck 12 enters the alarm area, further detect the position of the auxiliary support. If the auxiliary support is not in the avoidance position, control the active chuck 12 to stop moving and alarm.

[0066] When the chuck enters the alarm area, the laser pipe cutting machine system can obtain the position information of the auxiliary support through sensors. These sensors can be position sensors such as photoelectric sensors or magnetic sensors. The control system of the laser pipe cutting machine can also record the position information of the auxiliary support in real time. There are special registers or storage units in the control system to save these data. These data can be read and analyzed when needed to determine whether the auxiliary support is in the avoidance position. When the chuck enters the alarm area, the control system will immediately read these stored position data and compare them with the preset avoidance position data.

[0067] Once it is determined that the chuck has entered the alarm area and the auxiliary support is not in the avoidance position, the control system will first issue an instruction to stop the movement of the chuck. This can prevent the chuck from continuing to advance and colliding with the auxiliary support that has not been avoided. At the same time, the system will trigger the alarm mechanism. The alarm can be achieved in various ways, such as audible and visual alarms. For example, the device is equipped with an alarm lamp and a buzzer. When this happens, the alarm lamp will flash, emitting a bright light signal such as a red light, and the buzzer will emit a sharp sound to attract the attention of the operator. In addition, the control system can display alarm information on the operation interface, detailing the reason for the alarm, which is that the chuck has entered the alarm area but the auxiliary support has not been avoided, to help the operator quickly locate the problem.

[0068] After receiving the alarm signal, the operator needs to check the position of the auxiliary support and troubleshoot and repair the fault. After the repair is completed, the operator needs to reset the alarm state of the system through the operation interface or the reset button, and then restart the movement of the chuck to continue the processing operation. In addition, the system can record relevant information of this alarm event, such as alarm time, chuck position, auxiliary support position, etc., to facilitate subsequent analysis and optimization of the operation of the device.

[0069] S40: Process multiple contours in sequence in the opposite direction of the first direction, and the point on the contour closest to the movable chuck 12 is the farthest point. After the current contour processing is completed, determine whether the movable chuck 12 penetrates the pre-avoidance area of ​​the adjacent auxiliary support when processing to the farthest point of the next contour. If so, this auxiliary support avoids and maintains before the next contour processing, otherwise, this auxiliary support maintains support during the processing of the next contour.

[0070] Reference Figure 5 , where the point on the contour closest to the movable chuck 12 is the farthest point, which means that during the contour processing, when the movable chuck 12 is processed to this point, the distance moved by the movable chuck 12 is the farthest. Generally speaking, the farthest point of a contour is also the starting point and the end point of its processing (such as Figure 5 The leftmost point of each contour in ).

[0071] Reference Figure 4 and Figure 5 During the machining of the tube 20, multiple contours need to be machined sequentially in the direction opposite to the first direction. After machining each contour, a determination is made as to whether the movable chuck 12 penetrates the pre-avoidance zone of the adjacent auxiliary support when machining to the farthest point of the next contour. Penetration of the pre-avoidance zone refers to whether the movable chuck 12 moves from the left side of X11 to the right side of X12 during machining to the farthest point, i.e., passes through the entire pre-avoidance zone.

[0072] If the result of the judgment is that the pre-avoidance area will be penetrated, it means that during the processing of the next contour, the movable chuck 12 will interfere with and collide with the auxiliary support. In order to avoid the auxiliary support moving to the avoidance position during processing, causing a sudden change in the posture of the tube 20 and affecting the processing quality, it is necessary to avoid and maintain the auxiliary support in the avoidance position before processing the next contour. This ensures that the tube 20 is well supported throughout the processing of the next contour, and the posture of the cutting point can remain stable, thereby ensuring the cutting quality. At this time, since the avoidance is performed before processing, the length of the unsupported area 26 of the tube 20 will be less than the distance between the two auxiliary supports, so that the tube 20 can be effectively supported most of the time.

[0073] If the result of the determination is that the pre-avoidance zone will not be penetrated, this means that during the machining of the next contour, the movable chuck 12 will not enter the warning zone and will not collide with the auxiliary support. Therefore, in this case, the auxiliary support does not need to perform an avoidance operation and remains in its supporting position, continuing to provide support for the tube 20 and ensuring the stability of the tube 20 during machining.

[0074] It can be understood that, during processing, a plurality of contours need to be processed on the pipe 20, and the shapes of the contours can be the same or different. During processing of the pipe 20, the plurality of contours need to be processed in sequence in the reverse direction of the first direction. For example, in the embodiment of the present application, the pipe 20 is clamped on the movable chuck 12 and the fixed chuck 11, and the cutting head 16 is located on the right side of the fixed chuck 11. During processing, the movable chuck 12 moves to the right, and the cutting head 16 processes the pipe 20 in sequence from right to left to process a plurality of contours.

[0075] With reference to Figure 4 and Figure 5 For processing of each contour, when processing of the current contour is completed, it is determined whether the movable chuck 12 will penetrate the pre-avoidance area of the adjacent auxiliary support when processing reaches the farthest point of the next contour. For example, after processing of the current contour is completed, the next contour to be processed is a rectangle, which has two long sides and two short sides, and the distance between the left short side and the movable chuck 12 is less than the distance between the right short side and the movable chuck 12. A certain point on the left short side is the farthest point closest to the movable chuck 12. During processing, the right short side is processed first, and then the left short side is processed. Compared with processing of the right short side, the position of the movable chuck 12 is more to the right when processing the left short side, and the position of the movable chuck 12 is most to the right when processing reaches the farthest point. During processing of the rectangle, the movable chuck 12 first feeds forward (i.e., moves to the right) and then feeds backward (i.e., moves to the left) in the X-axis direction to complete one cycle of the rectangle.

[0076] If it is calculated that, when processing of the next contour reaches the farthest point, the movable chuck 12 is located on the left side of the pre-avoidance area of the adjacent auxiliary support, it is indicated that the movable chuck 12 will not enter the alarm area of the auxiliary support during the entire processing of the contour (i.e., during the process of feeding forward and then feeding backward), and the movable chuck 12 will not collide with the auxiliary support. The auxiliary support remains supported and does not need to be avoided.

[0077] If it is calculated that, when processing of the next contour reaches the farthest point, the movable chuck 12 is located in the pre-avoidance area of the adjacent auxiliary support (i.e., the X-axis coordinate of the movable chuck 12 is located between XI 1 and X12), it is indicated that the movable chuck 12 will enter the pre-avoidance area during the entire processing of the contour, but will not enter the alarm area of the auxiliary support, and the movable chuck 12 will not collide with the auxiliary support. The auxiliary support remains supported and does not need to be avoided.

[0078] With reference to Figure 4During machining, the movable chuck 12 first moves to the right and then to the left. When machining the right short side of the next contour, the movable chuck 12 is located to the left of the adjacent auxiliary support's pre-avoidance zone (i.e., the X-axis coordinate of the movable chuck 12 is to the left of X11). At this point, the auxiliary support is in the supporting position. When machining the long side and left short side, the movable chuck 12 moves to the right, entering the pre-avoidance zone (i.e., the X-axis coordinate of the movable chuck 12 is between X11 and X12). If the auxiliary support is lowered at this point, the length of the unsupported area 26 of the tube 20 is D1, where D1>D0. When processing to the farthest point, the movable chuck 12 is located in the pre-avoidance area of ​​the adjacent auxiliary support, and continues to process the other long side. At this time, the movable chuck 12 will move to the left, so that the X-axis coordinate of the movable chuck 12 is located to the left of X11. At this time, the length of the unsupported area 26 of the tube 20 is D2, and D2>D1. The length of the unsupported area 26 is relatively large. The tube 20 cannot ensure the stability of the posture of the cutting point during the processing, and the moment when the auxiliary support drops (that is, when it just enters the pre-avoidance area) is when the tube 20 is in the middle of cutting the contour. When the auxiliary support drops in the middle of cutting the contour, it will affect the processing accuracy, and a mutation point may occur. Without auxiliary support in the long range, the processing accuracy consistency of all workpieces of the entire tube will also be greatly reduced at this time when it is in the process of processing.

[0079] Therefore, in order to solve this problem, refer to Figure 4 and Figure 5 In the embodiment of the present application, by judging that when the next contour is processed to the farthest point, the movable chuck 12 is located in the pre-avoidance zone of the adjacent auxiliary support, it is determined that during the entire processing process of the contour, the piston chuck will not enter the alarm zone of the auxiliary support, and the movable chuck 12 will not collide with the auxiliary support. The auxiliary support is controlled to maintain support and not avoid, thereby avoiding the problem of reduced processing accuracy due to the unsupported area 26 of the pipe 20 being too long, and also avoiding the sudden change caused by the decrease of the auxiliary support during processing.

[0080] If the movable chuck 12 penetrates the pre-avoidance zone of the adjacent auxiliary support (i.e., the X-axis coordinate of the movable chuck 12 is located to the right of X12) when calculating the next contour to be processed to the farthest point, it means that during the entire processing of the contour, the auxiliary support will be entered into the alarm zone, and there is a risk of collision between the movable chuck 12 and the auxiliary support, and they must avoid each other. In order to avoid a sudden change in processing accuracy caused by the auxiliary support avoiding in the middle of processing, the embodiment of the present application, after determining that avoidance is required during the processing, avoids before starting the processing of the contour, and then processes the contour. Since the avoidance zone is passed through during the processing, the movable chuck 12 moves further to the right, and the length of the unsupported area 26 can be less than D0, that is, during the processing of the contour, the pipe 20 can be effectively supported most of the time to ensure processing accuracy.

[0081] Step S40 specifically includes:

[0082] S402: After the current processing is completed, a distance value ΔX between the end point of the current processing and the farthest point of the next contour in the first direction is obtained.

[0083] Reference Figure 5 In the process of processing the tube 20 by the laser tube cutting machine, when the current contour processing is completed, the position information of the next contour needs to be determined. First, find the point on the next contour that is closest to the movable chuck 12, that is, the farthest point. When the processing of one contour is completed, the processing end point of the contour is the starting point for the movable chuck 12 to move when processing the next contour. That is, the movable chuck 12 needs to start from the end point, move to the processing starting point of the next contour, start processing, process to the farthest point, and continue processing to the end point of this contour (generally speaking, it returns to the processing starting point of this contour). In this process, the moving distance of the movable chuck 12 in the X-axis direction is the distance from the end point of the current contour to the farthest point of the next contour.

[0084] Using the coordinates of the current contour's machining end point and the coordinates of the next contour's farthest point in the machining task, the distance ΔX between the current machining end point and the next contour's farthest point in the first direction (from the movable chuck 12 to the fixed chuck 11) can be calculated. For example, if the X-axis coordinate of the current contour's machining end point is Xa and the X-axis coordinate of the next contour's farthest point is Xb, then ΔX = Xa - Xb. If there are four contours to be cut, from right to left, they are contour one 21, contour two 22, contour three 23, and contour four 24. Accordingly, the distance between contour one 21's machining end point and the farthest point of contour two 22 in the first direction is ΔX2, the distance between contour two 22's machining end point and the farthest point of contour three 23 in the first direction is ΔX3, and the distance between contour three 23's machining end point and the farthest point of contour four 24 in the first direction is ΔX4.

[0085] S403: Determine whether the movable chuck 12 penetrates the pre-avoidance area of ​​the adjacent auxiliary support after the movable chuck 12 moves ΔX along the first direction.

[0086] Reference Figure 5After obtaining the distance value ΔX, it is necessary to determine whether the position of the movable chuck 12 will penetrate the pre-avoidance zone of the adjacent auxiliary support after moving the distance ΔX along the first direction. Penetration here refers to the movable chuck 12 moving from one side of the pre-avoidance zone to the other side, that is, the position of the movable chuck 12 moves from a starting coordinate smaller than the pre-avoidance zone (such as X11) to an ending coordinate larger than the pre-avoidance zone (such as X12). The judgment process can be performed by adding ΔX to the X-axis coordinate X of the position of the movable chuck 12 at the completion of the current contour processing (i.e., the coordinate of the movable chuck 12 corresponding to the processing contact point) and comparing it with the coordinate range of the pre-avoidance zone of the auxiliary support, that is, comparing X+ΔX with X12. If X+ΔX>X12, it indicates penetration. If the position of the movable chuck 12 after movement penetrates the range of the pre-avoidance zone, it indicates that interference with the auxiliary support may occur. If X+ΔX<X12, it indicates no penetration. If the position of the movable chuck 12 after movement does not penetrate the range of the pre-avoidance zone, it indicates that interference with the auxiliary support will not occur.

[0087] S404: If yes, the auxiliary support is avoided and maintained before the next contour processing.

[0088] If the result of the determination indicates that the movable chuck 12 will penetrate the pre-avoidance zone of an adjacent auxiliary support (i.e., X+ΔX>X12), to prevent collision between the movable chuck 12 and the auxiliary support during machining of the next contour, the auxiliary support is retracted before machining the next contour. Specifically, the auxiliary support moves to the retracted position and remains there throughout machining of the next contour. This ensures that the tube 20 is well supported during machining while preventing collision between the movable chuck 12 and the auxiliary support.

[0089] S405: If not, this auxiliary support remains as support during the processing of the next contour.

[0090] If the result indicates that the movable chuck 12 will not penetrate the pre-avoidance zone of the adjacent auxiliary support (i.e., X + ΔX < X12), the movable chuck 12 will not enter the warning zone or collide with the auxiliary support during machining of the next contour. In this case, the auxiliary support will remain in its supporting state during machining of the next contour, continuing to provide support for the tube 20. This ensures the stability of the tube 20 during machining and improves machining accuracy.

[0091] Reference Figure 5 Before processing the first contour, the end of the tube 20 away from the movable chuck 12 is processed with the end head 25; after the end head 25 is processed, the next contour is the first contour, and the distance value between the end point of the end head 25 processing and the farthest point of the first contour in the first direction is obtained as ΔX.

[0092] That is, before step S402, there is also step S401.

[0093] S401 : Processing the end 25 of the tube 20 away from the movable chuck 12 .

[0094] Before processing the first contour, the end of the tube 20 away from the movable chuck 12 is first processed with a terminal 25. The terminal 25 processing is usually to make the end of the tube 20 reach a specific shape, size or surface quality requirement so as to better perform subsequent processing operations.

[0095] The end cap 25 can be processed using different methods depending on the specific processing requirements. For example, cutting, milling, grinding, or other processing methods can be used to remove excess material from the end of the tube 20, or the end can be chamfered or rounded to improve the connection performance and aesthetics of the tube 20.

[0096] After processing the end 25, the next contour is the first contour. The distance in the first direction between the end point of processing the end 25 and the farthest point of the first contour is obtained as ΔX. That is, in step S402, after processing the end 25, the distance in the first direction between the end point of processing the end 25 and the farthest point of the first contour is determined and used as ΔX. To distinguish it from other subsequent ΔX values, the distance in the first direction between the end point of processing the end 25 and the farthest point of the first contour is designated as ΔX1.

[0097] First, determine the location of the end point of the end head 25 processing. This location can be determined using the laser tube cutting machine's measurement system or processing records. Then, determine the location of the farthest point of the first contour using the same method as above. Finally, calculate the distance between the end point of the end head 25 processing and the farthest point of the first contour in the first direction. This calculation can be performed by coordinate subtraction or other suitable algorithms. If the first direction is the X-axis direction, the X coordinate of the end point of the end head 25 processing is Xc, and the X coordinate of the farthest point of the first contour is Xd, then ΔX1 = Xd - Xc.

[0098] This allows for a more accurate assessment of the positional relationship between the movable chuck 12 and the auxiliary support before machining the first contour, enabling timely implementation of appropriate avoidance measures to ensure smooth machining and high quality. Furthermore, by considering the impact of the machining of the end piece 25, the process can better accommodate variations in the length of the tubing 20 and machining requirements.

[0099] Furthermore, after the auxiliary support is avoided and maintained before the next contour processing, during the next contour processing, the dynamic performance of the movable chuck 12 along the first direction can be performed according to the maximum performance of the machine tool.

[0100] After the auxiliary support is determined to be moved away and maintained before the next contour processing, the movable chuck 12 has a special advantage in moving along the first direction during the actual next contour processing. The dynamic performance mentioned here mainly includes the performance related to the motion parameters such as the moving speed and acceleration of the movable chuck 12 in this direction.

[0101] Typically, during operation, the movement of the movable chuck 12 may be limited due to factors such as the positioning of the auxiliary supports and the need to avoid collisions with the auxiliary supports, preventing the machine from operating at its maximum performance. However, when the auxiliary supports are properly positioned and maintained in their retracted positions, unobstructed movement is created for the movable chuck 12.

[0102] Specifically, in this case, the movable chuck 12 can move in the first direction at the maximum speed allowed by the machine tool, without having to slow down or frequently adjust the speed due to concerns about interference with auxiliary supports. This allows the machining process to be performed more efficiently, shortening the machining time of a single contour and thereby improving overall machining efficiency.

[0103] The acceleration of the movable chuck 12 can also be adjusted according to the maximum performance setting of the machine tool. A higher acceleration allows the movable chuck 12 to start and stop more quickly, reducing time lost during acceleration and deceleration, further improving machining fluidity and efficiency. Furthermore, being able to execute dynamic operations at maximum performance reduces the impact on machining accuracy caused by uneven speed and acceleration changes, ensuring consistent machining quality.

[0104] Furthermore, the time taken for the auxiliary support to move from the supporting position to the avoiding position is less than the time taken for the movable chuck 12 to pass through the pre-avoidance zone.

[0105] The auxiliary support has a support position and an avoidance position. When the position needs to be switched, it moves from the support position to the avoidance position. The time taken for this movement process is a key factor.

[0106] The time it takes for the movable chuck 12 to pass through the pre-avoidance zone is related to the movement speed of the movable chuck 12 and the length of the pre-avoidance zone. The movement speed of the movable chuck 12 is set based on the machining process requirements and the overall performance of the machine tool. The time it takes for the movable chuck 12 to pass through the pre-avoidance zone when moving in the first direction can be calculated by dividing the length of the pre-avoidance zone by the movement speed of the movable chuck 12.

[0107] The requirement that the auxiliary support move from the support position to the avoidance position take less time than the time it takes for the movable chuck 12 to pass through the pre-avoidance zone ensures that the auxiliary support can complete the avoidance action in a timely manner before the movable chuck 12 reaches the potential collision zone. If the auxiliary support movement time is too long, the movable chuck 12 may enter the pre-avoidance zone or even the warning zone before the auxiliary support has fully moved to the avoidance position. This increases the risk of collision, disrupting normal processing and even potentially damaging the equipment.

[0108] For example, assuming the speed of the movable chuck 12 is v and the length of the pre-avoidance zone is L (in millimeters), then the time it takes for the movable chuck 12 to pass through the pre-avoidance zone is t1 = L / v. If the time it takes for the auxiliary support to move from the support position to the avoidance position is t2, to ensure safe avoidance, t2 must be less than t1. This design and requirement can effectively improve the safety and reliability of the laser tube cutting machine, ensure smooth processing, and avoid various problems caused by the uncoordinated movement of the auxiliary support and the movable chuck 12.

[0109] An embodiment of the present application also provides a laser tube cutting machine control device for a laser tube cutting machine, wherein the laser tube cutting machine includes a laser head, a fixed chuck 11, a movable chuck 12 and a plurality of auxiliary supports, wherein the movable chuck, the auxiliary supports, the fixed chuck and the laser head are arranged in sequence, and the auxiliary supports can support the tube 20 at a supporting position or avoid the movable chuck 12 at an avoidance position, with the direction from the movable chuck 12 to the fixed chuck 11 being the first direction.

[0110] The device includes an area division module, a pre-avoidance module, an alarm module and a processing avoidance judgment module.

[0111] The area division module is used to define a pre-avoidance area and a warning area for each auxiliary support, which are the pre-avoidance area, the warning area and the corresponding auxiliary support in sequence along the first direction.

[0112] The area division module defines a pre-avoidance zone and an alarm zone for each auxiliary support. The pre-avoidance zone is where a signal is sent in advance for the auxiliary support to avoid when the movable chuck 12 approaches the auxiliary support. The alarm zone is where an alarm is triggered when the movable chuck 12 enters the zone and the auxiliary support is not in the avoidance position.

[0113] The pre-avoidance module is used to control the auxiliary support to move to the avoidance position when the movable chuck 12 enters the pre-avoidance zone. When the movable chuck 12 enters the pre-avoidance zone, the module controls the auxiliary support to move to the avoidance position to make room for the movable chuck 12 to continue moving. The pre-avoidance module communicates with the auxiliary support's drive system and issues a command to the drive system to move the auxiliary support from the support position to the avoidance position. For example, if the auxiliary support is driven by a pneumatic cylinder, the pre-avoidance module sends a signal to the cylinder control system to retract the cylinder, thereby driving the auxiliary support down to the avoidance position.

[0114] The alarm module is used to control the movable chuck 12 to stop moving and alarm when the movable chuck 12 enters the alarm area and the auxiliary support is not in the avoidance position. When the movable chuck 12 enters the alarm area and the auxiliary support is not in the avoidance position, the module will control the movable chuck 12 to stop moving and alarm to prevent the occurrence of collision accidents. The alarm module can alarm in a variety of ways, such as setting an audible and visual alarm on the equipment. When the alarm is triggered, the alarm emits flashing lights and a sharp sound to alert the operator. At the same time, the alarm information can also be displayed on the operation interface, detailing the cause and location of the alarm so that the operator can quickly locate the problem and take appropriate measures.

[0115] The processing avoidance judgment module includes a processing submodule and an avoidance judgment submodule.

[0116] The processing submodule is used to control the processing of multiple contours in sequence along the opposite direction of the first direction, and the point on the contour closest to the movable chuck 12 is the farthest point. The processing submodule controls the laser tube cutting machine to process multiple contours in sequence along the opposite direction of the first direction. During the processing, ensure that the position of the tube 20 is accurate, and the cutting head 16 performs processing according to a predetermined trajectory. According to the pre-set processing program, the movement of the movable chuck 12 and the cutting head 16 is controlled. For example, when processing the tube 20, the movable chuck 12 moves to the right (assuming that this is the opposite direction of the first direction), and the cutting head 16 cuts the tube 20 from right to left in sequence to process different contour shapes. For the processing of each contour, the processing submodule will accurately control the moving speed and position of the movable chuck 12, as well as the cutting parameters of the cutting head 16 to ensure processing quality and accuracy.

[0117] The avoidance judgment submodule is used to judge whether the movable chuck 12 penetrates the pre-avoidance area of ​​the adjacent auxiliary support when processing to the farthest point of the next contour after the current contour processing is completed. If so, this auxiliary support avoids and maintains before the next contour processing; otherwise, this auxiliary support maintains support during the processing of the next contour.

[0118] After machining the current contour, a check is performed to determine whether the movable chuck 12 penetrates the pre-avoidance zone of the adjacent auxiliary support when machining the furthest point of the next contour. Based on this determination, the auxiliary support's position during machining of the next contour is determined. If it penetrates the pre-avoidance zone, this indicates a potential collision between the movable chuck 12 and the auxiliary support during machining of the next contour. In this case, the auxiliary support must be moved out of the way and maintained in the pre-avoidance position before machining the next contour. If it does not penetrate the pre-avoidance zone, this indicates a potential collision between the movable chuck 12 and the auxiliary support, and the auxiliary support can remain in the supported position during machining of the next contour.

[0119] The laser tube cutting machine control device of the embodiment of the present application includes the laser tube cutting machine control method in any of the above embodiments, and therefore has the beneficial effects brought by the laser tube cutting machine control method in any of the above embodiments, which will not be repeated here.

[0120] An embodiment of the present application also provides a laser tube cutting machine, which includes a fixed chuck 11, a movable chuck 12 and multiple auxiliary supports. The auxiliary supports can support the tube 20 in a supporting position or avoid the movable chuck 12 in an avoidance position. The machine also includes a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the above method.

[0121] The laser tube cutting machine of the embodiment of the present application includes the laser tube cutting machine control method in any of the above embodiments, and therefore has the beneficial effects brought by the laser tube cutting machine control method in any of the above embodiments, which will not be repeated here.

[0122] An embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the above method is implemented.

[0123] Since the system of the embodiment of the present application includes the laser tube cutting machine control method in any of the above embodiments, it has the beneficial effects brought by the laser tube cutting machine control method in any of the above embodiments, which will not be repeated here.

[0124] In several embodiments provided in the present application, it should be understood that the disclosed apparatus can also be implemented by other manners. The apparatus embodiments described above are merely illustrative, for example, the block diagram in the drawings shows the possible implementation architecture, function and operation of the apparatus according to the embodiments of the present application. In this regard, each block in the block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementation manners, the functions noted in the blocks can also occur in different order from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram, and the combination of the block diagram, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0125] In addition, the function modules in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0126] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part of the prior art that makes a contribution or the part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0127] The computer readable storage medium of the embodiments of the present application has the beneficial effects brought by the laser pipe cutting machine control method in any of the embodiments described above, and will not be repeated here.

[0128] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a laser tube cutting machine, applicable to a laser tube cutting machine, wherein the laser tube cutting machine comprises a fixed chuck, a movable chuck, and a plurality of auxiliary supports, wherein the movable chuck, the auxiliary supports, and the fixed chuck are arranged in sequence, and the auxiliary supports can support the tube at a supporting position or avoid the movable chuck at an avoidance position, wherein a direction from the movable chuck to the fixed chuck is defined as a first direction, characterized in that: The method comprises the following steps: Defining a pre-avoidance zone and a warning zone for each auxiliary support, which are the pre-avoidance zone, the warning zone and the corresponding auxiliary support in order along the first direction; detecting the position of the movable chuck to determine whether the movable chuck enters the pre-avoidance zone, and if so, controlling the auxiliary support to move to the avoidance position; If the movable chuck enters the alarm area, the position of the auxiliary support is further detected. If the auxiliary support is not in the avoidance position, the movable chuck is controlled to stop moving and an alarm is issued. Multiple contours are processed in sequence in the opposite direction of the first direction, and the point on the contour closest to the movable chuck is the farthest point. After the current contour processing is completed, it is determined whether the movable chuck penetrates the pre-avoidance area of ​​the adjacent auxiliary support when processing to the farthest point of the next contour. If so, this auxiliary support avoids and maintains before the next contour processing; otherwise, this auxiliary support maintains support during the processing of the next contour.

2. The laser tube cutting machine control method according to claim 1, characterized in that: The step of sequentially processing a plurality of contours in a direction opposite to the first direction, wherein the point on the contour closest to the movable chuck is the farthest point, and after the current contour processing is completed, determining whether the movable chuck penetrates the pre-avoidance area of ​​the adjacent auxiliary support when processing to the farthest point of the next contour, and if so, avoiding and maintaining the auxiliary support before processing the next contour, and otherwise maintaining the auxiliary support during the processing of the next contour, specifically includes: After the current processing is completed, the distance value ΔX between the end point of the current processing and the farthest point of the next contour in the first direction is obtained; determining whether the movable chuck penetrates a pre-avoidance zone of an adjacent auxiliary support after the movable chuck moves ΔX along the first direction; If so, this auxiliary support will be avoided and maintained before the next contour processing; If not, this auxiliary support remains as support during the machining of the next contour.

3. The laser tube cutting machine control method according to claim 2, characterized in that: Before processing the first contour, the end of the tube away from the movable chuck is first processed; After the end processing, the next contour is the first contour, and the distance value between the end point of the end processing and the farthest point of the first contour in the first direction is obtained as ΔX.

4. The laser tube cutting machine control method according to claim 2, characterized in that: After the auxiliary support is avoided and maintained before the next contour processing, during the next contour processing, the moving speed of the movable chuck along the first direction can reach the maximum speed allowed by the machine tool.

5. The laser tube cutting machine control method according to claim 1, characterized in that: The time taken for the auxiliary support to move from the supporting position to the avoiding position is less than the time taken for the movable chuck to pass through the pre-avoidance area.

6. A laser tube cutting machine control device, used for a laser tube cutting machine, the laser tube cutting machine comprising a fixed chuck, a movable chuck and a plurality of auxiliary supports, the auxiliary supports being able to support the tube in a supporting position or avoid the movable chuck in an avoidance position, with the direction from the movable chuck to the fixed chuck being a first direction, characterized in that: The device comprises: an area division module, the area division module being used to define a pre-avoidance zone and a warning zone for each auxiliary support, the pre-avoidance zone, the warning zone and the corresponding auxiliary support being defined in sequence along the first direction; a pre-avoidance module, configured to control the auxiliary support to move to the avoidance position when the movable chuck enters the pre-avoidance zone; an alarm module, configured to control the movable chuck to stop moving and issue an alarm when the movable chuck enters the alarm zone and the auxiliary support is not in the avoidance position; The processing avoidance judgment module includes a processing submodule and an avoidance judgment submodule. The processing submodule is used to control the processing of multiple contours in sequence along the opposite direction of the first direction, and the point on the contour closest to the active chuck is the farthest point; the avoidance judgment submodule is used to judge whether the active chuck penetrates the pre-avoidance area of ​​the adjacent auxiliary support when processing to the farthest point of the next contour after the current contour processing is completed. If so, this auxiliary support avoids and maintains before the next contour processing; otherwise, this auxiliary support maintains support during the processing of the next contour.

7. A laser tube cutting machine, characterized in that: The laser tube cutting machine includes a laser head, a fixed chuck, a movable chuck and multiple auxiliary supports. The movable chuck, auxiliary supports, fixed chuck and the laser head are arranged in sequence. The auxiliary supports can support the tube in a supporting position or avoid the movable chuck in an avoidance position. The machine also includes a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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