Five-in-one laser cutting method and system

Abstract

The invention discloses a five-in-one laser cutting method and system, and relates to the technical field of laser numerical control cutting, and the method comprises the following steps: generating a tool path through three-dimensional coordinate change and motion control, generating a processing path by CAM software according to requirements, and generating a CNC executable G code file through post-processing. In the laser cutting process, follow-up control is conducted according to different cutting faces, and if a cutting head is provided with a U shaft, follow-up is completed through the U shaft; otherwise, X, Y, Z axis or XYZ normal vector follow-up is used. Before cutting, performing layout and path planning on plane and groove processing; machine tool motion space parameters and shaft energy angles need to be imported in profile cutting, and an idle running track is calculated. In the pipe cutting process, the pipe type is defined through CAM software, a cutting file containing XYZAB coordinates is generated, and CNC is imported to execute cutting. The laser machine tool and the chuck rotating shaft are combined with CAD / CAM software, laser machining of multiple types of plates and pipes is achieved, the machining precision and efficiency are improved, and the machining requirements of different profiles, pipes and planes are met.

Description

Technical Field

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

[0002] In laser processing, the common processing materials are profiles, plates, and pipes. Profiles refer to H-shaped steel, L-shaped steel, I-shaped steel, and U-shaped steel that were previously processed by the pipe cutting machine system. In the past, the rotation of the chuck was used to drive the rotation of these profiles for processing. Since the chuck has high precision requirements and the price is not low, and the price of the three-dimensional cutting head is also decreasing, many manufacturers place the profiles directly on the processing table and use the three-dimensional cutting head for processing. Plates refer to flat plates that are hot-rolled or cold-rolled, with thicknesses ranging from a few millimeters to more than 100 millimeters. Plate processing is mainly divided into two types, vertical processing and groove processing. Thin plates are generally processed vertically, and thick plates similar to those above 20 mm will have both vertical processing and groove processing requirements. Tubes refer to round tubes, oval tubes, square tubes, special-shaped tubes and other tubes. The thickness of these tubes is also thin and thick. In the processing of thick tubes, vertical cutting and groove cutting are also required.

[0003] Many laser CNC system manufacturers in the market currently provide their own processing systems in one field, such as plane laser CNC system, plane groove CNC system, steel CNC system, and pipe cutting CNC system. At the same time, many machine tool manufacturing integrators also make machine tools that are divided into plane laser cutting machine tools, plane groove laser cutting machine tools, steel laser cutting machine tools, pipe laser cutting machine tools, and pipe groove laser cutting machine tools. However, these are independent systems or equipment that can only process relatively monotonous materials.

[0004] However, as customer needs become more diversified, some customers gradually began to ask whether all processing needs can be completed in one system and one device. In this way, customers can receive processing orders more flexibly, improve equipment utilization, reduce the number of equipment on customer sites, and reduce their equipment procurement costs. Based on the above needs, we proposed to merge multiple different cutting application scenarios together and provide a unified solution, so that customers can complete all processing needs in one system, which can greatly improve the utilization and diversification of laser equipment and promote the development of the entire laser processing industry. Summary of the invention

[0005] Based on the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a five-in-one laser cutting method to solve the above-mentioned technical problems. The method is based on the coordinate change of three-dimensional five-axis and its mathematical model and the coordinate change of the rotation of the tube driven by the chuck and its mathematical model. The method comprises:

[0006] S1: According to the three-dimensional coordinate change and motion control, the CAM software generates a tool trajectory according to the requirements, and generates a G code file executable by CNC from the generated tool trajectory according to the corresponding post-processing and sends or imports the file into CNC, wherein the tool trajectory generated according to the three-dimensional coordinate change and motion control includes a plane processing trajectory, a plane groove trajectory and a profile processing trajectory;

[0007] S2: During the laser cutting process, due to the different cutting surfaces, the following control includes: if the cutting head is installed with a U-axis along the normal vector direction of the cutting head, or a U-axis is set inside the cutting head, the following is completed through the U-axis; if the cutting head is along the normal vector direction of the cutting head or there is no U-axis inside the cutting head, the following is divided into X-axis following, Y-axis following, Z-axis following and XYZ normal vector following according to the processing surface;

[0008] S3: Depending on the material being cut, the preparation work before cutting includes: arranging and path planning for the plane and plane grooves of the parts to be processed; for profile cutting, it is necessary to import the parameters of the machine tool's motion space, the angles that the axes can move, and the types of rotating axes in advance, and use CAM software to calculate the position and angle that each axis needs to move at different points and postures, and calculate the dry run trajectory based on the processed material and fixtures;

[0009] S4: Define the type of pipe to be processed in the CAM software for pipe cutting, set the parts or graphics to be processed, and generate the corresponding cutting file by CAM post-processing. The coordinates in the cutting file include XYZAB, and import the generated cutting file into CNC to execute the file to complete the cutting.

[0010] The present invention is further configured such that the three-dimensional five-axis coordinate change includes using the XYZ axes as three linear axes and using AC, AB or BC as two rotation axes to achieve the change of the three-dimensional coordinates and complete plane processing, plane groove processing and profile processing.

[0011] The present invention is further configured to perform pipe processing based on the coordinate change of the chuck rotation and its mathematical model. The chuck rotation coordinate change includes using the YZ axes as two linear axes to drive the movement of the cutting head, the X axis is used to drive the linear axis movement of the chuck, the B axis is used as the rotation axis, and the A axis is used as the rotation axis of the chuck to achieve three-dimensional coordinate change and groove processing of the pipe.

[0012] The present invention is further configured such that the plane processing trajectory is an XY laser processing trajectory, wherein the Z axis is used as a follower axis and is not within the trajectory;

[0013] The plane groove trajectory is the laser processing trajectory of the XY and two rotation axes, wherein the Z axis as the follower axis is not within the trajectory;

[0014] The profile processing trajectory is the laser processing trajectory of XYZ and two rotation axes, and all axis coordinates are in the file.

[0015] The present invention also provides a five-in-one laser cutting system, the system comprising:

[0016] A coordinate change switching module is used to switch between three-dimensional five-axis coordinate change and chuck rotation coordinate change;

[0017] The axis allocation module is used to dynamically allocate the linear axes of the chucks according to the processing requirements of the current cutting material, so that the linear axes of multiple chucks can move together, move separately, or avoid each other to meet different processing requirements;

[0018] The soft limit switching module is used to limit the range of motion of each axis according to different processing modes to avoid collision and ensure safe operation of the equipment.

[0019] The present invention is further configured such that the coordinate change switching refers to switching from the three-dimensional five-axis coordinate change to the coordinate change of the chuck rotation. The three-dimensional five-axis coordinate change means that when the two rotation axes rotate, the tool tip point remains stable and does not move; the chuck rotation coordinate change means that the rotation of the chuck drives the pipe to rotate and the rotating axis of the cutting head moves to realize the groove processing of the pipe.

[0020] The present invention is further configured such that the axis allocation module dynamically allocates the motion modes of the linear axes of multiple chucks according to cutting requirements to meet different processing requirements and perform reasonable material cutting.

[0021] The present invention is further configured such that the soft limit switching module includes: motion limits of all axes in full decoupling mode; X-axis and Y-axis limits in three-dimensional five-axis mode; and X-axis and Y-axis limits in pipe rotation mode, to ensure that the movement of the axis does not exceed the limit and avoid unnecessary interference.

[0022] The present invention provides a five-in-one laser cutting method and system. The method generates a tool trajectory according to requirements by CAM software according to three-dimensional coordinate changes and motion control, and generates a G code file executable by CNC according to corresponding post-processing from the generated tool trajectory and sends or imports the file into CNC, wherein the tool trajectory generated according to the three-dimensional coordinate changes and motion control includes a plane processing trajectory, a plane groove trajectory and a profile processing trajectory; in the laser cutting process, due to the difference in cutting surfaces, the follow-up control includes: if the cutting head is installed with a U axis along the normal vector direction of the cutting head, or the U axis is arranged inside the cutting head, the follow-up is completed by the U axis; if the cutting head is not installed along the normal vector direction of the cutting head or the cutting head has no U axis, the use is divided into X-axis follow-up, Y-axis follow-up, Z-axis follow-up and XYZ normal vector follow-up according to the processing surface; according to different cutting materials, the preparation work before cutting includes: treating the plane and the plane groove as The processing parts are arranged and path planned; for profile cutting, the parameters of the machine tool's motion space, the angle of the axis movement and the type of the rotation axis need to be imported in advance. The position and angle of each axis that needs to be moved at different points and postures are calculated through CAM software, and the idle running trajectory is calculated according to the processed materials and fixtures; the type of pipe to be processed is defined in the CAM software of pipe cutting, and the parts or graphics to be processed are set. The corresponding cutting file is generated by CAM post-processing. The coordinates in the cutting file are XYZAB, and the generated cutting file is imported into CNC, and the file is executed to complete the cutting. The beneficial effects include: based on the three-dimensional five-axis laser machine tool, combined with the rotation axis of the chuck, combined with the corresponding three-dimensional CAD, CAM and CAD, CAM software for pipes, to achieve the above-mentioned various types of laser processing technology on several machine tools, greatly broadening the types of plates or pipes that can be processed on one machine tool. Because the path planning and precision control of each motion mathematical model are retained at the same time, and the process parameters in each control are introduced at the same time, the processing accuracy and processing efficiency are guaranteed, and at the same time, the customer's processing needs for different profiles, pipes, and planes on one device are met. It has important significance to promote the development of laser processing industry.

[0023] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0025] Figure 1 A flow chart of a five-in-one laser cutting method is shown as an exemplary embodiment of the present invention;

[0026] Figure 2 The figure is a schematic structural diagram of a five-in-one laser cutting system according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0028] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0029] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0030] Embodiment 1

[0031] The object of the present invention is to provide a five-in-one laser cutting method, such as Figure 1 As shown, it is mainly aimed at the system's need to control multiple axes at the same time, and seamlessly switch between different application scenarios, allowing users to complete the processing needs of profiles, pipes, and planes at any time according to needs within a single system.

[0032] The purpose of the present invention is to overcome the problem of existing system dispersion and provide a method and system for processing profiles, pipes and plates. The present invention uses a gantry-type processing machine tool, in which two to three chucks can be added for processing, which greatly broadens the range of processable materials, and its processing process can be replaced with different processing modes according to the actual needs of customers, ensuring that the processing needs of customers are met, while improving the utilization rate and diversity of the equipment.

[0033] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a five-in-one laser cutting method, the method is based on the coordinate change of three-dimensional five-axis and its mathematical model and the coordinate change of the chuck driving the tube rotation and its mathematical model, the present invention is further configured that the three-dimensional five-axis coordinate change includes using the XYZ axis as three linear axes, and using AC, AB or BC as two rotation axes to achieve the change of three-dimensional coordinates, complete plane processing, plane groove processing and profile processing; the present invention is further configured that the tube is processed based on the coordinate change of the chuck rotation and its mathematical model, the chuck rotation coordinate change includes using the YZ axis as two linear axes to drive the movement of the cutting head, the X axis is used to drive the linear axis of the chuck to move, the B axis is used as the rotation axis, and the A axis is used as the rotation axis of the chuck to achieve the three-dimensional coordinate change and groove processing of the tube;

[0034] Methods include:

[0035] S1: According to the three-dimensional coordinate change and motion control, the CAM software generates a tool trajectory according to the requirements, and generates a G code file that can be executed by CNC according to the corresponding post-processing, and sends or imports the file into the CNC, wherein the tool trajectory generated according to the three-dimensional coordinate change and motion control includes a plane processing trajectory, a plane groove trajectory and a profile processing trajectory; the present invention is further configured as follows: the plane processing trajectory is an XY laser processing trajectory, wherein the Z axis is not in the trajectory as a follower axis; the plane groove trajectory is a laser processing trajectory of XY and two rotating axes, wherein the Z axis is not in the trajectory as a follower axis; the profile processing trajectory is a laser processing trajectory of XYZ and two rotating axes, and all axis coordinates are in the file; specifically, according to the requirements of laser cutting, the CAM software generates the tool trajectory through motion control calculation. The trajectory uses different coordinate systems according to the type of workpiece (plane processing, plane groove processing, profile processing). For different processing types, the CAM software generates corresponding tool trajectories according to the changes in three-dimensional coordinates. These trajectories include plane processing trajectory, plane groove trajectory and profile processing trajectory. The CAM software converts the generated tool trajectory into CNC executable G code through the post-processing module and sends or imports it into the CNC system. The G code includes instructions for tool movement, including specific coordinate information of the trajectory; in plane processing, the tool trajectory is only carried out in the XY plane, and does not involve the follow-up of the Z axis. Therefore, the Z axis is not in the trajectory, but performs auxiliary movement according to actual needs to maintain the consistency of the cutting depth; plane groove processing needs to consider the laser trajectory of the XY plane and the control of two rotating axes (such as AC and AB axes), and adjust the cutting angle through the rotating axis to complete the groove cutting. The Z axis still does not participate in the trajectory control in this process, but adjusts the cutting angle through the rotating axis; profile processing requires simultaneous control of the XYZ axis and two rotating axes (such as AC and AB axes). At this time, all axis coordinates (including XYZ and rotation axes) are reflected in the generated G-code file to ensure the accurate positioning of the cutting head;

[0036] S2: During the laser cutting process, due to the different cutting surfaces, the control of the follow-up includes: if the cutting head is installed with a U-axis along the normal vector direction of the cutting head, or a U-axis is set inside the cutting head, the follow-up is completed through the U-axis; if the cutting head is along the normal vector direction of the cutting head or there is no U-axis inside the cutting head, the use is divided into X-axis follow-up, Y-axis follow-up, Z-axis follow-up and XYZ normal vector follow-up according to the processing surface; specifically, during the laser cutting process, the movement of the cutting head needs to be adjusted according to the shape of the workpiece and the position of the cutting surface to maintain the stability and accuracy of the cutting. The core of the follow-up control is to decide which axis needs to be activated for follow-up according to the normal vector of the cutting head (that is, the direction perpendicular to the cutting surface); the U-axis is a rotating axis, which is usually installed on the cutting head and moves along the normal vector direction of the cutting head. If there is a U-axis inside or outside the cutting head, the follow-up is performed through the U-axis. In this case, the U axis can independently adjust the attitude of the cutting head, so as to keep the cutting head perpendicular to the workpiece surface during the cutting process and ensure the consistency of the cutting depth; when the cutting head does not have a U axis, it is necessary to select the appropriate axis for follow-up according to the position of the cutting surface and the actual needs of cutting: X-axis follow-up is suitable for the case where the processing surface is parallel to the X axis, and the movement of the X axis is adjusted during the cutting process to maintain the cutting accuracy; Y-axis follow-up is suitable for the case where the processing surface is parallel to the Y axis, and the accurate positioning of the cutting head is ensured by adjusting the movement of the Y axis; Z-axis follow-up is suitable for the case where the processing surface is perpendicular to the XY plane, and the follow-up of the Z axis can help the cutting head adjust to the correct cutting depth, especially when vertical cutting is required; XYZ normal vector follow-up: when the cutting surface is irregular or has an angle with multiple axis directions, the combined movement of the XYZ axes is used to follow the normal vector of the cutting surface to ensure that the laser head can cut at the correct angle of the cutting surface. In the actual cutting process, the laser cutting head may need to dynamically adjust its attitude and position, especially when beveling or processing complex shapes. At this time, according to the actual cutting angle, the system automatically selects the appropriate follower axis and adjusts the corresponding axis movement to ensure stability and accuracy during the cutting process;

[0037] S3: Depending on the material being cut, the preparatory work before cutting includes: arranging and path planning of the parts to be processed for planes and plane bevels; for profile cutting, the parameters of the machine tool's motion space, the angles at which the axes can move, and the types of rotating axes need to be imported in advance, and the position and angle of each axis that needs to move at different points and postures are calculated through CAM software, and the idle running trajectory is calculated according to the processed materials and fixtures; specifically, for plane cutting and plane bevel cutting, the preparatory work mainly involves arranging and path planning of the parts to be processed. The specific steps include arranging and path planning; arranging refers to arranging multiple parts reasonably on the raw material sheet according to the shape, size and processing requirements of the workpiece. The purpose is to maximize the material utilization rate and reduce waste during the cutting process; path planning is to formulate the cutting path based on the arrangement diagram of the parts to be cut. Path planning needs to consider factors such as the motion path of the laser cutting head, the cutting sequence, and the shortest path to ensure the efficiency and accuracy of the cutting process. At this time, CAM (computer-aided manufacturing) software is usually used to complete the automatic path planning. Profile cutting involves more complex workpieces, such as pipes or profiles. This type of workpiece usually has a complex geometric shape and requires precise spatial parameters and posture control. The preparation work mainly includes the following steps: importing motion space parameters, calculating the motion position and angle of each axis, and calculating the dry run trajectory; First, the parameters of the machine tool's motion space need to be imported into the CAM software. These parameters include the spatial range in which the machine tool can operate, the maximum motion angle of each axis, the type of rotary axis, etc. These parameters help determine the motion limit of each cutting axis to ensure that there is no overload or restrictive motion of the axis during the cutting process; According to the different points and postures of the workpiece, the CAM software will calculate the position and angle that each axis needs to reach at different processing stages. Through precise calculations, it is ensured that each axis can complete the task at the right time and position to avoid any interference or misoperation; the dry run trajectory refers to the motion test trajectory that the machine tool needs to perform before the actual cutting. This trajectory will not be cut, but only verify whether the axes will collide or exceed the range of motion during the cutting process. By calculating the dry run trajectory, potential processing problems can be discovered in advance to prevent errors during the actual cutting process;

[0038] S4: According to the CAM software of pipe cutting, the type of pipe to be processed is first defined, and the parts or graphics to be processed are set. The corresponding cutting file is generated by the post-processing of CAM. The coordinates in the cutting file are XYZAB, and the generated cutting file is imported into CNC, and the file is executed to complete the cutting. Specifically, there is a clear distinction between the X-axis and the X-axis of the three-dimensional five-axis. The X-axis here does not refer to the actual servo axis, but the X-axis in the program. Then, according to the mode switching of the five-in-one system of the present invention, the current program X-axis is allocated to the linear axes of several chucks. The B axis, for example, the rotation axis in the three-dimensional five-axis motion control is AC, then according to the B axis generated by CAM and the direction is set by the parameters in CNC, the angle of B is set to the A axis, and C is turned to 90 degrees or minus 90 degrees to achieve the groove processing on the pipe; at the same time, the program A axis in the cutting file can be allocated to the rotation axis of the chuck, and the synchronous rotation of the rotation axes of several chucks is set in CNC.

[0039] Embodiment 2

[0040] See also Figure 2 , the exemplary five-in-one laser cutting system comprises:

[0041] A coordinate change switching module is used to switch between a three-dimensional five-axis coordinate change and a chuck rotation coordinate change; the present invention is further configured that the coordinate change switching refers to switching from a three-dimensional five-axis coordinate change to a chuck rotation coordinate change, and the three-dimensional five-axis coordinate change refers to that when the two rotating axes rotate, the tool tip point of the tool remains stable and does not move; the chuck rotation coordinate change refers to that the rotation of the chuck drives the pipe to rotate and the rotating axis of the cutting head moves to achieve the groove processing of the pipe. Specifically, the three-dimensional five-axis coordinate change refers to that during the laser cutting process, the cutting head of the machine tool performs precise movement in three-dimensional space through the XYZ axis and two rotating axes (including AC, AB or BC). This coordinate change method is suitable for plane processing, plane groove processing and some simple profile processing. Under the three-dimensional five-axis coordinate change, the tool tip point of the cutting head (i.e., the actual contact point of the tool) remains stable and will not be displaced with the movement of the rotating axis. In other words, the movement of the two rotating axes only controls the posture of the cutting head, and does not affect the working point position of the cutting head. This method can accurately control the cutting trajectory and is suitable for cutting processes with high precision requirements. The chuck rotation coordinate change uses the rotation of the machine tool chuck to drive the rotation of the pipe, thereby completing the beveling of the pipe. In this way, the movement of the cutting head is controlled by the rotating axis (such as A axis, B axis, etc.). Through the rotation of the chuck, the cutting head effectively guides the movement of the pipe. Under the change of the chuck rotation coordinate, the rotating axis of the cutting head cooperates with the rotation of the chuck to achieve the bevel cutting of the pipe. This method is suitable for the processing of profiles such as pipes, in which the chuck positions the pipe by rotation, and the cutting head performs bevel cutting according to the required angle.

[0042] The axis allocation module is used to dynamically allocate the linear axes of the chucks according to the processing requirements of the current cutting material, so as to realize the linear axes of multiple chucks to move together, move separately or avoid each other to adapt to different processing requirements; the present invention is further configured that the axis allocation module dynamically allocates the motion modes of the linear axes of multiple chucks according to the cutting requirements to meet different processing requirements and perform reasonable material cutting. Specifically, the axis allocation module controls the motion modes of the linear axes of multiple chucks according to the processing requirements, including moving together, moving separately or avoiding each other: moving together, when the workpieces on multiple chucks need to be cut synchronously, the linear axes of all chucks will move in coordination at the same time to ensure the consistency and synchronization of the cutting trajectory; moving separately, when the workpieces to be processed have different size or position requirements, the linear axes of the chucks will move separately to realize independent processing paths; avoiding each other, if the movements of multiple chucks will interfere with each other, the system will automatically adjust the relative positions between the chucks to avoid collisions between the chucks, thereby avoiding unnecessary interference. In the actual processing process, the cutting requirements of different materials will be different, and the axis allocation module will dynamically select the appropriate motion mode according to the actual needs. In a feasible embodiment of the present invention, for materials that require high-precision cutting, multiple chucks may be selected to move together to ensure the consistency of the cutting trajectory. For workpieces of different shapes or sizes, separate movements may be selected to ensure that the cutting of each workpiece can be completed independently to avoid interference. For situations where there may be space limitations or interference, the system will select an avoidance movement mode to ensure that all chucks do not collide with each other and ensure the smooth progress of the processing process. By dynamically adjusting the movement mode of the chuck, the axis allocation module can optimize the workpiece unloading path and achieve a reasonable layout. This can reduce material waste, improve unloading efficiency, ensure that materials are maximized, and thus reduce production costs.

[0043] The soft limit switching module is used to limit the range of motion of each axis according to different processing modes to avoid collision and ensure the safe operation of the equipment. The present invention is further configured that the soft limit switching module includes: motion limits of all axes in the full decoupling mode; X-axis and Y-axis limits in the three-dimensional five-axis mode; X-axis and Y-axis limits in the pipe rotation mode to ensure that the movement of the axis does not exceed the limit and avoid unnecessary interference. Specifically, in the full decoupling mode, the movement of all axes will be limited to their respective ranges of motion to prevent any axis from exceeding its operable physical range during the movement process and to prevent interference or collision between the axes; in the three-dimensional five-axis mode: in the three-dimensional five-axis mode, the movement of the XYZ axis is mainly restricted to ensure that the movement range of the X-axis and the Y-axis is strictly constrained when performing complex five-axis processing. In this way, the movement range of the XYZ axis can be avoided from exceeding the physical limit and the stable operation of the equipment can be guaranteed; in the pipe rotation mode: in the pipe rotation mode, the movement of the X-axis and the Y-axis will be limited to ensure that the path of the cutting head does not interfere with the pipe. In addition, it is also ensured that the operation of rotating the pipe will not cause movement beyond the range of the equipment structure. In decoupling mode, the motion restrictions of all axes apply to the range of motion of a single axis, ensuring that the axes do not interfere with each other when there is no coordinated motion, thereby ensuring that the equipment does not physically collide; X-axis and Y-axis restrictions in 3D five-axis mode: In 3D five-axis mode, the restrictions on the X-axis and Y-axis are mainly to ensure that when performing complex 3D cutting and processing, the tool trajectory does not cross the physical restriction area to prevent interference. These restrictions can be implemented through sensor feedback and software restrictions; X-axis and Y-axis restrictions in pipe rotation mode: The pipe rotation mode mainly focuses on the cutting process of the pipe. The range of motion of the X-axis and Y-axis is limited to the area consistent with the pipe rotation direction and cutting path to prevent the cutting head from interfering with the pipe, thereby ensuring that the pipe groove processing is not affected.

[0044] It should be noted that the five-in-one laser cutting system provided in the above embodiment and the five-in-one laser cutting method provided in the above embodiment belong to the same concept. In practical applications, the five-in-one laser cutting system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0045] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0046] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0047] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0048] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0049] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0050] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0051] In the several embodiments provided in the present application, it should be understood that the disclosed system can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0052] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0053] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0054] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0055] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A five-in-one laser cutting method, characterized in that: The method is based on the coordinate change of three-dimensional five-axis and its mathematical model and the coordinate change of the rotation of the tube driven by the chuck and its mathematical model, and the method includes: S1: According to the three-dimensional coordinate change and motion control, the CAM software generates a tool trajectory according to the requirements, and generates a G code file executable by CNC from the generated tool trajectory according to the corresponding post-processing and sends or imports the file into CNC, wherein the tool trajectory generated according to the three-dimensional coordinate change and motion control includes a plane processing trajectory, a plane groove trajectory and a profile processing trajectory; S2: During the laser cutting process, due to the different cutting surfaces, the following control includes: if the cutting head is installed with a U-axis along the normal vector direction of the cutting head, or a U-axis is set inside the cutting head, the following is completed through the U-axis; if the cutting head is along the normal vector direction of the cutting head or there is no U-axis inside the cutting head, the following is divided into X-axis following, Y-axis following, Z-axis following and XYZ normal vector following according to the processing surface; S3: Depending on the material being cut, the preparation work before cutting includes: arranging and path planning for the plane and plane grooves of the parts to be processed; for profile cutting, it is necessary to import the parameters of the machine tool's motion space, the angles that the axes can move, and the types of rotating axes in advance, and use CAM software to calculate the position and angle that each axis needs to move at different points and postures, and calculate the dry run trajectory based on the processed material and fixtures; S4: Define the type of pipe to be processed in the CAM software for pipe cutting, set the parts or graphics to be processed, and generate the corresponding cutting file by CAM post-processing. The coordinates in the cutting file include XYZAB, and import the generated cutting file into CNC to execute the file to complete the cutting.

2. A five-in-one laser cutting method according to claim 1, characterized in that: The three-dimensional five-axis coordinate change includes using the XYZ axes as three linear axes and using AC, AB or BC as two rotation axes to achieve the change of three-dimensional coordinates and complete plane processing, plane groove processing and profile processing.

3. The five-in-one laser cutting method according to claim 1, characterized in that: The pipe processing is performed based on the coordinate change of the chuck rotation and its mathematical model. The chuck rotation coordinate change includes using the YZ axes as two linear axes to drive the movement of the cutting head, the X axis is used to drive the linear axis movement of the chuck, the B axis is used as the rotation axis, and the A axis is used as the rotation axis of the chuck to realize the three-dimensional coordinate change and groove processing of the pipe.

4. The five-in-one laser cutting method according to claim 1, characterized in that: The plane processing trajectory is an XY laser processing trajectory, wherein the Z axis is used as a follower axis and is not within the trajectory; The plane groove trajectory is the laser processing trajectory of the XY and two rotation axes, wherein the Z axis as the follower axis is not within the trajectory; The profile processing trajectory is the laser processing trajectory of XYZ and two rotation axes, and all axis coordinates are in the file.

5. A five-in-one laser cutting system, used to implement a five-in-one laser cutting method according to any one of claims 1 to 4, characterized in that: include: A coordinate change switching module is used to switch between three-dimensional five-axis coordinate change and chuck rotation coordinate change; The axis allocation module is used to dynamically allocate the linear axes of the chucks according to the processing requirements of the current cutting material, so that the linear axes of multiple chucks can move together, move separately, or avoid each other to meet different processing requirements; The soft limit switching module is used to limit the range of motion of each axis according to different processing modes to avoid collision and ensure safe operation of the equipment.

6. The five-in-one laser cutting system according to claim 5, characterized in that: Coordinate change switching refers to switching from three-dimensional five-axis coordinate change to chuck rotation coordinate change. Three-dimensional five-axis coordinate change means that when the two rotation axes rotate, the tool tip remains stable and does not move; chuck rotation coordinate change means that the rotation of the chuck drives the pipe to rotate and the rotating axis of the cutting head moves to achieve pipe groove processing.

7. The five-in-one laser cutting system according to claim 5, characterized in that: The axis allocation module dynamically allocates the motion modes of the linear axes of multiple chucks according to the cutting requirements to meet different processing needs and perform reasonable material cutting.

8. The five-in-one laser cutting system according to claim 5, characterized in that: The soft limit switching module includes: motion limits of all axes in full decoupling mode; X-axis and Y-axis limits in three-dimensional five-axis mode; X-axis and Y-axis limits in pipe rotation mode, to ensure that the movement of the axis does not exceed the limit and avoid unnecessary interference.

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