Cutting control method, cutting equipment, storage medium and program product

Abstract

The invention provides a cutting control method for a cam, cutting equipment, a storage medium and a program to-be-cut piece, and the method comprises the steps that a speed partition where the cam is located in a first axial direction, a displacement relation between the cam and a main shaft in the first axial direction and a planning track of the cam in other axial directions are obtained, and controlling the cam to operate according to the planned trajectory according to the displacement relationship and the speed partition. According to the method, the speed partition, the displacement relation and the planning track are associated through the operational formula, and then the cam is controlled to run according to the planning track, so that the laser cutting precision is higher, the actual cutting requirement of the to-be-cut piece is met, the cutting quality of the to-be-cut piece is guaranteed, and the use experience of a user is improved.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, and in particular to a cam cutting control method, cutting equipment, computer-readable storage medium and computer program product. Background Art

[0002] Cutting the workpiece to be cut according to the requirements is extremely important in the field of processing technology. In related technologies, a laser cutting machine is used to cut the workpiece to be cut according to an electronic cam curve directly associated with the slave axis and the axis group, so that the laser's running trajectory can run around the workpiece to be cut.

[0003] However, when the above method is used to cut the workpiece, the electronic cam curve directly associated with the axis and the axis group will make the accuracy of the laser running trajectory poor, which cannot meet the actual cutting requirements of the workpiece to be cut, and the user experience is poor. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] Therefore, one object of the present invention is to provide a cam cutting control method.

[0006] To this end, a second object of the present invention is to provide a cutting device.

[0007] To this end, a third object of the present invention is to provide a computer-readable storage medium.

[0008] To this end, a fourth object of the present invention is to provide a computer program product.

[0009] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a cam cutting control method, which includes: obtaining the speed partition of the cam in the first axial direction, the displacement relationship between the cam and the main shaft in the first axial direction, and the planned trajectory of the cam in the remaining axial directions; controlling the cam to run according to the planned trajectory according to the displacement relationship and the speed partition.

[0010] According to the cam cutting control method of the embodiment of the present invention, by obtaining the speed partition of the cam in the first axial direction, the displacement relationship between the cam and the main shaft in the first axial direction and the planned trajectory of the cam in the remaining axial directions, the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed partition. Since the speed partition, the displacement relationship and the planned trajectory are all obtained according to the parameters of the workpiece to be cut and the parameters of the cutting machine, the remaining axial directions are controlled according to the displacement relationship and the speed partition, and then the cam is controlled to run according to the planned trajectory, so as to achieve higher accuracy in laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and improve the user experience.

[0011] In some embodiments, controlling the cam to run along the planned trajectory according to the displacement relationship and the speed partition includes: when controlling the first axial direction to enter a preset speed partition according to the displacement relationship, controlling the cam to run along the planned trajectory according to the speed partition.

[0012] In some embodiments, controlling the cam to run according to the planned trajectory according to the speed partition includes: acquiring the planned trajectory under the speed partition; and controlling the cam to run according to the planned trajectory.

[0013] In some embodiments, obtaining the planned trajectory under the speed partition includes: when the angle of the cam in the second axial direction is a preset rotation angle and the first axial direction is in the acceleration speed partition, obtaining the first movement distance of the cam in the third axial direction; determining the first planned trajectory of the spindle and the third axial direction in the acceleration speed partition according to the first movement distance, the first movement time and the spindle displacement of the spindle; determining the second planned trajectory of the spindle and the fourth axial direction in the acceleration speed partition according to the functional relationship between the first planned trajectory, the fourth axial direction and the third axial direction; determining the third planned trajectory of the spindle and the second axial direction in the acceleration speed partition according to the functional relationship between the first planned trajectory, the second axial direction and the third axial direction.

[0014] In some embodiments, the first planned trajectory of the spindle and the third axial direction in the acceleration speed partition is determined according to the first moving distance, the first moving time and the spindle displacement of the spindle, including: the first moving distance is a uniform acceleration distance, and the first absolute value of acceleration is determined according to the first moving time and the first moving distance; the first planned trajectory is determined according to the running speed of the cam of the workpiece to be cut in the acceleration speed partition and the spindle displacement according to the first absolute value of acceleration.

[0015] In some embodiments, the first planned trajectory of the spindle and the third axial direction in the acceleration speed zone is determined according to the first moving distance, the first moving time and the spindle displacement of the spindle, including: the first moving distance is a uniform deceleration distance, and the first absolute value of acceleration is determined according to the first moving time and the first moving distance; the first planned trajectory is determined according to the first absolute value of acceleration, the first moving distance, the first moving time, the total displacement of the cam in the acceleration speed zone, the running speed of the cam in the acceleration speed zone The partition of the workpiece to be cut and the spindle displacement.

[0016] In some embodiments, the process of obtaining the planned trajectory under the speed partition also includes: obtaining the second moving distance of the cam in the third axial direction and the third moving distance of the cam in the fourth axial direction; determining the first running time of the cam in the third axial direction according to the second moving distance, the second moving time of the cam in the synchronous speed partition and the total distance of the synchronous speed partition; determining the second running time of the cam in the fourth axial direction according to the second moving time, the third moving distance and the total distance of the synchronous speed partition.

[0017] In some embodiments, obtaining the planned trajectory under the speed partition includes: the first axial direction is in the synchronous speed partition, and the first cutting length of the workpiece to be cut is obtained; the first synchronous cutting duration is determined according to the first running duration, the first cutting length and the second moving distance; the second acceleration absolute value is determined according to the first synchronous cutting duration and the first cutting length; and the fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment is determined according to the first moving distance, the second acceleration absolute value, the spindle displacement, the spindle position of the cam in the first trajectory segment of the second axial direction, and the running speed of the workpiece to be cut in the first trajectory segment.

[0018] In some embodiments, the fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment is determined according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle position of the first trajectory segment, and the running speed of the workpiece to be cut in the first trajectory segment, including: the first cutting length is a uniformly accelerated distance, and the fourth planned trajectory is determined according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle initial point of the first trajectory segment, and the running speed of the workpiece to be cut.

[0019] In some embodiments, the fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment is determined according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle position of the first trajectory segment, and the running speed of the workpiece to be cut in the first trajectory segment, including: the first cutting length is a uniform deceleration distance, and the fourth planned trajectory is determined according to the first moving distance, the first cutting length, the absolute value of the second acceleration, the spindle displacement, the first synchronous cutting time, the spindle center point of the first trajectory segment, and the running speed of the workpiece to be cut.

[0020] In some embodiments, the process of obtaining the planned trajectory under the speed partition also includes: when the first axial direction is in the synchronous speed partition, obtaining the third movement distance of the cam in the fourth axial direction Z; controlling the fourth axial direction to be in the third movement distance and controlling the fourth axial direction to maintain a preset rotation angle.

[0021] In some embodiments, obtaining the planned trajectory under the speed partition includes: when the first axial direction is in the synchronous speed partition, obtaining the fourth moving distance of the cam in the third axial direction; determining the second synchronous cutting duration according to the fourth moving distance, the first running time and the second moving distance; determining the third acceleration absolute value according to the second synchronous cutting duration and the third moving distance; determining the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment according to the third acceleration absolute value, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment of the second axial direction and the running speed of the workpiece to be cut in the second trajectory segment; determining the sixth planned trajectory of the spindle and the fourth axial direction in the second trajectory segment according to the fifth planned trajectory and the functional relationship between the fourth axial direction and the third axial direction; determining the seventh planned trajectory of the spindle and the second axial direction in the second trajectory segment according to the functional relationship between the fifth planned trajectory, the second axial direction and the third axial direction.

[0022] In some embodiments, the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the third absolute value of acceleration, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the second trajectory segment, including: the fourth moving distance is a uniform acceleration distance, and the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the first moving distance, the first cutting length, the third absolute value of acceleration, the spindle displacement, the spindle initial point of the second trajectory segment, and the running speed of the workpiece to be cut in the second trajectory segment.

[0023] In some embodiments, the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the absolute value of the third acceleration, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the second trajectory segment, including: the fourth moving distance is a uniform deceleration distance, and the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the first moving distance, the first cutting length, the absolute value of the third acceleration, the second synchronous cutting time, the spindle displacement, the spindle center point of the second trajectory segment, and the running speed of the workpiece to be cut in the second trajectory segment.

[0024] In some embodiments, obtaining the planned trajectory under the speed partition includes: when the first axial direction is in the synchronous speed partition, obtaining the fifth moving distance of the cam in the third axial direction, the fifth moving distance of the cam in the fourth axial direction, and the sixth moving distance of the cam in the fourth axial direction; determining the third synchronous cutting duration according to the fifth moving distance, the first running time, and the second moving distance; determining the fourth acceleration absolute value according to the third synchronous cutting duration and the fifth moving distance; determining the twenty-fifth planned trajectory in the third trajectory segment according to the third moving distance, the fifth moving distance, the fourth acceleration absolute value, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment; determining the twenty-sixth planned trajectory of the spindle and the third axial direction in the third trajectory segment according to the twenty-fifth planned trajectory, the functional relationship between the third axial direction and the fourth axial direction; determining the eighth planned trajectory of the spindle and the second axial direction in the third trajectory segment according to the twenty-fifth planned trajectory, the functional relationship between the second axial direction and the third axial direction.

[0025] In some embodiments, the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the fourth absolute value of acceleration, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment, including: the fifth moving distance is a uniform acceleration distance, and the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the fourth absolute value of acceleration, the spindle displacement, the spindle initial point of the third trajectory segment, and the running speed of the workpiece to be cut in the third trajectory segment.

[0026] In some embodiments, the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the absolute value of the fourth acceleration, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment, including: the fifth moving distance is a uniform deceleration distance, and the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the sixth moving distance of the cam in the fourth axial direction, the absolute value of the fourth acceleration, the third synchronous cutting time, the spindle displacement, the spindle center point of the third trajectory segment, and the running speed of the workpiece to be cut in the third trajectory segment.

[0027] In some embodiments, obtaining the planned trajectory under the speed partition includes: when the first axial direction is in the synchronous speed partition, obtaining the second cutting length of the workpiece to be cut; determining the absolute value of the fifth acceleration according to the second cutting length and the second running time; determining the twenty-first planned trajectory according to the absolute value of the fifth acceleration, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut of the cam in the fourth trajectory segment in the second axial direction and the spindle position in the fourth trajectory segment; determining the twenty-second planned trajectory of the spindle and the third axial direction in the fourth trajectory segment according to the functional relationship between the twenty-first planned trajectory, the third axial direction and the fourth axial direction; determining the twenty-third planned trajectory of the spindle and the second axial direction in the fourth trajectory segment according to the functional relationship between the twenty-first planned trajectory, the second axial direction and the third axial direction.

[0028] In some embodiments, the twenty-first planned trajectory is determined according to the fifth absolute value of the acceleration, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment of the cam in the second axial direction, and the spindle position in the fourth trajectory segment, including: the second cutting length is a uniformly accelerated distance, and the twenty-first planned trajectory is determined according to the third moving distance, the fifth moving distance, the sixth moving distance, the fifth absolute value of the acceleration, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment, and the spindle initial point in the fourth trajectory segment.

[0029] In some embodiments, the twenty-first planned trajectory is determined according to the fifth acceleration absolute value, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment of the cam in the second axial direction, and the spindle position in the fourth trajectory segment, including: the second cutting length is a uniform deceleration distance, and the twenty-first planned trajectory is determined according to the third moving distance, the fifth moving distance, the sixth moving distance, the fifth acceleration absolute value, the second cutting length, the fourth synchronous cutting time, the spindle displacement, the spindle center point of the fourth trajectory segment, and the running speed of the workpiece to be cut in the fourth trajectory segment.

[0030] In some embodiments, obtaining the planned trajectory under the speed partition includes: when the first axial direction is the synchronous speed partition, obtaining the second cutting length of the workpiece to be cut; determining the absolute value of the fifth acceleration according to the second cutting length and the second running time; determining the twenty-fourth planned trajectory according to the absolute value of the fifth acceleration, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut and the spindle position of the cam in the fifth trajectory segment in the second axial direction; determining the ninth planned trajectory of the spindle and the third axial direction in the fifth trajectory segment according to the functional relationship between the twenty-fourth planned trajectory, the third axial direction and the fourth axial direction; determining the tenth planned trajectory of the spindle and the second axial direction in the fifth trajectory segment according to the functional relationship between the twenty-fourth planned trajectory, the second axial direction and the third axial direction.

[0031] In some embodiments, obtaining the planned trajectory under the speed partition includes: when the first axial direction is the return speed partition, obtaining the fifth moving distance of the cam in the third axial direction, the fifth moving distance of the cam in the fourth axial direction, and the sixth moving distance of the cam in the fourth axial direction; determining the third synchronous cutting duration according to the fifth moving distance, the first running time and the second moving distance; determining the fourth acceleration absolute value according to the third synchronous cutting duration and the fifth moving distance; determining the eleventh planned trajectory in the sixth trajectory segment according to the third moving distance, the fifth moving distance, the seventh acceleration absolute value, the spindle displacement, the spindle position of the sixth trajectory segment and the running speed of the workpiece to be cut in the sixth trajectory segment; determining the twelfth planned trajectory of the spindle and the third axial direction in the sixth trajectory segment according to the functional relationship between the eleventh planned trajectory, the third axial direction and the fourth axial direction; determining the thirteenth planned trajectory of the spindle and the second axial direction in the sixth trajectory segment according to the functional relationship between the eleventh planned trajectory, the second axial direction and the third axial direction.

[0032] In some embodiments, obtaining the planned trajectory under the speed partition includes: when the first axial direction is the return speed partition, obtaining the fourth moving distance of the cam in the third axial direction; determining the second synchronous cutting time according to the fourth moving distance, the first running time and the second moving distance; determining the third acceleration absolute value according to the second synchronous cutting time and the third moving distance; determining the fourteenth planned trajectory of the spindle and the third axial direction in the seventh trajectory segment according to the third acceleration absolute value, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the seventh trajectory segment and the running speed of the workpiece to be cut; determining the fifteenth planned trajectory of the spindle and the fourth axial direction in the seventh trajectory segment according to the fourteenth planned trajectory and the functional relationship between the fourth axial direction and the third axial direction; determining the sixteenth planned trajectory of the spindle and the second axial direction in the seventh trajectory segment according to the fourteenth planned trajectory, the functional relationship between the second axial direction and the third axial direction.

[0033] In some embodiments, obtaining the planned trajectory under the speed partition includes: when the first axial direction is in the return speed partition, obtaining the first cutting length of the workpiece to be cut; determining the first synchronous cutting duration according to the first running time, the first cutting length and the second moving distance; determining the second acceleration absolute value according to the first synchronous cutting duration and the first cutting length; determining the seventeenth planned trajectory of the spindle and the third axial direction in the eighth trajectory segment according to the first moving distance, the second acceleration absolute value, the spindle displacement, the spindle position of the eighth trajectory segment and the running speed of the workpiece to be cut.

[0034] In some embodiments, obtaining the planned trajectory under the speed partition includes: when the angle of the cam in the second axial direction is a preset rotation angle and the first axial direction is in the return speed partition, obtaining the first movement distance of the cam in the third axial direction; determining the eighteenth planned trajectory of the spindle and the third axial direction in the return speed partition according to the first movement distance, the first movement time, the spindle displacement of the spindle and the spindle position of the ninth trajectory segment; determining the nineteenth planned trajectory of the spindle and the fourth axial direction in the return speed partition according to the functional relationship between the eighteenth planned trajectory, the fourth axial direction and the third axial direction; determining the twentieth planned trajectory of the spindle and the second axial direction in the return speed partition according to the functional relationship between the eighteenth planned trajectory, the second axial direction and the third axial direction.

[0035] In some embodiments, after controlling the cam to run according to the planned trajectory according to the displacement relationship and the speed partition, it also includes: obtaining the first cutting length and the second cutting length of the piece to be cut; and determining the planned trajectory of the cam under the speed partition according to the first cutting length and the second cutting length.

[0036] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a cutting device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a cam cutting control program that can be executed by the at least one processor, and when the cam cutting control program is executed by the at least one processor, the at least one processor executes the cam cutting control method as described above.

[0037] According to the cutting equipment of the embodiment of the present invention, by obtaining the speed zone of the cam in the first axial direction, the displacement relationship between the cam in the first axial direction and the main shaft, and the planned trajectory of the cam in the remaining axial directions, the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed zone. Since the speed zone, the displacement relationship and the planned trajectory are all obtained according to the parameters of the workpiece to be cut and the parameters of the cutting machine, the remaining axial directions are controlled according to the displacement relationship and the speed zone, and then the cam is controlled to run according to the planned trajectory, so as to achieve higher precision in laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and improve the user experience.

[0038] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a computer-readable storage medium, on which a cam cutting control program is stored. When the cam cutting control program is executed by a processor, a device installed with the cam cutting control program implements the cam cutting control method described in the above-mentioned embodiment.

[0039] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the cam cutting control method as described in the above-mentioned embodiment.

[0040] According to the computer program product of the embodiment of the present invention, by obtaining the speed partition of the cam in the first axial direction, the displacement relationship between the cam in the first axial direction and the main shaft, and the planned trajectory of the cam in the remaining axial directions, the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed partition. Since the speed partition, the displacement relationship and the planned trajectory are all obtained according to the parameters of the workpiece to be cut and the parameters of the cutting machine, the remaining axial directions are controlled according to the displacement relationship and the speed partition, and then the cam is controlled to run according to the planned trajectory, so as to achieve higher accuracy in laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and enhance the user experience.

[0041] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0043] Figure 1 is a flow chart of a cam cutting control method according to an embodiment of the present invention;

[0044] Figure 2 is a front view of a laser cutting machine according to one embodiment of the present invention;

[0045] Figure 3 is a side view of a laser cutting machine according to one embodiment of the present invention;

[0046] Figure 4 is a schematic diagram of speed partitions according to an embodiment of the present invention;

[0047] Figure 5 is a YZU axis two-dimensional analysis diagram according to an embodiment of the present invention;

[0048] Figure 6 is a schematic diagram of operating positions according to an embodiment of the present invention;

[0049] Figure 7 is a schematic diagram of an operating position including a corner according to an embodiment of the present invention;

[0050] Figure 8 is a schematic diagram of an operating position of a 90-degree rotation including a turning angle according to an embodiment of the present invention;

[0051] Fig. 9 is a schematic diagram of a running trajectory including a 90-degree rotation angle according to an embodiment of the present invention;

[0052] Fig.10 is a schematic diagram of the running trajectory of the bilateral rotating central axis according to an embodiment of the present invention;

[0053] Fig.11 is a schematic diagram of a cam trajectory according to an embodiment of the present invention;

[0054] Fig.12 is a flow chart of a cam cutting control method according to an embodiment of the present invention;

[0055] Fig.13 is a block diagram of a cutting device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0057] In the related art, for example, a cutting machine with a crank motor driving a slider is used, a rotating motor is added to the slider to cut the material, and the crank motor and the rotary cutting motor are both connected to the material speed position encoder to perform electronic cam motion for fixed-length cutting to achieve cutting of the workpiece to be cut. However, when using this method to cut the workpiece to be cut, if the material to be cut is thin, the workpiece to be cut in the cut section will be severely deformed, resulting in a significant limitation in the cutting quality of the workpiece to be cut.

[0058] For another example, a laser cutting machine can be used to cut the workpiece according to an electronic cam curve directly associated with the slave axis and the axis group. The laser's running trajectory can be made to run around the workpiece. When the workpiece changes, the engineer at the cutting site can modify the cam parameters through the PLC (Programmable Logic Controller) programming software. After processing the parameters, they are imported into the PLC controller to complete the cutting of the changed workpiece.

[0059] However, when the above method is used to cut the workpiece to be cut, the electronic cam curve directly associated with the axis and the axis group will make the accuracy of the laser operation trajectory poor, which cannot meet the actual cutting requirements of the workpiece to be cut, and the user experience is poor. When the workpiece to be cut changes, the labor cost required is high and the cutting efficiency is low.

[0060] Therefore, the cutting control method of the cam of the embodiment of the present invention is adopted, by obtaining the speed zone of the cam in the first axial direction X, the displacement relationship of the cam in the first axial direction and the main shaft, and the planned trajectory of the cam in the remaining axial directions, the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed zone. Since the speed zone, the displacement relationship and the planned trajectory are all obtained according to the parameters of the workpiece to be cut and the parameters of the cutting machine, the remaining axial directions are controlled according to the displacement relationship and the speed zone, and then the cam is controlled to run according to the planned trajectory, so as to achieve higher accuracy of laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and improve the user experience.

[0061] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a cam cutting control method, which includes: obtaining the speed partition of the cam in the first axial direction, the displacement relationship between the cam and the main shaft in the first axial direction, and the planned trajectory of the cam in the remaining axial directions; controlling the cam to run according to the planned trajectory according to the displacement relationship and speed partition.

[0062] According to the cam cutting control method of the embodiment of the present invention, by obtaining the speed partition of the cam in the first axial direction X, the displacement relationship between the cam in the first axial direction and the main shaft, and the planned trajectory of the cam in the remaining axial directions, the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed partition. Since the speed partition, the displacement relationship and the planned trajectory are all obtained according to the parameters of the workpiece to be cut and the parameters of the cutting machine, the remaining axial directions are controlled according to the displacement relationship and the speed partition, and then the cam is controlled to run according to the planned trajectory, so as to achieve higher accuracy of laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and improve the user experience.

[0063] Combine the following Figure 1-Figure 12 A cam cutting control method according to an embodiment of the present invention is described.

[0064] like Figure 1 FIG. 1 is a flow chart of a cam cutting control method according to an embodiment of the present invention. The cam cutting control method according to the embodiment of the present invention at least includes step S1 and step S2.

[0065] Step S1, obtaining the speed partition of the cam in the first axial direction, the displacement relationship between the cam and the main shaft in the first axial direction, and the planned trajectory of the cam in the remaining axial directions.

[0066] In an embodiment, Figure 2 The front view of the laser cutting machine of one embodiment of the present invention is shown in FIG. The front view of the laser cutting machine includes a bilaterally symmetrical 4-axis laser cutting machine, an encoder for checking the discharge position and speed of the workpiece to be cut, a programmable logic controller (PLC) and a touch screen. The 4-axis laser cutting machine mainly includes the first axis in the opposite direction of the discharge, namely the X axis, and the third axis in the opposite direction of the two horizontal cuttings, collectively referred to as the Y axis. Figure 2 The Y1 and Y2 axes in the vertical direction are collectively referred to as the Z axis. Figure 3 The Z1 and Z2 axes in the image are the second axes that rotate in the opposite direction around the X axis and are collectively referred to as the U axis. Figure 3 U1 and U2 in Figure 3 FIG. 1 is a side view of a laser cutting machine according to an embodiment of the present invention, from which the positional relationship between the workpiece to be cut and the laser cutting machine can be seen.

[0067] The controller obtains the speed partition where the cam is located in the first axial direction, such as Figure 4 The figure is a schematic diagram of speed division of an embodiment of the present invention. The length of the workpiece to be cut is divided into four sections for analysis, the length of the acceleration speed zone is set to S1, the length of the synchronization speed zone is set to S2, the length of the deceleration speed zone is set to S3, and the length of the return speed zone is set to S4.

[0068] Get the displacement relationship between the cam in the first axial direction, X-axis and the main axis, such as Figure 4 As shown, assuming that the running speed of the workpiece to be cut is Vm, the running time of the acceleration zone, i.e., the first moving time, is Tacc=S1 / Vm, the running time of the uniform speed zone, i.e., the second moving time, is Tsyn=S2 / Vm, the running time of the deceleration zone is Tdec=S3 / Vm, and the running time of the return zone is Tback=S4 / Vm. In order to facilitate the subsequent electronic cam calculation of the Y, Z and U axes in the return zone, let S1+S2=S3+S4. It should be noted that the relationship between S1, S2, S3 and S4 can be adjusted according to actual needs through simulation experiments, etc. Even if the equation relationship of S1+S2=S3+S4 cannot be satisfied, it does not affect the effect achieved by the present invention. The electronic cam table of the X-axis can be deduced from the time of the above-mentioned sections. If you want the workpiece to be cut to have a smooth incision when cutting, the speed of the X-axis must be consistent with the discharge speed of the workpiece to be cut at the end of acceleration. Assume that the acceleration is a0, the running speed is v, the acceleration time is t, the displacement is s, and the initial speed is v0. The initial speed of the workpiece to be cut when entering the acceleration speed partition is v0=0. Substituting v=Vm, v0=0 and t=Tacc into a0=(v-v0) / t, the minimum acceleration a1 of the acceleration section of the X-axis acceleration speed partition can be obtained. a1=(Vm-v0) / Tacc=Vm / Tacc. Assume that the X-axis is uniformly accelerated in the acceleration section, the displacement of the X-axis is Sx, the real-time displacement of the spindle is Smain, v0=0, t=Tacc=S1 / V and a=a1. Substituting into the displacement formula s=v0t+(a0×t2) / 2, the relationship between the spindle and the X-axis in the acceleration section can be obtained as follows:

[0069] Sx = a1 × (Smain / Vm)2 / 2;

[0070] In synchronous speed partition, the speed of the spindle is consistent with that of the X-axis, so the relationship between the spindle and the X-axis in synchronous speed partition is:

[0071] Sx=(a1×Tacc 2 ) / 2+S-S1,

[0072] Where (a1×Tacc 2 ) / 2 is the displacement of the X axis in the acceleration section;

[0073] It can be understood that when the deceleration speed is divided into zones, the speed of the X axis must be reduced to 0. Substituting v = 0, v0 = Vm and t = Tdec into a0 = (v-v0) / t, the minimum uniform deceleration speed a2 can be obtained, a2 = (0-Vm) / Tdec = -Vm / Tdec. Assuming that the real-time displacement of the X axis in the deceleration zone is S minus, the relationship formula between the spindle and the X axis in the deceleration speed zone is:

[0074] Sx=S1+S2+Sminus=a1×Tacc 2 / 2+S2+Vm×(Smain-S1-S2) / Vm+a2×(Smain-S1-S2)2 / (Vm 2 ×2);

[0075] When returning to the speed partition, the running path of the X-axis is divided into half uniform acceleration section, assuming the acceleration of the uniform acceleration section is -a3, and half uniform deceleration section, assuming the acceleration of the uniform deceleration section is a4, then s = S4 / 2 and t = Tback / 2 are substituted into a = 2s / t2, and -a3 = a4 = S4 / (Tback / 2)2 is obtained. Therefore, the relationship formula between the main axis and the X-axis in the half uniform acceleration section is:

[0076] Sx=a1×Tacc 2 / 2+S2+Vm×Tdec+a2×Tdec 2 / 2-a3×((S main-S1-S2-S3) / Vm)2 / 2;

[0077] The relationship between the main axis and the X axis in the half uniform deceleration section is:

[0078] Sx=a1×Tacc 2 / 2+S2+Vm×Tdec+a2×Tdec 2 / 2-a3×(Tback / 2)2 / 2-a3×(Tback / 2)×(S main-S1-S2-S3-S4 / 2) / Vm+a4×((S main-S1-S2-S3-S4 / 2) / Vm)2 / 2.

[0079] Before obtaining the planned trajectory of the cam in other axes, it is necessary to first obtain the trajectory segments of the cam. According to the trigonometric function relationship, combined with the time proportion of each segment in the main axis and speed partition, the trajectory of the rotating central axis is plotted, and the following trajectory analysis process can be obtained:

[0080] like Figure 5 The figure shows a two-dimensional analysis diagram of the YZU axis of an embodiment of the present invention. Point A is the second axial direction, i.e., the U axis rotation center axis, point B is the verticality from the rotation center axis to the front view of the laser line, point C is the laser light outlet, and point D is the intersection of the laser and the workpiece to be cut. The above positions are schematic positions converted from the actual positions of the laser cutting machine components and do not represent the actual positions.

[0081] like Figure 6 As shown, it is a schematic diagram of the operating position of an embodiment of the present invention. Let the distance of AB be a, the distance of BC in the vertical direction be b, the distance of CD in the vertical direction be c, the distance of AD be r, the short side of the shape of the piece to be cut, i.e. the first cutting length, be W, the long side, i.e. the second cutting length, be L, and ∠ADB be α;

[0082] like Figure 7As shown, it is a schematic diagram of the operating position of an embodiment of the present invention. Assuming that the preset rotation angle of the double-sided cutting head, that is, the initial cutting angle, is β, and β is set to different values, the laser head will not have laser light alignment when the cutting heads meet in the long side cutting, thus avoiding damage to the laser;

[0083] like Figure 8 FIG. 1 is a schematic diagram of an operating position of a 90-degree rotation including a corner according to an embodiment of the present invention. When the cutting head rotates 90 degrees when turning a corner, it can be seen from the characteristics of the geometric angle that the cutting angles of the cutting head on the short side and the long side will remain consistent;

[0084] like Fig. 9 The figure is a schematic diagram of a running trajectory of a 90-degree rotation including a rotation angle according to an embodiment of the present invention. AE-EF-FH-HI is the trajectory of the rotation center axis of the U axis;

[0085] like Fig.10 As shown in FIG. 1 , it is a schematic diagram of the running track of the bilateral rotating central axis of an embodiment of the present invention. The left side figure is the initial position state of the bilateral rotating central axis track, and the right side figure is the terminal position state of the bilateral rotating central axis track. It can be obtained that, Fig.11 As shown, it is a schematic diagram of the cam trajectory of an embodiment of the present invention, and the trajectory segment of the cam is AE-EF-FG-GH-HI-IH-HG-GF-FE-EA, wherein the AE segment is a trajectory segment generated in the acceleration speed partition when the second axial direction, i.e., the U axis, has a preset rotation angle β as required. It can be understood that when the second axial direction, i.e., the U axis, does not have the preset rotation angle β as required, the AE segment will not be generated, and the corresponding EA segment will not be generated; AE-EF-FG-GH-HI-IH-HG-GF-FE-EA can be divided into the AE segment and the first to ninth trajectory segments.

[0086] According to the AE segment and the first to ninth track segments, as well as the displacement relationship between the cam in the first axial direction X and the main shaft, the first to twenty-sixth planned tracks under the speed partition can be obtained. The displacement relationship, track segments and planned tracks are all calculated by formulas according to the requirements, so that the running track of the laser cutting machine fits the workpiece to be cut, and the motor running power required to generate the same workpiece to be cut is small.

[0087] Step S2, controlling the cam to run along the planned trajectory according to the displacement relationship and speed partition.

[0088] According to the displacement relationship between the cam in the first axial direction, the X-axis and the main shaft, and the first to the twenty-fourth planned trajectories under the speed partition, the cam is controlled to run according to the first to the twenty-sixth planned trajectories to achieve higher precision in laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and enhance the user experience.

[0089] According to the cutting control method of the cam in the embodiment of the present invention, by obtaining the speed partition of the cam in the first axial X-axis, the displacement relationship between the cam in the first axial X-axis and the main shaft, and the planned trajectory of the cam in the remaining axial directions, the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed partition. Since the speed partition, the displacement relationship and the planned trajectory are all obtained according to the parameters of the workpiece to be cut and the parameters of the cutting machine, the remaining axial directions are controlled according to the displacement relationship and the speed partition, and then the cam is controlled to run according to the planned trajectory. A multi-axis linked flying cutting process is used to achieve higher precision in laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and enhance the user experience.

[0090] In some embodiments, controlling the cam to run along a planned trajectory according to the displacement relationship and the speed partition includes: when controlling the first axial direction to enter a preset speed partition according to the displacement relationship, controlling the cam to run along the planned trajectory according to the speed partition.

[0091] In an embodiment, Figure 4 As shown, according to the displacement relationship between the first axial X-axis and the main shaft, and the speed partition control cam runs according to the planned trajectory, when the controller controls the first axial X-axis to enter the preset speed partition according to the displacement relationship between the first axial X-axis and the main shaft, the preset speed partition is, for example, the acceleration speed partition, the synchronization speed partition, the deceleration speed partition and the return speed partition, the controller controls the Y-axis, the Z-axis and the U-axis to run according to the planned trajectory according to the speed partition, so as to realize the control cam to run according to the planned trajectory.

[0092] In some embodiments, controlling the cam to run according to the planned trajectory according to the speed partition includes: acquiring the planned trajectory under the speed partition; and controlling the cam to run according to the planned trajectory.

[0093] In an embodiment, Figure 4 As shown, the controller controls the cam to run according to the planned trajectory according to the speed partitions, for example, the acceleration speed partition, the synchronization speed partition, the deceleration speed partition and the return speed partition. The planned trajectory under the speed partition is obtained, such as the first to the twenty-sixth planned trajectories, and the control cam runs according to the planned trajectory to achieve higher accuracy in laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and enhance the user experience.

[0094] In some embodiments, obtaining a planned trajectory under a speed partition includes: when the angle of the cam in the second axial direction is a preset rotation angle and the first axial direction is in an acceleration speed partition, obtaining a first movement distance of the cam in the third axial direction; determining a first planned trajectory of the spindle and the third axial direction in the acceleration speed partition according to the first movement distance, the first movement time, and the spindle displacement of the spindle; determining a second planned trajectory of the spindle and the fourth axial direction in the acceleration speed partition according to a functional relationship between the first planned trajectory, the fourth axial direction and the third axial direction; determining a third planned trajectory of the spindle and the second axial direction in the acceleration speed partition according to a functional relationship between the first planned trajectory, the second axial direction and the third axial direction.

[0095] In an embodiment, in combination Figure 4 and Fig.11 As shown, let the distance between AB be a, the distance between BC in the vertical direction be b, the distance between CD in the vertical direction be c, the distance between AD be r, the short side of the shape of the workpiece to be cut be W, the long side be L, ∠ADB be α, when obtaining the planned trajectory under the speed partition, when the angle of the cam on the second axial direction U is the preset rotation angle and the first axial direction is in the acceleration speed partition, according to the trigonometric function relationship, r 2 =a 2 +(b+c)2, α=arctan(a / (b+c)), and the displacement relationship between the third axis, i.e., the Y axis, the fourth axis, i.e., the Z axis, and the second axis, i.e., the U axis, is calculated based on the trigonometric function relationship.

[0096] In the AE segment, the preset rotation angle of the U axis is β, and the values ​​of the Z axis and the U axis are calculated based on the position of the Y axis: the angle of the cam on the U axis is the preset rotation angle β, and when the first axial direction, that is, the X axis, is in the acceleration speed partition, the first moving distance of the cam on the Y axis is set to sy1, and the first moving distance is

[0097] Sy1=r×cos(90+α+β)-a;

[0098] The distance moved by the Z axis is

[0099] Sz1=b+cr×cos(90+α+β)

[0100] According to the first moving distance Sy1, the first moving time Tacc and the main axis displacement Smain of the main axis, the first planned trajectory Sy21 of the main axis and the third axis in the acceleration speed partition is determined; according to the trigonometric function relationship between the first planned trajectory Sy21, the fourth axis and the third axis, the second planned trajectory Sz22 of the main axis and the fourth axis in the acceleration speed partition is determined as

[0101] Sz22=b+cr×sin(arccos(-(Sy21+a) / r);

[0102] According to the trigonometric relationship between the first planned trajectory Sy21, the second axis and the third axis, the third planned trajectory Su of the main axis and the second axis in the acceleration speed partition is determined as follows:

[0103] Su23=arccos(-(Sy21+a) / r)-90-α;

[0104] According to the first planned trajectory, the second planned trajectory and the third planned trajectory, the X-axis is controlled according to the displacement relationship between the X-axis and the main axis, and the Y-axis, Z-axis and U-axis are controlled to run the AE segment distance according to the planned trajectory when they are in the acceleration speed zone, so that the laser cutting machine can cut according to the planned trajectory within the AE segment.

[0105] In some embodiments, a first planned trajectory of the spindle and the third axial direction in an acceleration speed partition is determined based on a first moving distance, a first moving time, and a spindle displacement of the spindle, including: the first moving distance is a uniform acceleration distance, and a first absolute value of acceleration is determined based on the first moving time and the first moving distance; and the first planned trajectory is determined based on the running speed of the cam of the workpiece to be cut in the acceleration speed partition and the spindle displacement according to the first absolute value of acceleration.

[0106] In an embodiment, in combination Figure 4 and Fig.11 As shown, in the AE segment, when the first planned trajectory Sy21 of the spindle and the Y axis in the acceleration speed partition is determined according to the first moving distance sy1, the first moving time Tacc and the spindle displacement of the spindle, Sy1 is divided into two equal halves, one half of the uniform acceleration segment and the other half of the uniform deceleration segment, each half is the first moving distance, and when the first moving distance is the distance of the uniform acceleration segment, the absolute value ay1 of the first acceleration is determined according to the first moving time Tacc and the first moving distance sy1 as follows:

[0107] ay1=2s / t2==2×(sy1 / 2) / (Tacc / 2)2=4×Sy1 / Tacc 2 ;

[0108] According to the first acceleration absolute value ay1, the first moving distance sy1, the running speed Vm of the workpiece to be cut and the spindle displacement of the spindle, the first planned trajectory of the spindle and the Y axis in the acceleration speed partition is determined as follows:

[0109] Sy21=ay1×(Smain / Vm)2 / 2.

[0110] In some embodiments, a first planned trajectory of the spindle and the third axial direction in the acceleration speed zone is determined according to the first moving distance, the first moving time and the spindle displacement of the spindle, including: the first moving distance is a uniform deceleration distance, and the first acceleration absolute value is determined according to the first moving time and the first moving distance; the first planned trajectory is determined according to the first acceleration absolute value, the first moving distance, the first moving time, the total displacement of the cam in the acceleration speed zone, the running speed of the cam in the acceleration speed zone and the spindle displacement of the workpiece to be cut.

[0111] In the embodiment, when determining the first planned trajectory of the spindle and the third axial direction in the acceleration speed partition according to the first moving distance sy1, the first moving time Tacc and the spindle displacement of the spindle, Sy1 is divided into two equal halves, one half of a uniform acceleration segment and the other half of a uniform deceleration segment, each half being the first moving distance, and when the first moving distance is the distance of the uniform deceleration segment, the absolute value ay1 of the first acceleration is determined according to the first moving time Tacc and the first moving distance sy1, and the first planned trajectory Sy21 is determined according to the absolute value ay1 of the first acceleration, the first moving distance sy1, the first moving time Tacc, the total displacement S1 of the cam in the acceleration speed partition, the running speed Vm of the workpiece to be cut in the acceleration speed partition and the spindle displacement Smain.

[0112] Sy21=Sy1 / 2+ay1×(Tacc / 2)×((Smain-S1 / 2) / Vm)-ay1×((Smain-S1 / 2) / Vm)2 / 2.

[0113] In some embodiments, the process of obtaining the planned trajectory under the speed partition also includes: obtaining the second moving distance of the cam in the third axial direction and the third moving distance of the cam in the fourth axial direction; determining the first running time of the cam in the third axial direction according to the second moving distance, the second moving time of the cam in the synchronous speed partition and the total distance of the synchronous speed partition; determining the second running time of the cam in the fourth axial direction according to the second moving time, the third moving distance and the total distance of the synchronous speed partition.

[0114] In an embodiment, Figure 4 and Fig.11 As shown, the EF-FG-GH-HI segment is the synchronization zone. When obtaining the planned trajectory under the speed partition, the second moving distance of the cam on the Y axis is W+Sy2+Sy3, and the total distance of the synchronous speed partition is W+Sy2+Sy3+L. The third moving distance of the cam in the fourth axial direction, that is, the Z axis, is the second cutting length L. When the maximum running speeds of the Y axis and the Z axis are the same, according to the second moving distance, the total distance of the synchronous speed partition, the second moving time Tsyn of the cam in the synchronous speed partition and the total distance of the synchronous speed partition, the first running time of the cam on the Y axis, that is, the running time of the Y axis accounts for the total time Tsyn_y of the synchronous speed partition.

[0115] Tsyn_y=Tsyn×(W+Sy2+Sy3) / (W+Sy2+Sy3+L);

[0116] According to the second moving time Tsyn, the third moving distance and the total distance of the synchronous speed partition, the second running time of the cam on the Z axis, that is, the running time of the Z axis accounts for the total time of the synchronous zone Tsyn_z, is determined as follows:

[0117] Tsyn_z=Tsyn×L / (W+Sy2+Sy3+L);

[0118] Assuming that the maximum operating speed of the Z axis in the relevant parameters of this laser cutting machine is 4 times that of the Y axis, the first operating time is

[0119] Tsyn_y=Tsyn×(W+Sy2+Sy3) / (W+Sy2+Sy3+L / 4);

[0120] The second run time is

[0121] Tsyn_z=Tsyn×(L / 4) / (W+Sy2+Sy3+L / 4).

[0122] The calculation of the above running time ratio prepares data for the confirmation and control of the planned trajectory.

[0123] In some embodiments, the planned trajectory under the speed partition is obtained, including: the first axial direction is in the synchronous speed partition, and the first cutting length of the workpiece to be cut is obtained; the first synchronous cutting time is determined according to the first running time, the first cutting length and the second moving distance; the second acceleration absolute value is determined according to the first synchronous cutting time and the first cutting length; the fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment is determined according to the first moving distance, the second acceleration absolute value, the spindle displacement, the spindle position of the cam in the first trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the first trajectory segment.

[0124] In an embodiment, Figure 4 and Fig.11 As shown, when the first trajectory segment is the EF segment, in the EF segment, when the planned trajectory under the speed partition is obtained, the first axis X-axis is in the synchronous speed partition, and the first cutting length W of the to-be-cut piece is obtained, and the second moving distance is W+Sy3+Sy2. The first synchronous cutting time length Ty2 is determined according to the first running time Tsyn_y, the first cutting length W and the second moving distance.

[0125] Ty2=[W / (W+Sy2+Sy3)]×Tsyn_y;

[0126] Determine the absolute value of the second acceleration ay2 according to the first synchronous cutting time Ty2 and the first cutting length W, keep the Z axis at the position Sz1 and the U axis at the angle β, and divide this section into half uniform acceleration section and half uniform deceleration section. The absolute value of acceleration and deceleration, i.e., the absolute value of the second acceleration ay2, is

[0127] ay2==2s / t2==2×(W / 2) / (Ty2 / 2)2=4×W / Ty22;

[0128] The fourth planned trajectory Sy24 of the spindle and the third axial direction Y in the first trajectory segment is determined according to the first moving distance, the second acceleration, the spindle displacement, the spindle position of the cam in the first trajectory segment EF in the second axial direction, and the running speed of the workpiece to be cut in the first trajectory segment, wherein the spindle position of the first trajectory segment EF includes: the displacement So4 from the spindle initial point to the spindle initial point of the first trajectory segment and the displacement So5 from the spindle center point to the spindle initial point of the first trajectory segment.

[0129] By confirming the fourth planned trajectory, the X-axis is controlled according to the displacement relationship between the X-axis and the spindle, and the Y-axis is controlled to run in the EF segment according to the planned trajectory when in the synchronous speed partition, so that the laser cutting machine can cut according to the planned trajectory in the EF segment.

[0130] In some embodiments, the fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment is determined according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle position of the first trajectory segment, and the running speed of the workpiece to be cut in the first trajectory segment, including: the first cutting length is a uniform acceleration distance, and the fourth planned trajectory is determined according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle initial point of the first trajectory segment, and the running speed of the workpiece to be cut.

[0131] In an embodiment, Figure 4 and Fig.11 As shown, in the EF segment, the fourth planned trajectory of the spindle and the third axial Y axis in the first trajectory segment is determined according to the first moving distance sy1, the second acceleration absolute value ay2, the spindle displacement Smain, the spindle position of the first trajectory segment and the running speed Vm of the workpiece to be cut in the first trajectory segment. When the first cutting length is half the uniform acceleration distance of the uniform acceleration segment, the fourth planned trajectory Sy24 is determined according to the first moving distance sy1, the second acceleration absolute value ay2, the spindle displacement Smain, the displacement So4 from the spindle initial point to the spindle initial point of the first trajectory segment and the running speed Vm of the workpiece to be cut.

[0132] Sy24=Sy1+ay2×((Smain-So4) / Vm)2 / 2.

[0133] In some embodiments, the fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment is determined according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle position of the first trajectory segment, and the running speed of the workpiece to be cut in the first trajectory segment, including: the first cutting length is a uniform deceleration distance, and the fourth planned trajectory is determined according to the first moving distance, the first cutting length, the absolute value of the second acceleration, the spindle displacement, the first synchronous cutting time, the spindle center point of the first trajectory segment, and the running speed of the workpiece to be cut.

[0134] In the embodiment, in the EF segment, the fourth planned trajectory Sy24 of the spindle and the third axial direction Y in the first trajectory segment is determined according to the first moving distance sy1, the absolute value of the second acceleration ay2, the spindle displacement Smain, the spindle position of the first trajectory segment and the running speed Vm of the workpiece to be cut in the first trajectory segment; when the first cutting length is half the uniform deceleration distance of the uniform deceleration segment, the fourth planned trajectory Sy24 is determined according to the first moving distance sy1, the first cutting length W, the absolute value of the second acceleration ay2, the spindle displacement Smain, the first synchronous cutting time Ty2, the displacement So5 from the spindle center point to the spindle initial point of the first trajectory segment and the running speed Vm of the workpiece to be cut.

[0135] Sy24=Sy1+W / 2+ay2×(Ty2 / 2)×(Smain-So5) / Vm-ay2×((Smain-So5) / Vm)2 / 2.

[0136] In some embodiments, the process of obtaining the planned trajectory under the speed partition also includes: when the first axis is in the synchronous speed partition, obtaining the third movement distance of the cam in the fourth axis Z; controlling the fourth axis to be in the third movement distance and controlling the fourth axis to maintain a preset rotation angle.

[0137] In an embodiment, Figure 4 and Fig.11 As shown, in the process of obtaining the planned trajectory under the speed partition in the EF segment, it is necessary to obtain the third moving distance Sz1 of the cam on the fourth axis Z when the first axis X axis is in the acceleration speed partition. The displacement relationship between the Y axis, Z axis and U axis is calculated by the trigonometric function relationship. The preset rotation angle of the U axis is β. The values ​​of the Z axis and the U axis are calculated based on the position of the Y axis. The third moving distance sz1 of the cam on the fourth axis to the Z axis is

[0138] Sz1 = b + cr × cos (90 + α + β);

[0139] The Z axis is controlled to maintain the position of Sz=Sz1, and the U axis is controlled to maintain the angle β, so as to realize the calculation of the planned trajectory in the EF segment.

[0140] In some embodiments, obtaining a planned trajectory under a speed partition includes: when the first axial direction is in a synchronous speed partition, obtaining a fourth moving distance of the cam in the third axial direction; determining a second synchronous cutting duration according to the fourth moving distance, the first running duration, and the second moving distance; determining a third acceleration absolute value according to the second synchronous cutting duration and the third moving distance; determining a fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment according to the third acceleration absolute value, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the second trajectory segment; determining a sixth planned trajectory of the spindle and the fourth axial direction in the second trajectory segment according to the fifth planned trajectory and the functional relationship between the fourth axial direction and the third axial direction; determining a seventh planned trajectory of the spindle and the second axial direction in the second trajectory segment according to the functional relationship between the fifth planned trajectory, the second axial direction, and the third axial direction.

[0141] In an embodiment, Figure 4 and Fig.11 As shown, when the second trajectory segment is the FG segment, in the FG segment, when obtaining the planned trajectory under the speed partition, when the first axis is in the synchronous speed partition, the displacement relationship between the Y axis, the Z axis and the U axis is calculated by the trigonometric function relationship, and the fourth moving distance Sy2 of the cam in the third axis Y is

[0142] Sy2 = r-Sy1-a;

[0143] The second moving distance is W+Sy2+Sy3. The second synchronous cutting duration is determined according to the fourth moving distance Sy2, the first running time Tsyn_y and the second moving distance. That is, the time Ty3 of the Y-axis running Sy2 in the FG segment for the second moving distance is

[0144] Ty3=[Sy2 / (W+Sy2+Sy3)]×Tsyn_y;

[0145] The FG segment is divided into a half uniform acceleration segment and a half uniform deceleration segment. According to the second synchronous cutting time Ty3 and the third moving distance Sy2, the absolute value ay3 of the third acceleration is determined as:

[0146] ay3=2s / t2==2×(Sy2 / 2) / (Ty3 / 2)2=4×Sy2 / Ty3 2 ;

[0147] According to the third acceleration absolute value ay3, the first moving distance sy1, the first cutting length W, the spindle displacement Smain, the spindle position of the cam in the second trajectory segment of the second axial direction U axis and the running speed Vm of the workpiece to be cut in the second trajectory segment, it is determined that the fifth planned trajectory of the spindle and the third axial direction Y in the second trajectory segment is Sy25, wherein the spindle position includes the displacement So6 from the initial point of the spindle to the initial point of the spindle in the FG segment and the displacement So7 from the center point of the spindle in the FG segment to the initial point of the spindle. According to the fifth planned trajectory Sy25, the functional relationship between the fourth axial direction Z and the third axial direction Y, the sixth planned trajectory Sz26 of the spindle and the fourth axial direction Z in the second trajectory segment is determined as

[0148] Sz26=b+cr×sin(arccos(-(Sy25+aW) / r);

[0149] According to the functional relationship between the fifth planned trajectory, the second axial direction U and the third axial direction Y, the seventh planned trajectory Su27 of the main axis and the second axial direction U in the second trajectory segment is determined as follows:

[0150] Su27=arccos(-(Sy25+aW) / r)-90-α.

[0151] Through the confirmation of the fifth planned trajectory, the sixth planned trajectory and the seventh planned trajectory, the X-axis, Y-axis and U-axis are controlled according to the displacement relationship between the X-axis and the main axis. When the X-axis, Y-axis and U-axis are controlled in the synchronous speed partition, they run in the FG segment according to the planned trajectory, thereby realizing the laser cutting machine to cut according to the planned trajectory in the FG segment.

[0152] In some embodiments, the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the third absolute value of acceleration, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment, and the running speed of the workpiece to be cut in the second trajectory segment, including: the fourth moving distance is a uniform acceleration distance, and the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the first moving distance, the first cutting length, the third absolute value of acceleration, the spindle displacement, the spindle initial point of the second trajectory segment, and the running speed of the workpiece to be cut in the second trajectory segment.

[0153] In an embodiment, Figure 4 and Fig.11As shown, in the FG segment, when the fifth planned trajectory Sy25 of the second trajectory segment of the spindle and the third axial Y axis is determined according to the third acceleration absolute value ay3, the first moving distance sy1, the first cutting length W, the spindle displacement Smain, the spindle position of the cam in the second trajectory segment of the second axial U axis and the running speed Vm of the workpiece to be cut in the second trajectory segment, the fourth moving distance is a uniform acceleration distance of half uniform acceleration, and the fifth planned trajectory Sy25 of the spindle and the third axial Y axis in the second trajectory segment is determined according to the first moving distance sy1, the first cutting length, the absolute value of the third acceleration ay3, the spindle displacement Smain, the displacement So6 from the spindle initial point to the spindle initial point in the second trajectory segment and the running speed Vm of the workpiece to be cut in the second trajectory segment.

[0154] Sy25=Sy1+W+ay3×((Smain-So6) / Vm)2 / 2.

[0155] In some embodiments, the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the absolute value of the third acceleration, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment, and the running speed of the workpiece to be cut in the second trajectory segment, including: the fourth moving distance is a uniform deceleration distance, and the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the first moving distance, the first cutting length, the absolute value of the third acceleration, the second synchronous cutting time, the spindle displacement, the spindle center point of the second trajectory segment, and the running speed of the workpiece to be cut in the second trajectory segment.

[0156] In an embodiment, Figure 4 and Fig.11 As shown, in the FG segment, the fifth planned trajectory Sy25 of the spindle and the third axial direction Y in the second trajectory segment is determined according to the third absolute value of acceleration ay3, the first moving distance sy1, the first cutting length W, the spindle displacement Smain, the spindle position of the cam in the second trajectory segment of the second axial direction U axis and the running speed Vm of the workpiece to be cut in the second trajectory segment. The fourth moving distance is a uniform deceleration distance of half uniform deceleration. The fifth planned trajectory Sy25 of the spindle and the third axial direction Y in the second trajectory segment is determined according to the first moving distance sy1, the first cutting length W, the absolute value of the third acceleration ay3, the second synchronous cutting time Ty3, the spindle displacement Smain, the displacement So7 from the spindle center point to the spindle initial point in the second trajectory segment and the running speed Vm of the workpiece to be cut in the second trajectory segment.

[0157] Sy25=Sy1+W+Sy2 / 2+ay3×(Ty3 / 2)×(Smain-So7) / Vm-ay3×((Smain-So7) / Vm)2 / 2.

[0158] In some embodiments, obtaining a planned trajectory under a speed partition includes: when the first axial direction is in a synchronous speed partition, obtaining a fifth moving distance of the cam in the third axial direction, a fifth moving distance of the cam in the fourth axial direction, and a sixth moving distance of the cam in the fourth axial direction; determining a third synchronous cutting duration according to the fifth moving distance, the first running time, and the second moving distance; determining a fourth acceleration absolute value according to the third synchronous cutting duration and the fifth moving distance; determining a twenty-fifth planned trajectory in the third trajectory segment according to the third moving distance, the fifth moving distance, the fourth acceleration absolute value, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment; determining a twenty-sixth planned trajectory of the spindle and the third axial direction in the third trajectory segment according to the functional relationship between the twenty-fifth planned trajectory, the third axial direction, and the fourth axial direction; determining an eighth planned trajectory of the spindle and the second axial direction in the third trajectory segment according to the functional relationship between the twenty-fifth planned trajectory, the second axial direction, and the third axial direction.

[0159] In an embodiment, Figure 4 and Fig.11 As shown, when the third trajectory segment is the GH segment, in the GH segment, when obtaining the planned trajectory under the speed partition, when the first axis is in the synchronous speed partition, the displacement relationship between the Y axis, the Z axis and the U axis is calculated by the trigonometric function relationship, and the fifth moving distance Sy3 of the cam in the third axis Y is

[0160] Sy3 = r + r × cos (180 + α + β);

[0161] In the FG segment, the fifth moving distance Sz2 of the cam along the fourth axis to the Z axis is

[0162] Sz2 = b + c - Sz1;

[0163] In the GH section, the sixth moving distance Sz3 of the cam in the fourth axial direction Z is

[0164] Sz3 = b + cr × cos (180 + α + β);

[0165] In the GH segment, the third synchronous cutting duration Ty4 is determined according to the fifth moving distance Sy3, the first running duration Tsyn_y and the second moving distance.

[0166] Ty4=Sy3 / (W+Sy2+Sy3)×Tsyn_y;

[0167] The GH segment is divided into half uniform acceleration and half uniform deceleration. The absolute value of the acceleration of half uniform acceleration and half uniform deceleration, i.e., the fourth absolute value of acceleration ay4, is determined according to the third synchronous cutting time Ty4 and the fifth moving distance Sy3:

[0168] az4=2s / t2==2×(Sz3 / 2) / (Ty4 / 2)2=4×Sz3 / Ty4 2 ;

[0169] The twenty-fifth planned trajectory Sz45 in the third trajectory segment is determined according to the third moving distance sz1, the fifth moving distance Sz2, the fourth acceleration absolute value ay4, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction U, and the running speed of the workpiece to be cut in the third trajectory segment, wherein the spindle position includes the initial point of the spindle in the GH segment and the center point of the spindle in the GH segment; the twenty-sixth planned trajectory Sy46 of the spindle and the third axial direction Y in the third trajectory segment is determined according to the functional relationship between the twenty-fifth planned trajectory Sz45, the third axial direction Y and the fourth axial direction Z:

[0170] Sy46=Sy1+w+Sy2-(rr×cos(|arcsin((b+c-Sz45) / r)|);

[0171] According to the functional relationship between the twenty-fifth planned trajectory, the second axial direction U and the third axial direction Y, the eighth planned trajectory Su28 of the main axis and the second axial direction U in the third trajectory segment is determined as follows:

[0172] Su28=|arcsin((b+c-Sz45) / lr)|+90-α.

[0173] Through the confirmation of the 25th planned trajectory, the 26th planned trajectory and the 8th planned trajectory, the X-axis, Y-axis and U-axis are controlled according to the displacement relationship between the X-axis and the spindle. When the X-axis, Y-axis and U-axis are in the synchronous speed zone, they run in the GH segment according to the planned trajectory, thereby realizing the laser cutting machine to cut according to the planned trajectory in the GH segment.

[0174] In some embodiments, the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the absolute value of the fourth acceleration, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment, including: the fifth moving distance is a uniform acceleration distance, and the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the absolute value of the fourth acceleration, the spindle displacement, the spindle initial point of the third trajectory segment, and the running speed of the workpiece to be cut in the third trajectory segment.

[0175] In an embodiment, Figure 4 and Fig.11As shown, in the GH segment, according to the third moving distance sz1, the fifth moving distance Sz2, the fourth acceleration absolute value ay4, the spindle displacement Smain, the spindle position of the cam in the third trajectory segment in the second axial direction U and the running speed Vm of the workpiece to be cut in the third trajectory segment, the twenty-fifth planned trajectory Sz26 in the third trajectory segment is determined, including the uniform acceleration distance of the fifth moving distance being half of the uniform acceleration segment, according to the third moving distance sz1, the fifth moving distance Sz2, the fourth acceleration absolute value ay4, the spindle displacement, the displacement So8 from the spindle initial point to the spindle initial point in the third trajectory segment GH and the running speed Vm of the workpiece to be cut in the third trajectory segment, the twenty-fifth planned trajectory Sz45 in the third trajectory segment is determined to be

[0176] Sz45=Sz1+Sz2+az4×((Smain-So8) / Vm)2 / 2.

[0177] In some embodiments, the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the absolute value of the fourth acceleration, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment, including: the fifth moving distance is a uniform deceleration distance, and the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the sixth moving distance of the cam in the fourth axial direction, the absolute value of the fourth acceleration, the third synchronous cutting time, the spindle displacement, the spindle center point of the third trajectory segment, and the running speed of the workpiece to be cut in the third trajectory segment.

[0178] In an embodiment, Figure 4 and Fig.11 As shown, in the GH segment, according to the third moving distance sz1, the fifth moving distance Sz2, the fourth acceleration ay4, the spindle displacement Smain, the spindle position of the cam in the third trajectory segment in the second axial direction U axis and the running speed Vm of the workpiece to be cut in the third trajectory segment, it is determined that when the twenty-fifth planned trajectory Sz45 in the third trajectory segment is, the fifth moving distance is a uniform deceleration distance of half uniform deceleration, and according to the third moving distance sz1, the fifth moving distance Sz2, the sixth moving distance Sz3 of the cam in the fourth axial direction Z, the fourth acceleration absolute value az4, the third synchronous cutting time Ty4, the spindle displacement, the displacement So9 from the spindle center point to the spindle initial point in the third trajectory segment GH and the running speed of the workpiece to be cut in the third trajectory segment, it is determined that the twenty-fifth planned trajectory in the third trajectory segment is Sz45

[0179] Sz45=Sz1+Sz2+Sz3 / 2+az4×(Ty4 / 2)×(S main-So9) / Vm-az4×((S main-So9) / Vm)2 / 2.

[0180] In some embodiments, obtaining a planned trajectory under a speed partition includes: when the first axis is in the synchronous speed partition, obtaining a second cutting length of the workpiece to be cut; determining the absolute value of a fifth acceleration according to the second cutting length and the second running time; determining a twenty-first planned trajectory according to the absolute value of the fifth acceleration, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut of the cam in the fourth trajectory segment in the second axis and the spindle position in the fourth trajectory segment; determining a twenty-second planned trajectory of the spindle and the third axis in the fourth trajectory segment according to the functional relationship between the twenty-first planned trajectory, the third axis and the fourth axis; determining a twenty-third planned trajectory of the spindle and the second axis in the fourth trajectory segment according to the functional relationship between the twenty-first planned trajectory, the second axis and the third axis.

[0181] In an embodiment, Figure 4 and Fig.11 As shown, when the fourth trajectory segment is HI, in the HI segment, when the planned trajectory under the speed partition is obtained, when the first axial direction is in the synchronous speed partition, the second cutting length L of the workpiece to be cut is obtained; the HI segment is divided into a half uniform acceleration segment and a half uniform deceleration segment, and the absolute value of the acceleration of the half uniform acceleration segment and the half uniform deceleration segment is determined according to the second cutting length L and the second running time Tsyn_z, that is, the absolute value of the fifth acceleration az5 is

[0182] az5=2s / t2==2×(L / 2) / (Tsyn_z / 2)2=4×L / Tsyn_z2;

[0183] The twenty-first planned trajectory Sz41 is determined according to the fifth acceleration absolute value az5, the third moving distance sz1, the fifth moving distance Sz2, the sixth moving distance, the spindle displacement Smain, the running speed of the cam in the fourth trajectory segment of the workpiece to be cut in the second axial direction U axis and the spindle position in the fourth trajectory segment, wherein the spindle position includes the initial point of the spindle in the HI segment and the center point of the spindle in the HI segment; the twenty-second planned trajectory Sy42 of the spindle and the third axial direction Y in the fourth trajectory segment is determined according to the functional relationship between the twenty-first planned trajectory Sz41, the third axial direction Y and the fourth axial direction Z as follows:

[0184] Sy42=Sy1+w+Sy2-(rr×cos(|arcsin((b+c-Sz41) / r)|);

[0185] According to the functional relationship between the twenty-first planned trajectory Sz41, the second axial direction U and the third axial direction Y, the twenty-third planned trajectory Su43 of the main axis and the second axial direction U in the fourth trajectory segment is determined as follows:

[0186] Su43=|arcsin((b+c-Sz41) / lr)|+90-α.

[0187] Through the confirmation of the 21st planned trajectory, the 22nd planned trajectory and the 23rd planned trajectory, the X-axis, Y-axis and U-axis are controlled according to the displacement relationship between the X-axis and the main axis. When the X-axis, Y-axis and U-axis are controlled in the synchronous speed partition, they run in the HI section according to the planned trajectory, thereby realizing the laser cutting machine to cut according to the planned trajectory in the HI section.

[0188] In some embodiments, the twenty-first planned trajectory is determined according to the absolute value of the fifth acceleration, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment of the cam in the second axial direction, and the spindle position in the fourth trajectory segment, including: the second cutting length is a uniform acceleration distance, and the twenty-first planned trajectory is determined according to the third moving distance, the fifth moving distance, the sixth moving distance, the absolute value of the fifth acceleration, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment, and the spindle initial point in the fourth trajectory segment.

[0189] In an embodiment, Figure 4 and Fig.11 As shown, in the HI segment, the twenty-first planned trajectory Sz41 is determined according to the fifth acceleration absolute value az5, the third moving distance sz1, the fifth moving distance Sz2, the sixth moving distance Sz3, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment of the cam in the second axial direction U and the spindle position in the fourth trajectory segment; when the second cutting length L is the uniform acceleration distance of half uniform acceleration, the twenty-first planned trajectory Sz41 is determined according to the third moving distance sz1, the fifth moving distance Sz2, the sixth moving distance Sz3, the fifth acceleration absolute value az5, the spindle displacement Smain, the running speed of the workpiece to be cut in the fourth trajectory segment and the displacement So10 of the spindle from the starting point to the initial point of the spindle in the HI segment of the fourth trajectory segment.

[0190] Sz41=Sz1+Sz2+Sz3+az5×((S main-So10) / Vm)2 / 2.

[0191] In some embodiments, the twenty-first planned trajectory is determined according to the absolute value of the fifth acceleration, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment of the cam in the second axial direction, and the spindle position in the fourth trajectory segment, including: the second cutting length is a uniform deceleration distance, and the twenty-first planned trajectory is determined according to the third moving distance, the fifth moving distance, the sixth moving distance, the absolute value of the fifth acceleration, the second cutting length, the fourth synchronous cutting time, the spindle displacement, the spindle center point of the fourth trajectory segment, and the running speed of the workpiece to be cut in the fourth trajectory segment.

[0192] In an embodiment, Figure 4 and Fig.11As shown, in the HI segment, the twenty-first planned trajectory Sz41 is determined according to the fifth acceleration absolute value az5, the third moving distance sz1, the fifth moving distance Sz2, the sixth moving distance Sz3, the spindle displacement Smain, the running speed Vm of the workpiece to be cut in the fourth trajectory segment of the cam in the second axial direction U and the spindle starting point in the fourth trajectory segment. When the second cutting length is the uniform deceleration distance of half the uniform deceleration, the twenty-first planned trajectory Sz41 is determined according to the third moving distance sz1, the fifth moving distance Sz2, the sixth moving distance Sz3, the fifth acceleration absolute value az5, the second cutting length L, the fourth synchronous cutting time Tsyn_z, the spindle displacement, the displacement So11 of the spindle from the center point of the fourth trajectory segment to the spindle initial point in the HI segment and the running speed of the workpiece to be cut in the fourth trajectory segment.

[0193] Sz41=Sz1+Sz2+Sz3+L / 2+az5×(Tsyn_z / 2)×(S main-So11) / Vm-az5×((S main-So11) / Vm)2 / 2.

[0194] In some embodiments, obtaining a planned trajectory under a speed partition includes: when the first axis is a deceleration speed partition, obtaining a second cutting length of the workpiece to be cut; determining a fifth acceleration absolute value according to the second cutting length and the second running time; determining a twenty-fourth planned trajectory according to the fifth acceleration absolute value, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut and the spindle position of the cam in the fifth trajectory segment in the second axis; determining a ninth planned trajectory of the spindle and the third axis in the fifth trajectory segment according to the functional relationship between the twenty-fourth planned trajectory, the third axis and the fourth axis; determining a tenth planned trajectory of the spindle and the second axis in the fifth trajectory segment according to the functional relationship between the twenty-fourth planned trajectory, the second axis and the third axis.

[0195] In an embodiment, Figure 4 and Fig.11 As shown, when the fifth trajectory segment is IH, within the IH segment, the time occupied by cutting in the IH segment, the absolute values ​​of acceleration of half uniform acceleration and half uniform deceleration are the same as HI. Therefore, when obtaining the planned trajectory under the speed partition, when the first axial direction is the deceleration speed partition, the second cutting length L of the workpiece to be cut is obtained; the fifth acceleration absolute value az5 is determined according to the second cutting length L and the second running time Tsyn_z; the twenty-fourth planned trajectory Sz44 is determined according to the fifth acceleration absolute value, the third moving distance sz1, the fifth moving distance Sz2, the sixth moving distance Sz3, the spindle displacement, the running speed of the workpiece to be cut and the spindle position of the cam in the fifth trajectory segment of the second axial direction U axis, wherein the spindle position includes the initial point in the IH segment and the center point in the IH segment, the displacement of the spindle from the initial point to the initial point of the spindle in the HI segment is So12, and Sz44 in the half uniform acceleration segment is

[0196] Sz44=Sz1+Sz2+Sz3+L-az5×((S main-So12) / Vm)2 / 2;

[0197] The displacement of the spindle from the center point to the initial point of the spindle in the HI section is So13, and the displacement in the half uniform deceleration section is Sz24.

[0198] Sz24=Sz1+Sz2+Sz3+L / 2-az5×(Tsyn_z / 2)×(S main-So13) / Vm+az5×((S main-So13) / Vm)2 / 2;

[0199] According to the functional relationship between the twenty-fourth planned trajectory Sz44, the third axis Y and the fourth axis Z, the ninth planned trajectory Sy29 of the main axis and the third axis Y in the fifth trajectory segment is determined as follows:

[0200] Sy29=Sy1+w+Sy2-(rr×cos(|arcsin((b+c-Sz44) / r)|);

[0201] According to the functional relationship between the twenty-fourth planned trajectory Sz44, the second axial direction U and the third axial direction Y, the tenth planned trajectory Su30 of the main axis and the second axial direction U in the fifth trajectory segment is determined as follows:

[0202] Su30=|arcsin((b+c-Sz44) / lr)|+90-α.

[0203] By confirming the twenty-fourth planned trajectory, the ninth planned trajectory and the tenth planned trajectory, the X-axis, Y-axis and U-axis are controlled according to the displacement relationship between the X-axis and the main axis. When the X-axis, Y-axis and U-axis are in the deceleration speed zone, they run in the IH segment according to the planned trajectory, thereby realizing the laser cutting machine to cut according to the planned trajectory in the IH segment.

[0204] In some embodiments, obtaining a planned trajectory under a speed partition includes: when the first axial direction is a return speed partition, obtaining the fifth moving distance of the cam in the third axial direction, the fifth moving distance of the cam in the fourth axial direction, and the sixth moving distance of the cam in the fourth axial direction; determining the third synchronous cutting duration according to the fifth moving distance, the first running time, and the second moving distance; determining the fourth acceleration absolute value according to the third synchronous cutting duration and the fifth moving distance; determining the eleventh planned trajectory in the sixth trajectory segment according to the third moving distance, the fifth moving distance, the fourth acceleration absolute value, the spindle displacement, the spindle position of the sixth trajectory segment, and the running speed of the workpiece to be cut in the sixth trajectory segment; determining the twelfth planned trajectory of the spindle and the third axial direction in the sixth trajectory segment according to the eleventh planned trajectory, the functional relationship between the third axial direction and the fourth axial direction; determining the thirteenth planned trajectory of the spindle and the second axial direction in the sixth trajectory segment according to the functional relationship between the eleventh planned trajectory, the second axial direction, and the third axial direction.

[0205] In an embodiment, Figure 4 and Fig.11 As shown, when the sixth trajectory segment is HG, in the HG segment, the duration of cutting in the HG segment, the absolute values ​​of acceleration of half uniform acceleration and half uniform deceleration are the same as those in the GH segment. Therefore, when obtaining the planned trajectory under the speed partition, when the first axial direction is the return speed partition, the fifth moving distance Sy3 of the cam in the third axial direction Y, the fifth moving distance Sz2 of the cam in the fourth axial direction Z, and the sixth moving distance Sz3 of the cam in the fourth axial direction Z are obtained; the third synchronous cutting duration Ty4 is determined according to the fifth moving distance Sy3, the first running duration Tsyn_y, and the second moving distance ; Determine the fourth acceleration absolute value ay4 according to the third synchronous cutting time Ty4 and the fifth moving distance Sy3; determine the eleventh planned trajectory Sz31 in the sixth trajectory segment according to the third moving distance sz1, the fifth moving distance Sz2, the seventh acceleration absolute value ay4, the spindle displacement, the spindle position of the sixth trajectory segment and the running speed of the workpiece to be cut in the sixth trajectory segment, wherein the spindle position includes the initial point in the HG segment and the center point in the HG segment, the displacement of the spindle from the initial point to the initial point of the spindle in the HG segment is So14, and Sz31 in the half uniform acceleration segment is

[0206] Sz31=Sz1+Sz2+Sz3-az4×((S main-So14) / Vm)2 / 2;

[0207] The displacement of the spindle from the center point to the initial point of the spindle in the HG segment is So15, and Sz31 in the half uniform deceleration segment is

[0208] Sz31=Sz1+Sz2+Sz3 / 2-az4×(Ty4 / 2)×(Smain-So15) / Vm+az4×((Smain-So15) / Vm)2 / 2

[0209] According to the functional relationship between the eleventh planned trajectory Sz31, the third axis Y and the fourth axis Z, the twelfth planned trajectory Sy32 of the main axis and the third axis Y in the sixth trajectory segment is determined as follows:

[0210] Sy32=Sy1+w+Sy2-(rr×cos(|arcsin((b+c-Sz31) / r)|);

[0211] According to the functional relationship between the eleventh planned trajectory Sz31, the second axial direction U and the third axial direction Y, the thirteenth planned trajectory Su33 of the main axis and the second axial direction U in the sixth trajectory segment is determined as follows:

[0212] Su33=|arcsin((b+c-Sz31) / lr)|+90-α.

[0213] By confirming the eleventh planned trajectory, the twelfth planned trajectory and the thirteenth planned trajectory, the X-axis, Y-axis and U-axis are controlled according to the displacement relationship between the X-axis and the main axis. When the X-axis, Y-axis and U-axis return to the speed partition, they run in the HG segment according to the planned trajectory, thereby realizing the laser cutting machine to cut according to the planned trajectory in the HG segment.

[0214] In some embodiments, obtaining a planned trajectory under a speed partition includes: when the first axis is a return speed partition, obtaining a fourth moving distance of the cam in the third axis; determining a second synchronous cutting duration according to the fourth moving distance, the first running duration, and the second moving distance; determining a third acceleration absolute value according to the second synchronous cutting duration and the third moving distance; determining a fourteenth planned trajectory of the spindle and the third axis in the seventh trajectory segment according to the third acceleration absolute value, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the seventh trajectory segment, and the running speed of the workpiece to be cut; determining a fifteenth planned trajectory of the spindle and the fourth axis in the seventh trajectory segment according to the fourteenth planned trajectory and a functional relationship between the fourth axis and the third axis; determining a sixteenth planned trajectory of the spindle and the second axis in the seventh trajectory segment according to the fourteenth planned trajectory and a functional relationship between the second axis and the third axis.

[0215] In an embodiment, Figure 4 and Fig.11 As shown, when the seventh trajectory segment is GF, in the GF segment, the time occupied by cutting in the GF segment, the absolute values ​​of acceleration of half uniform acceleration and half uniform deceleration are the same as those in the FG segment. Therefore, when the first axial direction is the return speed partition, the fourth moving distance Sy2 of the cam in the third axial direction Y is obtained; the second synchronous cutting time Ty3 is determined according to the fourth moving distance Sy2, the first running time Tsyn_y and the second moving distance; the third acceleration absolute value ay3 is determined according to the second synchronous cutting time Ty3 and the third moving distance Sy2; the fourteenth planned trajectory Sy34 of the spindle and the third axial direction Y in the seventh trajectory segment is determined according to the third acceleration absolute value, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the seventh trajectory segment and the running speed of the workpiece to be cut, wherein the spindle position includes the initial point in the GF segment and the center point in the GF segment, the displacement of the spindle from the initial point to the initial point of the spindle in the GF segment is So16, and Sy34 in the half uniform acceleration segment is

[0216] Sy34 = Sy1 + W + Sy2 - ay3 × ((Smain - So16) / Vm)2 / 2;

[0217] The displacement of the spindle from the center point to the initial point of the spindle in the GF segment is So17, and the displacement of the spindle from the center point to the initial point of the spindle in the half uniform deceleration segment is Sy34.

[0218] Sy34=Sy1+W+Sy2 / 2-ay3×(Ty3 / 2)×(Smain-So17) / Vm+ay3×((Smain-So17) / Vm)2 / 2;

[0219] According to the functional relationship between the fourteenth planned trajectory Sy34, the fourth axis Z and the third axis Y, the fifteenth planned trajectory Sz35 of the main axis and the fourth axis Z in the seventh trajectory segment is determined as follows:

[0220] Sz35=b+cr×sin(arccos(-(Sy34+aW) / r);

[0221] According to the functional relationship between the fourteenth planned trajectory Sy34, the second axis U and the third axis Y, the sixteenth planned trajectory Su36 of the main axis and the second axis U in the seventh trajectory segment is determined as follows:

[0222] Su36=arccos(-(Sy34+aW) / r)-90-α.

[0223] Through the confirmation of the fourteenth planning trajectory, the fifteenth planning trajectory and the sixteenth planning trajectory, the X-axis, Y-axis and U-axis are controlled according to the displacement relationship between the X-axis and the main axis. When the X-axis, Y-axis and U-axis are in the return speed zone, they run in the GF segment according to the planned trajectory, thereby realizing the laser cutting machine to cut according to the planned trajectory in the GF segment.

[0224] In some embodiments, obtaining a planned trajectory under a speed partition includes: when the first axial direction is in the return speed partition, obtaining a first cutting length of the workpiece to be cut; determining a first synchronous cutting duration according to the first running duration, the first cutting length, and the second moving distance; determining a second acceleration absolute value according to the first synchronous cutting duration and the first cutting length; determining the seventeenth planned trajectory of the spindle and the third axial direction in the eighth trajectory segment according to the first moving distance, the second acceleration absolute value, the spindle displacement, the spindle position of the eighth trajectory segment, and the running speed of the workpiece to be cut.

[0225] In an embodiment, Figure 4 and Fig.11As shown, when the eighth trajectory segment is FE, in the FE segment, the time occupied by cutting in the FE segment, the absolute values ​​of acceleration of half uniform acceleration and half uniform deceleration are the same as those in the EF segment. Therefore, when obtaining the planned trajectory under the speed partition, when the first axial direction is in the return speed partition, the first cutting length w of the workpiece to be cut is obtained; the first synchronous cutting time Ty2 is determined according to the first running time Tsyn_y, the first cutting length W and the second moving distance; the second acceleration absolute value ay2 is determined according to the first synchronous cutting time Ty2 and the first cutting length W; the seventeenth planned trajectory Sy37 of the spindle and the third axial Y axis in the eighth trajectory segment is determined according to the first moving distance, the second acceleration absolute value ay2, the spindle displacement Smain, the spindle position of the eighth trajectory segment and the running speed of the workpiece to be cut, the Z axis is controlled to remain at the position of Sz1, the U axis is controlled to remain at the angle β, the displacement of the spindle from the initial point to the initial point of the spindle in the FE segment is So18, and Sy37 in the half uniform acceleration segment is

[0226] Sy37 = Sy1 + W-ay2 × ((Smain-So18) / Vm)2 / 2;

[0227] The displacement of the spindle from the center point to the initial point of the spindle in the FE segment is So19, and the displacement in the half uniform deceleration segment is Sy37.

[0228] Sy37 = Sy1 + W / 2 - ay2 × (Ty2 / 2) × (Smain - So19) / Vm + ay2 × ((Smain - So19) / Vm)2 / 2;

[0229] Through the confirmation of the seventeenth planned trajectory, the X-axis is controlled according to the displacement relationship between the X-axis and the spindle, and the Y-axis is controlled to run in the FE segment according to the planned trajectory when returning to the speed partition, so that the laser cutting machine can cut according to the planned trajectory in the FE segment.

[0230] In some embodiments, the planned trajectory under the speed partition is obtained, including: when the angle of the cam in the second axial direction is a preset rotation angle and the first axial direction is in the return speed partition, obtaining the first movement distance of the cam in the third axial direction; determining the eighteenth planned trajectory of the spindle and the third axial direction in the return speed partition according to the first movement distance, the first movement time, the spindle displacement of the spindle, and the spindle position of the ninth trajectory segment; determining the nineteenth planned trajectory of the spindle and the fourth axial direction in the return speed partition according to the functional relationship between the eighteenth planned trajectory, the fourth axial direction and the third axial direction; determining the twentieth planned trajectory of the spindle and the second axial direction in the return speed partition according to the functional relationship between the eighteenth planned trajectory, the second axial direction and the third axial direction.

[0231] In an embodiment, Figure 4 and Fig.11As shown, when the ninth trajectory segment is EA, in the EA segment, the time occupied by cutting in the EA segment, the absolute values ​​of acceleration of half uniform acceleration and half uniform deceleration are the same as those in the AE segment. Therefore, when obtaining the planned trajectory under the speed partition, when the angle of the cam on the second axial U axis is the preset rotation angle β and the first axial X axis is in the return speed partition, the first movement distance Sy1 of the cam on the third axial axis is obtained; according to the first movement distance Sy1, the first movement time Tacc and the spindle displacement Smain of the spindle, the spindle position of the ninth trajectory segment determines the eighteenth planned trajectory Sy38 of the spindle and the third axial Y axis in the return speed partition, and the displacement of the spindle from the initial point to the initial point of the spindle in the EA segment is So20, and Sy38 in the half uniform acceleration segment is

[0232] Sy38 = Sy1 / 2-ay1×((Smain-So20) / Vm)2 / 2;

[0233] The displacement of the spindle from the center point to the initial point of the spindle in the EA segment is So21, and the displacement of the spindle from the center point to the initial point of the spindle in the half uniform deceleration segment is Sy38.

[0234] Sy38 = Sy1 / 2-ay1×(Tacc / 2)×((Smain-So21) / Vm)+ay1×((Smain-So21) / Vm)2 / 2;

[0235] According to the functional relationship between the eighteenth planning trajectory Sy38, the fourth axis and the third axis, the nineteenth planning trajectory Sz39 of the main axis and the fourth axis Z axis in the return speed partition is determined as follows:

[0236] Sz39=b+cr×sin(arccos(-(Sy38+a) / r);

[0237] According to the functional relationship between the eighteen planned trajectories Sy38, the second axial direction and the third axial direction, the twentieth planned trajectory Su40 of the main axis and the second axial U axis in the return speed partition is determined as follows:

[0238] Su40=arccos(-(Sy38+a) / r)-90-α;

[0239] Through the confirmation of the eighteenth planned trajectory, the nineteenth planned trajectory and the twentieth planned trajectory, the X-axis, Y-axis and U-axis are controlled according to the displacement relationship between the X-axis and the spindle. When the X-axis, Y-axis and U-axis return to the speed partition, they run in the EA segment according to the planned trajectory, thereby realizing the laser cutting machine to cut according to the planned trajectory in the EA segment.

[0240] In some embodiments, after controlling the cam to run according to the planned trajectory according to the displacement relationship and speed partition, it also includes: obtaining the first cutting length and the second cutting length of the piece to be cut; and determining the planned trajectory of the cam under the speed partition according to the first cutting length and the second cutting length.

[0241] In an embodiment, after the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed partition, when the parameters of the workpiece to be cut, such as the first cutting length W and the second cutting length L, change, it is only necessary to modify the first cutting length W and the second cutting length L, and the controller will obtain the modified first cutting length W and the second cutting length L of the workpiece to be cut. According to the modified first cutting length W and the second cutting length L, the controller will automatically use the above-mentioned method for obtaining the trajectory segment of the cam, and according to the trigonometric function relationship, combined with the proportion of each time segment in the main axis and the speed partition, the trajectory of the rotating center axis is plotted, and combined with the above-mentioned trajectory analysis process, a new cam trajectory segment AE-EF-FG-GH-HI-IH-HG-GF-FE-EA is automatically generated, and then a new planned trajectory is generated. The method of generating the new planned trajectory is the same as the first to twenty-sixth planned trajectories corresponding to the above-mentioned AE-EF-FG-GH-HI-IH-HG-GF-FE-EA, and will not be repeated. This process only requires modifying the first cutting length W and the second cutting length L, and does not require complicated manual operations, thus saving labor costs and improving cutting efficiency.

[0242] Reference below Fig.12 The cam cutting control method according to the embodiment of the present invention is described in detail.

[0243] like Fig.12 As shown, a flow chart of a cam cutting control method according to an embodiment of the present invention is shown. The cam cutting control method according to the embodiment of the present invention at least comprises steps S10 to S14.

[0244] Step S10, obtaining the speed partition where the cam is located in the first axial direction X.

[0245] Step S11, obtaining the first to ninth track segments of the cam.

[0246] Step S12, obtaining the displacement relationship between the cam and the main shaft in the first axial direction X.

[0247] Step S13, obtaining the first to twenty-sixth planned trajectories under the speed partition.

[0248] Step S14, controlling the cam to run according to the first to twenty-sixth planned trajectories.

[0249] According to the cam cutting control method of the embodiment of the present invention, by obtaining the speed partition of the cam in the first axial direction X, the displacement relationship between the cam and the main shaft in the first axial direction X, and the planned trajectory of the cam in the remaining axial directions, the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed partition. Since the speed partition, the displacement relationship and the planned trajectory are all obtained according to the parameters of the workpiece to be cut and the parameters of the cutting machine, the remaining axial directions are controlled according to the displacement relationship and the speed partition, and then the cam is controlled to run according to the planned trajectory, so as to achieve higher accuracy of laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and improve the user experience.

[0250] Reference below Fig.13 A cutting apparatus 100 according to an embodiment of the present invention is described.

[0251] like Fig.13 , which is a block diagram of a cutting device according to an embodiment of the present invention. The cutting device 100 according to the embodiment of the present invention comprises: at least one processor 50, and a memory 51 in communication with the at least one processor 50, wherein the memory 51 stores a cam cutting control program executable by the at least one processor 50, and when the cam cutting control program is executed by the at least one processor 50, the at least one processor 50 executes the cam cutting control method as described above.

[0252] According to the cutting device of the embodiment of the present invention, by obtaining the speed partition of the cam in the first axial direction X, the displacement relationship between the cam in the first axial direction X and the main shaft, and the planned trajectory of the cam in the remaining axial directions, the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed partition. Since the speed partition, the displacement relationship and the planned trajectory are all obtained according to the parameters of the workpiece to be cut and the parameters of the cutting machine, the remaining axial directions are controlled according to the displacement relationship and the speed partition, and then the cam is controlled to run according to the planned trajectory, so as to achieve higher accuracy of laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and improve the user experience.

[0253] In some embodiments, the processor 50 controls the cam to run according to the planned trajectory according to the displacement relationship and the speed partition, including: when controlling the first axial direction to enter the preset speed partition according to the displacement relationship, controlling the cam to run according to the planned trajectory according to the speed partition.

[0254] In some embodiments, the processor 50 controls the cam to run according to the planned trajectory according to the speed partition, including: obtaining the planned trajectory under the speed partition; and controlling the cam to run according to the planned trajectory.

[0255] In some embodiments, the processor 50 obtains a planned trajectory under a speed partition, including: when the angle of the cam in the second axial direction is a preset rotation angle and the first axial direction is in an acceleration speed partition, obtaining a first movement distance of the cam in the third axial direction; determining a first planned trajectory of the spindle and the third axial direction in the acceleration speed partition according to the first movement distance, the first movement time, and the spindle displacement of the spindle; determining a second planned trajectory of the spindle and the fourth axial direction in the acceleration speed partition according to a functional relationship between the first planned trajectory, the fourth axial direction and the third axial direction; determining a third planned trajectory of the spindle and the second axial direction in the acceleration speed partition according to a functional relationship between the first planned trajectory, the second axial direction and the third axial direction.

[0256] In some embodiments, the processor 50 determines the first planned trajectory of the spindle and the third axial direction in the acceleration speed partition based on the first moving distance, the first moving time and the spindle displacement of the spindle, including: the first moving distance is a uniform acceleration distance, and the first absolute value of acceleration is determined based on the first moving time and the first moving distance; the first planned trajectory is determined based on the running speed and spindle displacement of the cam of the workpiece to be cut in the acceleration speed partition according to the first absolute value of acceleration.

[0257] In some embodiments, the processor 50 determines the first planned trajectory of the spindle and the third axial direction in the acceleration speed partition based on the first moving distance, the first moving time and the spindle displacement of the spindle, including: the first moving distance is a uniform deceleration distance, and the first acceleration absolute value is determined based on the first moving time and the first moving distance; the first planned trajectory is determined based on the first acceleration absolute value, the first moving distance, the first moving time, the total displacement of the cam in the acceleration speed partition, the running speed of the cam in the acceleration speed partition and the spindle displacement.

[0258] In some embodiments, the process in which the processor 50 obtains the planned trajectory under the speed partition also includes: obtaining the second moving distance of the cam in the third axial direction and the third moving distance of the cam in the fourth axial direction; determining the first running time of the cam in the third axial direction according to the second moving distance, the second moving time of the cam in the synchronous speed partition and the total distance of the synchronous speed partition; determining the second running time of the cam in the fourth axial direction according to the second moving time, the third moving distance and the total distance of the synchronous speed partition.

[0259] In some embodiments, the processor 50 obtains the planned trajectory under the speed partition, including: the first axial direction is in the synchronous speed partition, and the first cutting length of the workpiece to be cut is obtained; the first synchronous cutting time is determined according to the first running time, the first cutting length and the second moving distance; the second acceleration absolute value is determined according to the first synchronous cutting time and the first cutting length; the fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment is determined according to the first moving distance, the second acceleration absolute value, the spindle displacement, the spindle position of the cam in the first trajectory segment of the second axial direction, and the running speed of the workpiece to be cut in the first trajectory segment.

[0260] In some embodiments, the processor 50 determines the fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle position of the first trajectory segment, and the running speed of the workpiece to be cut in the first trajectory segment, including: the first cutting length is a uniformly accelerated distance, and the fourth planned trajectory is determined according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle initial point of the first trajectory segment, and the running speed of the workpiece to be cut.

[0261] In some embodiments, the processor 50 determines the fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle position of the first trajectory segment, and the running speed of the workpiece to be cut in the first trajectory segment, including: the first cutting length is a uniform deceleration distance, and the fourth planned trajectory is determined according to the first moving distance, the first cutting length, the absolute value of the second acceleration, the spindle displacement, the first synchronous cutting time, the spindle center point of the first trajectory segment, and the running speed of the workpiece to be cut.

[0262] In some embodiments, the process of the processor 50 acquiring the planned trajectory under the speed partition also includes: when the first axis is in the synchronous speed partition, acquiring the third movement distance of the cam in the fourth axis Z; controlling the fourth axis to be in the third movement distance and controlling the fourth axis to maintain a preset rotation angle.

[0263] In some embodiments, the processor 50 obtains the planned trajectory under the speed partition, including: when the first axial direction is in the synchronous speed partition, obtaining the fourth moving distance of the cam in the third axial direction; determining the second synchronous cutting time according to the fourth moving distance, the first running time and the second moving distance; determining the absolute value of the third acceleration according to the second synchronous cutting time and the third moving distance; determining the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment according to the absolute value of the third acceleration, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment in the second axial direction and the running speed of the workpiece to be cut in the second trajectory segment; determining the sixth planned trajectory of the spindle and the fourth axial direction in the second trajectory segment according to the fifth planned trajectory and the functional relationship between the fourth axial direction and the third axial direction; determining the seventh planned trajectory of the spindle and the second axial direction in the second trajectory segment according to the functional relationship between the fifth planned trajectory, the second axial direction and the third axial direction.

[0264] In some embodiments, the processor 50 determines the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment according to the absolute value of the third acceleration, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the second trajectory segment, including: the fourth moving distance is a uniform acceleration distance, and the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the first moving distance, the first cutting length, the absolute value of the third acceleration, the spindle displacement, the spindle initial point of the second trajectory segment, and the running speed of the workpiece to be cut in the second trajectory segment.

[0265] In some embodiments, the processor 50 determines the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment according to the absolute value of the third acceleration, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the second trajectory segment, including: the fourth moving distance is a uniform deceleration distance, and the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the first moving distance, the first cutting length, the absolute value of the third acceleration, the second synchronous cutting time, the spindle displacement, the spindle center point of the second trajectory segment, and the running speed of the workpiece to be cut in the second trajectory segment.

[0266] In some embodiments, the processor 50 obtains the planned trajectory under the speed partition, including: when the first axial direction is in the synchronous speed partition, obtaining the fifth moving distance of the cam in the third axial direction, the fifth moving distance of the cam in the fourth axial direction, and the sixth moving distance of the cam in the fourth axial direction; determining the third synchronous cutting time according to the fifth moving distance, the first running time and the second moving distance; determining the fourth acceleration absolute value according to the third synchronous cutting time and the fifth moving distance; determining the twenty-fifth planned trajectory in the third trajectory segment according to the third moving distance, the fifth moving distance, the fourth acceleration absolute value, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment; determining the twenty-sixth planned trajectory of the spindle and the third axial direction in the third trajectory segment according to the functional relationship between the twenty-fifth planned trajectory, the third axial direction and the fourth axial direction; determining the eighth planned trajectory of the spindle and the second axial direction in the third trajectory segment according to the functional relationship between the twenty-fifth planned trajectory, the second axial direction and the third axial direction.

[0267] In some embodiments, the processor 50 determines the twenty-fifth planned trajectory in the third trajectory segment according to the third moving distance, the fifth moving distance, the absolute value of the fourth acceleration, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment, including: the fifth moving distance is a uniform acceleration distance, and the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the absolute value of the fourth acceleration, the spindle displacement, the spindle initial point of the third trajectory segment, and the running speed of the workpiece to be cut in the third trajectory segment.

[0268] In some embodiments, the processor 50 determines the twenty-fifth planned trajectory in the third trajectory segment according to the third moving distance, the fifth moving distance, the absolute value of the fourth acceleration, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment, including: the fifth moving distance is a uniform deceleration distance, and the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the sixth moving distance of the cam in the fourth axial direction, the absolute value of the fourth acceleration, the third synchronous cutting time, the spindle displacement, the spindle center point of the third trajectory segment, and the running speed of the workpiece to be cut in the third trajectory segment.

[0269] In some embodiments, the processor 50 obtains the planned trajectory under the speed partition, including: when the first axis is in the synchronous speed partition, obtaining the second cutting length of the workpiece to be cut; determining the absolute value of the fifth acceleration according to the second cutting length and the second running time; determining the twenty-first planned trajectory according to the absolute value of the fifth acceleration, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment of the cam in the second axis and the spindle position in the fourth trajectory segment; determining the twenty-second planned trajectory of the spindle and the third axis in the fourth trajectory segment according to the functional relationship between the twenty-first planned trajectory, the third axis and the fourth axis; determining the twenty-third planned trajectory of the spindle and the second axis in the fourth trajectory segment according to the functional relationship between the twenty-first planned trajectory, the second axis and the third axis.

[0270] In some embodiments, the processor 50 determines the twenty-first planned trajectory based on the absolute value of the fifth acceleration, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment of the cam in the second axial direction, and the spindle position in the fourth trajectory segment, including: the second cutting length is a uniform acceleration distance, and the twenty-first planned trajectory is determined based on the third moving distance, the fifth moving distance, the sixth moving distance, the absolute value of the fifth acceleration, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment, and the spindle initial point in the fourth trajectory segment.

[0271] In some embodiments, the processor 50 determines the twenty-first planned trajectory based on the absolute value of the fifth acceleration, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment of the cam in the second axial direction, and the spindle position in the fourth trajectory segment, including: the second cutting length is a uniform deceleration distance, and the twenty-first planned trajectory is determined based on the third moving distance, the fifth moving distance, the sixth moving distance, the absolute value of the fifth acceleration, the second cutting length, the fourth synchronous cutting time, the spindle displacement, the spindle center point of the fourth trajectory segment, and the running speed of the workpiece to be cut in the fourth trajectory segment.

[0272] In some embodiments, the processor 50 obtains the planned trajectory under the speed partition, including: when the first axis is the deceleration speed partition, obtaining the second cutting length of the workpiece to be cut; determining the absolute value of the fifth acceleration according to the second cutting length and the second running time; determining the twenty-fourth planned trajectory according to the absolute value of the fifth acceleration, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut and the spindle position of the cam in the fifth trajectory segment of the second axis; determining the ninth planned trajectory of the spindle and the third axis in the fifth trajectory segment according to the functional relationship between the twenty-fourth planned trajectory, the third axis and the fourth axis; determining the tenth planned trajectory of the spindle and the second axis in the fifth trajectory segment according to the functional relationship between the twenty-fourth planned trajectory, the second axis and the third axis.

[0273] In some embodiments, the processor 50 obtains the planned trajectory under the speed partition, including: when the first axial direction is the return speed partition, obtaining the fifth moving distance of the cam in the third axial direction, the fifth moving distance of the cam in the fourth axial direction, and the sixth moving distance of the cam in the fourth axial direction; determining the third synchronous cutting time according to the fifth moving distance, the first running time and the second moving distance; determining the absolute value of the fourth acceleration according to the third synchronous cutting time and the fifth moving distance; determining the eleventh planned trajectory in the sixth trajectory segment according to the third moving distance, the fifth moving distance, the absolute value of the fourth acceleration, the spindle displacement, the spindle position of the sixth trajectory segment and the running speed of the workpiece to be cut in the sixth trajectory segment; determining the twelfth planned trajectory of the spindle and the third axial direction in the sixth trajectory segment according to the functional relationship between the eleventh planned trajectory, the third axial direction and the fourth axial direction; determining the thirteenth planned trajectory of the spindle and the second axial direction in the sixth trajectory segment according to the functional relationship between the eleventh planned trajectory, the second axial direction and the third axial direction.

[0274] In some embodiments, the processor 50 obtains the planned trajectory under the speed partition, including: when the first axis is the return speed partition, obtaining the fourth movement distance of the cam in the third axis; determining the second synchronous cutting time according to the fourth movement distance, the first running time and the second movement distance; determining the third acceleration absolute value according to the second synchronous cutting time and the third movement distance; determining the fourteenth planned trajectory of the spindle and the third axis in the seventh trajectory segment according to the absolute value of the third acceleration, the first movement distance, the first cutting length, the spindle displacement, the spindle position of the seventh trajectory segment and the running speed of the workpiece to be cut; determining the fifteenth planned trajectory of the spindle and the fourth axis in the seventh trajectory segment according to the fourteenth planned trajectory and the functional relationship between the fourth axis and the third axis; determining the sixteenth planned trajectory of the spindle and the second axis in the seventh trajectory segment according to the fourteenth planned trajectory and the functional relationship between the second axis and the third axis.

[0275] In some embodiments, the processor 50 obtains the planned trajectory under the speed partition, including: when the first axial direction is in the return speed partition, obtaining the first cutting length of the workpiece to be cut; determining the first synchronous cutting time according to the first running time, the first cutting length and the second moving distance; determining the second acceleration absolute value according to the first synchronous cutting time and the first cutting length; determining the seventeenth planned trajectory of the spindle and the third axial direction in the eighth trajectory segment according to the first moving distance, the second acceleration absolute value, the spindle displacement, the spindle position of the eighth trajectory segment and the running speed of the workpiece to be cut.

[0276] In some embodiments, the processor 50 obtains the planned trajectory under the speed partition, including: when the angle of the cam in the second axial direction is a preset rotation angle and the first axial direction is in the return speed partition, obtaining the first movement distance of the cam in the third axial direction; determining the eighteenth planned trajectory of the spindle and the third axial direction in the return speed partition according to the first movement distance, the first movement time, the spindle displacement of the spindle, and the spindle position of the ninth trajectory segment; determining the nineteenth planned trajectory of the spindle and the fourth axial direction in the return speed partition according to the functional relationship between the eighteenth planned trajectory, the fourth axial direction and the third axial direction; determining the twentieth planned trajectory of the spindle and the second axial direction in the return speed partition according to the functional relationship between the eighteenth planned trajectory, the second axial direction and the third axial direction.

[0277] In some embodiments, after the processor 50 controls the cam to run according to the planned trajectory according to the displacement relationship and speed partition, it also includes: obtaining the first cutting length and the second cutting length of the piece to be cut; and determining the planned trajectory of the cam under the speed partition according to the first cutting length and the second cutting length.

[0278] According to the cutting device 100 of the embodiment of the present invention, by obtaining the speed partition of the cam in the first axial direction X, the displacement relationship between the cam in the first axial direction X and the main shaft, and the planned trajectory of the cam in the remaining axial directions, the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed partition. Since the speed partition, the displacement relationship and the planned trajectory are all obtained according to the parameters of the workpiece to be cut and the parameters of the cutting machine, the remaining axial directions are controlled according to the displacement relationship and the speed partition, and then the cam is controlled to run according to the planned trajectory, so as to achieve higher accuracy of laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and improve the user experience.

[0279] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0280] The computer-readable storage medium of an embodiment of the present invention stores a cam cutting control program on the computer-readable storage medium. When the cam cutting control program is executed by a processor, the device installed with the cam cutting control program implements the cam cutting control method of the above embodiment.

[0281] The following describes a computer program product according to an embodiment of the present invention.

[0282] The computer program product of the embodiment of the present invention includes a computer program, and when the computer program is executed by a processor, the cutting control method of the cam as described in the above embodiment is implemented.

[0283] According to the computer program product of the embodiment of the present invention, by obtaining the speed partition of the cam in the first axial direction X, the displacement relationship between the cam in the first axial direction X and the main shaft, and the planned trajectory of the cam in the remaining axial directions, the cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed partition. Since the speed partition, the displacement relationship and the planned trajectory are all obtained according to the parameters of the workpiece to be cut and the parameters of the cutting machine, the remaining axial directions are controlled according to the displacement relationship and the speed partition, and then the cam is controlled to run according to the planned trajectory, so as to achieve higher accuracy of laser cutting, meet the actual cutting requirements of the workpiece to be cut, ensure the cutting quality of the workpiece to be cut, and improve the user experience.

[0284] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0285] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A cam cutting control method, characterized in that: include: Acquire the speed partition of the cam in the first axial direction, the displacement relationship between the cam and the main shaft in the first axial direction, and the planned trajectory of the cam in the remaining axial directions; The cam is controlled to run according to the planned trajectory according to the displacement relationship and the speed partition.

2. The cam cutting control method according to claim 1, characterized in that: Controlling the cam to run according to the planned trajectory according to the displacement relationship and the speed partition includes: When the first axial direction is controlled to enter a preset speed partition according to the displacement relationship, the cam is controlled to run according to the planned trajectory according to the speed partition.

3. The cam cutting control method according to claim 2, characterized in that: Controlling the cam to run according to the planned trajectory according to the speed partition includes: Obtaining the planned trajectory under the speed partition; The cam is controlled to run according to the planned trajectory.

4. The cam cutting control method according to claim 3, characterized in that: Obtaining the planned trajectory under the speed partition includes: When the angle of the cam in the second axial direction is a preset rotation angle and the first axial direction is in an acceleration speed partition, obtaining a first moving distance of the cam in the third axial direction; Determine a first planned trajectory of the main axis and the third axial direction in the acceleration speed zone according to the first moving distance, the first moving time, and the main axis displacement of the main axis; Determine a second planned trajectory of the main axis and the fourth axis in the acceleration speed partition according to a functional relationship between the first planned trajectory, the fourth axis and the third axis; A third planned trajectory of the main axis and the second axis in the acceleration speed partition is determined according to a functional relationship among the first planned trajectory, the second axis and the third axis.

5. The cam cutting control method according to claim 3, characterized in that: Determining a first planned trajectory of the main axis and the third axial direction in the acceleration speed zone according to the first moving distance, the first moving time, and the main axis displacement of the main axis includes: The first moving distance is a uniformly accelerated distance, and a first acceleration absolute value is determined according to the first moving time and the first moving distance; The first planned trajectory is determined according to the running speed of the workpiece to be cut in the acceleration speed partition and the spindle displacement of the first acceleration absolute value cam.

6. The cam cutting control method according to claim 3, characterized in that: Determining a first planned trajectory of the main axis and the third axial direction in the acceleration speed zone according to the first moving distance, the first moving time, and the main axis displacement of the main axis includes: The first moving distance is a uniform deceleration distance, and a first acceleration absolute value is determined according to the first moving time and the first moving distance; The first planned trajectory is determined according to the first acceleration absolute value, the first moving distance, the first moving time, the total displacement of the cam in the acceleration speed partition, the running speed of the cam in the acceleration speed partition, and the spindle displacement.

7. The cam cutting control method according to claim 3, characterized in that: The process of obtaining the planned trajectory under the speed partition also includes: Acquire a second moving distance of the cam in the third axial direction and a third moving distance of the cam in the fourth axial direction; determining a first running time of the cam in the third axial direction according to the second moving distance, the second moving time of the cam in the synchronous speed partition and the total distance of the synchronous speed partition; A second operating time of the cam in the fourth axial direction is determined according to the second moving time, the third moving distance, and the synchronous speed partition total distance.

8. The cam cutting control method according to claim 7, characterized in that: Obtaining the planned trajectory under the speed partition includes: The first axial direction is in a synchronous speed partition, and a first cutting length of the workpiece to be cut is obtained; Determine a first synchronous cutting duration according to the first operating duration, the first cutting length, and the second moving distance; determining a second acceleration absolute value according to the first synchronous cutting duration and the first cutting length; The fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment is determined according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle position of the cam in the first trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the first trajectory segment.

9. The cam cutting control method according to claim 8, characterized in that: Determining a fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment according to the first moving distance, the second acceleration absolute value, the spindle displacement, the spindle position of the first trajectory segment, and the running speed of the workpiece to be cut in the first trajectory segment includes: The first cutting length is a uniformly accelerated distance, and the fourth planned trajectory is determined according to the first moving distance, the absolute value of the second acceleration, the spindle displacement, the spindle initial point of the first trajectory segment, and the running speed of the workpiece to be cut.

10. The cam cutting control method according to claim 8, characterized in that: Determining a fourth planned trajectory of the spindle and the third axial direction in the first trajectory segment according to the first moving distance, the second acceleration absolute value, the spindle displacement, the spindle position of the first trajectory segment, and the running speed of the workpiece to be cut in the first trajectory segment includes: The first cutting length is a uniform deceleration distance, and the fourth planned trajectory is determined according to the first moving distance, the first cutting length, the second acceleration absolute value, the spindle displacement, the first synchronous cutting time, the spindle center point of the first trajectory segment and the running speed of the workpiece to be cut.

11. The cam cutting control method according to claim 10, characterized in that: The process of obtaining the planned trajectory under the speed partition also includes: When the first axial direction is in the synchronous speed partition, obtaining a third moving distance of the cam in the fourth axial direction Z; The fourth axial direction is controlled to be at the third moving distance and the fourth axial direction is controlled to maintain a preset rotation angle.

12. The cam cutting control method according to claim 7, characterized in that: Obtaining the planned trajectory under the speed partition includes: When the first axial direction is in the synchronous speed partition, obtaining a fourth moving distance of the cam in the third axial direction; Determine a second synchronous cutting duration according to the fourth moving distance, the first running duration, and the second moving distance; Determining a third acceleration absolute value according to the second synchronous cutting time and the third moving distance; Determine a fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment according to the third acceleration absolute value, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the second trajectory segment; Determine a sixth planned trajectory of the main axis and the fourth axial direction in the second trajectory segment according to a functional relationship between the fifth planned trajectory, the fourth axial direction and the third axial direction; A seventh planned trajectory of the main axis and the second axis in the second trajectory segment is determined according to a functional relationship between the fifth planned trajectory, the second axial direction and the third axial direction.

13. The cam cutting control method according to claim 12, characterized in that: Determining a fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment according to the third absolute value of the acceleration, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the second trajectory segment includes: The fourth moving distance is a uniformly accelerated distance, and the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the first moving distance, the first cutting length, the absolute value of the third acceleration, the spindle displacement, the spindle initial point of the second trajectory segment, and the running speed of the workpiece to be cut in the second trajectory segment.

14. The cam cutting control method according to claim 12, characterized in that: Determining a fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment according to the third absolute value of the acceleration, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the cam in the second trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the second trajectory segment includes: The fourth moving distance is a uniform deceleration distance, and the fifth planned trajectory of the spindle and the third axial direction in the second trajectory segment is determined according to the first moving distance, the first cutting length, the third acceleration absolute value, the second synchronous cutting time, the spindle displacement, the spindle center point of the second trajectory segment and the running speed of the workpiece to be cut in the second trajectory segment.

15. The cam cutting control method according to claim 7, characterized in that: Obtaining the planned trajectory under the speed partition includes: When the first axial direction is in the synchronous speed partition, obtaining a fifth moving distance of the cam in the third axial direction, a fifth moving distance of the cam in the fourth axial direction, and a sixth moving distance of the cam in the fourth axial direction; Determine a third synchronous cutting duration according to the fifth moving distance, the first running duration, and the second moving distance; Determining a fourth acceleration absolute value according to the third synchronous cutting duration and the fifth moving distance; Determine a twenty-fifth planned trajectory in the third trajectory segment according to the third moving distance, the fifth moving distance, the fourth acceleration absolute value, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment; Determine a twenty-sixth planned trajectory of the main axis and the third axial direction in the third trajectory segment according to a functional relationship between the twenty-fifth planned trajectory, the third axial direction and the fourth axial direction; An eighth planned trajectory of the main axis and the second axis in the third trajectory segment is determined according to the functional relationship between the twenty-fifth planned trajectory, the second axial direction and the third axial direction.

16. The cam cutting control method according to claim 15, characterized in that: Determining a twenty-fifth planned trajectory in the third trajectory segment according to the third moving distance, the fifth moving distance, the fourth acceleration absolute value, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment includes: The fifth moving distance is a uniformly accelerated distance, and the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the absolute value of the fourth acceleration, the spindle displacement, the spindle initial point of the third trajectory segment, and the running speed of the workpiece to be cut in the third trajectory segment.

17. The cam cutting control method according to claim 15, characterized in that: Determining a twenty-fifth planned trajectory in the third trajectory segment according to the third moving distance, the fifth moving distance, the fourth acceleration absolute value, the spindle displacement, the spindle position of the cam in the third trajectory segment in the second axial direction, and the running speed of the workpiece to be cut in the third trajectory segment includes: The fifth moving distance is a uniform deceleration distance, and the twenty-fifth planned trajectory in the third trajectory segment is determined according to the third moving distance, the fifth moving distance, the sixth moving distance of the cam in the fourth axial direction, the fourth absolute value of acceleration, the third synchronous cutting time, the spindle displacement, the spindle center point of the third trajectory segment and the running speed of the workpiece to be cut in the third trajectory segment.

18. The cam cutting control method according to claim 7, characterized in that: Obtaining the planned trajectory under the speed partition includes: When the first axial direction is in the synchronous speed partition, obtaining a second cutting length of the workpiece to be cut; determining a fifth acceleration absolute value according to the second cutting length and the second running time; Determine a twenty-first planned trajectory according to the fifth acceleration absolute value, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut of the cam in the fourth trajectory segment in the second axial direction, and the spindle position in the fourth trajectory segment; Determine a twenty-second planned trajectory of the main axis and the third axis in the fourth trajectory segment according to a functional relationship among the twenty-first planned trajectory, the third axis and the fourth axis; A twenty-third planned trajectory of the main axis and the second axis in the fourth trajectory segment is determined according to the functional relationship between the twenty-first planned trajectory, the second axis and the third axis.

19. The cam cutting control method according to claim 18, characterized in that: Determining a twenty-first planned trajectory according to the fifth acceleration absolute value, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment of the cam in the second axial direction, and the spindle position in the fourth trajectory segment, includes: The second cutting length is a uniformly accelerated distance, and the twenty-first planned trajectory is determined according to the third moving distance, the fifth moving distance, the sixth moving distance, the fifth absolute value of acceleration, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment, and the spindle initial point in the fourth trajectory segment.

20. The cam cutting control method according to claim 18, characterized in that: Determining a twenty-first planned trajectory according to the fifth acceleration absolute value, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut in the fourth trajectory segment of the cam in the second axial direction, and the spindle position in the fourth trajectory segment, includes: The second cutting length is a uniform deceleration distance, and the twenty-first planned trajectory is determined according to the third moving distance, the fifth moving distance, the sixth moving distance, the fifth acceleration absolute value, the second cutting length, the fourth synchronous cutting time, the spindle displacement, the spindle center point of the fourth trajectory segment and the running speed of the workpiece to be cut in the fourth trajectory segment.

21. The cam cutting control method according to claim 1, characterized in that: Obtaining the planned trajectory under the speed partition includes: When the first axial direction is a deceleration speed zone, a second cutting length of the workpiece to be cut is obtained; determining a fifth acceleration absolute value according to the second cutting length and the second running time; Determine a twenty-fourth planned trajectory according to the fifth acceleration absolute value, the third moving distance, the fifth moving distance, the sixth moving distance, the spindle displacement, the running speed of the workpiece to be cut, and the spindle position of the cam in the fifth trajectory segment in the second axial direction; Determine a ninth planned trajectory of the main axis and the third axis in the fifth trajectory segment according to a functional relationship among the twenty-fourth planned trajectory, the third axis and the fourth axis; The tenth planned trajectory of the main axis and the second axis in the fifth trajectory segment is determined according to the functional relationship between the twenty-fourth planned trajectory, the second axis and the third axis.

22. The cam cutting control method according to claim 1, characterized in that: Obtaining the planned trajectory under the speed partition includes: When the first axial direction is a return speed partition, obtaining a fifth moving distance of the cam in the third axial direction, a fifth moving distance of the cam in the fourth axial direction, and a sixth moving distance of the cam in the fourth axial direction; Determine a third synchronous cutting duration according to the fifth moving distance, the first running duration, and the second moving distance; Determining a fourth acceleration absolute value according to the third synchronous cutting duration and the fifth moving distance; Determine an eleventh planned trajectory in the sixth trajectory segment according to the third moving distance, the fifth moving distance, the fourth absolute value of acceleration, the spindle displacement, the spindle position of the sixth trajectory segment, and the running speed of the workpiece to be cut in the sixth trajectory segment; Determine a twelfth planned trajectory of the main axis and the third axial direction in the sixth trajectory segment according to a functional relationship among the eleventh planned trajectory, the third axial direction and the fourth axial direction; A thirteenth planned trajectory of the main axis and the second axis in the sixth trajectory segment is determined according to the functional relationship between the eleventh planned trajectory, the second axis and the third axis.

23. The cam cutting control method according to claim 1, characterized in that: Obtaining the planned trajectory under the speed partition includes: When the first axial direction is a return speed partition, obtaining a fourth moving distance of the cam in the third axial direction; Determine a second synchronous cutting duration according to the fourth moving distance, the first running duration, and the second moving distance; Determining a third acceleration absolute value according to the second synchronous cutting time and the third moving distance; Determine the fourteenth planned trajectory of the spindle and the third axial direction in the seventh trajectory segment according to the third acceleration absolute value, the first moving distance, the first cutting length, the spindle displacement, the spindle position of the seventh trajectory segment and the running speed of the workpiece to be cut; Determine a fifteenth planned trajectory of the main axis and the fourth axial direction in the seventh trajectory segment according to a functional relationship between the fourteenth planned trajectory, the fourth axial direction and the third axial direction; The sixteenth planned trajectory of the main axis and the second axis in the seventh trajectory segment is determined according to the functional relationship between the fourteenth planned trajectory, the second axis and the third axis.

24. The cam cutting control method according to claim 1, characterized in that: Obtaining the planned trajectory under the speed partition includes: When the first axial direction is in the return speed partition, obtaining a first cutting length of the workpiece to be cut; Determine a first synchronous cutting duration according to the first running duration, the first cutting length, and the second moving distance; determining a second acceleration absolute value according to the first synchronous cutting duration and the first cutting length; The seventeenth planned trajectory of the spindle and the third axial direction in the eighth trajectory segment is determined according to the first moving distance, the second acceleration absolute value, the spindle displacement, the spindle position of the eighth trajectory segment and the running speed of the workpiece to be cut.

25. The cam cutting control method according to claim 1, characterized in that: Obtaining the planned trajectory under the speed partition includes: When the angle of the cam in the second axial direction is a preset rotation angle and the first axial direction is in a return speed partition, obtaining a first moving distance of the cam in the third axial direction; Determine an eighteenth planned trajectory of the spindle and the third axial direction in the return speed partition according to the first moving distance, the first moving time, the spindle displacement of the spindle, and the spindle position of the ninth trajectory segment; Determine a nineteenth planned trajectory of the main axis and the fourth axial direction in the return speed partition according to the functional relationship between the eighteenth planned trajectory, the fourth axial direction and the third axial direction; The twentieth planned trajectory of the main axis and the second axis in the return speed partition is determined according to the functional relationship between the eighteen planned trajectories, the second axis and the third axis.

26. The cam cutting control method according to claim 3, characterized in that: After controlling the cam to run according to the planned trajectory according to the displacement relationship and the speed partition, the method further includes: Obtaining a first cutting length and a second cutting length of the piece to be cut; The planned trajectory of the cam in the speed partition is determined according to the first cutting length and the second cutting length.

27. A cutting device, characterized in that: include: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores a cam cutting control program that can be executed by the at least one processor, and when the cam cutting control program is executed by the at least one processor, the at least one processor executes the cam cutting control method as described in claims 1-26.

28. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a cam cutting control program, and when the cam cutting control program is executed by a processor, a device installed with the cam cutting control program implements the cam cutting control method according to any one of claims 1 to 26.

29. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the cutting control method of the cam as claimed in any one of claims 1 to 26 is implemented.

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