Machining motion planning method, device and equipment and storage medium

Abstract

The invention is suitable for the technical field of automation control, and provides a machining motion planning method, device and equipment and a storage medium, and the machining motion planning method comprises the steps: obtaining a tool nose maximum translation speed and tool nose motion time of a tool nose motion track, and obtaining a tool shaft maximum rotation speed and tool shaft motion time of a tool shaft motion track; a tool nose translation corner of the tool nose motion trail and a tool shaft rotation corner of the tool shaft motion trail are subjected to fairing treatment; according to the maximum translation speed of the tool nose and the maximum rotation speed of the tool shaft, determining the translation boundary speed of a tool nose translation connection point of the tool nose motion trail and the rotation boundary speed of a tool shaft rotation connection point of the tool shaft motion trail which are subjected to the fairing treatment according to the maximum translation speed of the tool nose and the maximum rotation speed of the tool shaft; and according to the translation boundary speed, the rotation boundary speed, the tool nose movement time and the tool shaft movement time, the translation movement of the tool nose and the rotation movement of the tool shaft are synchronized. According to the machining motion planning method provided by the embodiment of the invention, the machining quality can be improved.

Description

Technical Field

[0001] The present application belongs to the field of automation control technology, and in particular, relates to a processing motion planning method, device, equipment and storage medium. Background Art

[0002] In the field of five-axis laser cutting, the parameter synchronization method is usually used to achieve five-axis machine tool processing with the tool tip trajectory movement as the main method, and the tool axis vector follows the tool tip trajectory movement. However, the movement of each axis of the five-axis laser cutting machine is determined by the translation of the tool tip and the rotation of the tool axis. Excessive tool axis movement will cause the speed of each axis to exceed the machine tool limit value, which will affect the processing quality of the machine tool. Summary of the invention

[0003] The embodiments of the present application provide a processing motion planning method, device, equipment and storage medium, which can improve the processing quality.

[0004] In a first aspect, an embodiment of the present application provides a processing motion planning method, comprising:

[0005] Obtaining the maximum translation speed of the tool tip and the tool tip motion time of the tool tip motion trajectory, and obtaining the maximum rotation speed of the tool axis and the tool axis motion time of the tool axis motion trajectory;

[0006] Smoothing the tool tip translation angle of the tool tip motion trajectory and the tool axis rotation angle of the tool axis motion trajectory;

[0007] Determine the translation boundary speed of the tool tip translation connection point of the tool tip motion trajectory after smoothing and the rotation boundary speed of the tool axis rotation connection point of the tool axis motion trajectory according to the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis;

[0008] The translational motion of the tool tip and the rotational motion of the tool axis are synchronized according to the translational boundary speed, the rotational boundary speed, the tool tip motion time, and the tool axis motion time.

[0009] In a possible implementation manner of the first aspect, the processing motion planning method further includes:

[0010] According to the synchronization results, the real-time machining machine position of the tool tip translation and tool axis rotation is determined by interpolation.

[0011] In a possible implementation of the first aspect, obtaining the maximum translation speed of the tool tip and the tool tip movement time of the tool tip movement trajectory, and obtaining the maximum rotation speed of the tool axis and the tool axis movement time of the tool axis movement trajectory include:

[0012] Get the machine coordinates of each motion axis;

[0013] The maximum translation speed of the tool tip and the maximum rotation speed of the tool axis are determined according to the machine tool coordinates.

[0014] In a possible implementation manner of the first aspect, determining the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis according to the machine tool coordinates includes:

[0015] The machine tool coordinates are decomposed into a tool tip position and a tool axis motion vector according to the geometric positive change, and the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis are determined according to the increments of each axis of the machine tool.

[0016] In a possible implementation manner of the first aspect, the smoothing process of the tool tip translation angle of the tool tip motion trajectory and the tool axis rotation angle of the tool axis motion trajectory includes:

[0017] Determine the positional relationship of the control points of the corner curve of the tool tip translation corner;

[0018] Determine the smoothing error and maximum curvature of the corner curve of the tool tip translation corner according to the positional relationship of the control points, thereby determining the tool tip corner smoothing curve;

[0019] Determine the plane corner curve of the tool axis rotation corner on the specified plane;

[0020] The plane corner curve is normalized and projected onto a unit sphere to determine a tool axis corner smoothing curve.

[0021] In a possible implementation manner of the first aspect, determining a plane corner curve of a rotation angle of the tool axis on a specified plane includes:

[0022] Determine the tool axis rotation error of the projection of the plane corner curve of the tool axis rotation corner to be constructed on the unit sphere;

[0023] The rotation error is converted into a maximum corner length error, thereby determining the plane corner curve.

[0024] In a possible implementation manner of the first aspect, synchronizing the translational motion of the tool tip with the rotational motion of the tool axis according to the translational boundary speed, the rotational boundary speed, the tool tip motion time, and the tool axis motion time includes:

[0025] Performing speed planning on the tool tip motion trajectory and the tool axis motion trajectory after smoothing;

[0026] The smaller one of the tool tip movement time and the tool shaft movement time is synchronized to be the same as the larger one, so that the translational movement of the tool tip is synchronized with the rotational movement of the tool shaft.

[0027] In a second aspect, an embodiment of the present application provides a processing motion planning device, comprising:

[0028] A data acquisition module is used to obtain the maximum translation speed of the tool tip, the maximum rotation speed of the tool axis, the tool tip movement time and the tool axis movement time of the specified motion trajectory;

[0029] A smoothing processing module is used to: smooth the tool tip translation angle and tool axis rotation angle of the specified motion trajectory;

[0030] A boundary speed determination module is used to determine the translation boundary speed of the tool tip translation connection point and the rotation boundary speed of the tool axis rotation connection point of the specified motion trajectory after smoothing according to the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis;

[0031] The motion synchronization module is used to synchronize the translational motion of the tool tip with the rotational motion of the tool axis according to the translational boundary speed, the rotational boundary speed, the tool tip motion time and the tool axis motion time.

[0032] In a third aspect, an embodiment of the present application provides a processing device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the processing motion planning method described in any one of the first aspects when executing the computer program.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processing motion planning method described in any one of the first aspects above is implemented.

[0034] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device executes the processing motion planning method described in any one of the above-mentioned first aspects.

[0035] The beneficial effects of the embodiments of the present application are:

[0036] The maximum translational speed and movement time of the tool tip of the tool tip motion trajectory, as well as the maximum rotational speed and movement time of the tool axis of the tool axis motion trajectory, are obtained; the translational corner of the tool tip motion trajectory and the rotational corner of the tool axis motion trajectory are smoothed; the translational boundary speed of the tool tip translation connection point of the tool tip motion trajectory after smoothing and the rotational boundary speed of the tool axis rotation connection point of the tool axis motion trajectory are determined according to the maximum translational speed of the tool tip and the maximum rotational speed of the tool axis; the translational motion of the tool tip is synchronized with the rotational motion of the tool axis according to the translational boundary speed, the rotational boundary speed, the tool tip movement time and the tool axis movement time, thereby achieving synchronization between the translational motion of the tool tip and the rotation of the tool axis, ensuring the continuity of the motion of each axis, reducing the phenomenon of machine tool processing vibration, and improving the processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 It is a flowchart of a processing motion planning method provided by an embodiment of the present application;

[0039] Figure 2 is a flowchart of step A1 of a processing motion planning method provided in an embodiment of the present application;

[0040] Figure 3 is a flowchart of step A2 of the processing motion planning method provided in one embodiment of the present application;

[0041] Figure 4 It is a schematic diagram of the smoothing processing of the tool tip translation corner in the machining motion planning method provided in one embodiment of the present application;

[0042] Figure 5 It is a schematic diagram of the smoothing processing of the tool axis rotation corner of the machining motion planning method provided by an embodiment of the present application;

[0043] Figure 6 is a flowchart of step A23 of the processing motion planning method provided in one embodiment of the present application;

[0044] Figure 7 It is a schematic diagram of the tool axis rotation corner smoothing error of the machining motion planning method provided in one embodiment of the present application;

[0045] Figure 8 is a schematic diagram of the boundary speed of each trajectory unit of the processing motion planning method provided by an embodiment of the present application;

[0046] Fig. 9 is a flowchart of step A4 of the processing motion planning method provided in one embodiment of the present application;

[0047] Fig.10 is a schematic diagram of time synchronization of a processing motion planning method provided by an embodiment of the present application;

[0048] Fig.11 is a flowchart of a processing motion planning method provided by another embodiment of the present application;

[0049] Fig.12is a structural schematic diagram of a processing motion planning device provided in one embodiment of the present application;

[0050] Fig.13 It is a structural diagram of a data acquisition module of a processing motion planning device provided in one embodiment of the present application;

[0051] Fig.14 It is a structural schematic diagram of a smoothing processing module of a processing motion planning device provided in one embodiment of the present application;

[0052] Fig.15 It is a structural schematic diagram of a tool axis curve determination submodule of a machining motion planning device provided in an embodiment of the present application;

[0053] Fig.16 It is a structural schematic diagram of a motion synchronization module of a processing motion planning device provided in one embodiment of the present application;

[0054] Fig.17 is a structural schematic diagram of a processing motion planning device provided in another embodiment of the present application;

[0055] Fig.18 It is a structural schematic diagram of a processing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following Figures 1 to 18 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0058] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0059] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0060] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0061] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0062] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0063] An embodiment of the present application provides a processing motion planning method, which can be applied to laser processing or machining, such as laser cutting (such as five-axis laser cutting) or laser marking.

[0064] Figure 1 is a flow chart of a processing motion planning method provided by an embodiment of the present application. Figure 1 The processing motion planning method provided in the embodiment of the present application includes steps A1 to A4.

[0065] Step A1, obtaining the maximum translation speed of the tool tip and the tool tip movement time of the tool tip movement trajectory, and obtaining the maximum rotation speed of the tool axis and the tool axis movement time of the tool axis movement trajectory.

[0066] The tool tip is a point on the end of the tool. The tool axis is the axis around which the tool is fixed and the workpiece rotates.

[0067] The tool tip motion trajectory is the tool tip motion trajectory. The tool axis motion trajectory is the tool axis vector trajectory.

[0068] Tool tip motion time is the time that the tool tip moves along the tool tip motion trajectory. Tool axis motion time is the time that the tool axis moves along the tool axis motion trajectory. Tool tip motion time and tool axis motion time can be read from the machine tool system.

[0069] The maximum translation speed of the tool tip is the kinematic constraint parameter of the translation of the tool tip. The maximum rotation speed of the tool axis is the kinematic constraint parameter of the tool axis rotation.

[0070] In processing (such as five-axis laser cutting), the kinematic constraints of tool tip translation and tool axis rotation in the machine tool structure and workpiece coordinate system are usually determined by machine tool manufacturers, programmers and process designers.

[0071] Figure 2 is a flow chart of step A1 of the processing motion planning method provided in one embodiment of the present application. Figure 2 Of course, the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis can also be obtained based on the kinematic constraints of each axis of the machine tool and the geometric information of the tool motion trajectory. Specifically, the above step A1 can include step A11 and step A12.

[0072] Step A11, obtaining the machine tool coordinates of each motion axis.

[0073] The machine tool coordinates of each motion axis can be obtained by parsing a CAM (Computer Aided Manufacturing) system or a compiler. Alternatively, the machine tool coordinates are pre-stored and directly read from an external memory.

[0074] Step A12: determine the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis according to the machine tool coordinates.

[0075] According to the geometric positive change, the machine tool coordinates can be decomposed into tool tip translation parameters and tool axis rotation parameters, such as tool tip position and tool axis motion vector, and then the maximum tool tip translation speed and tool axis maximum rotation speed of each motion trajectory are calculated according to the increments of each machine tool axis.

[0076] Specifically, take the AB turntable (i.e. A-axis B-axis turntable) as an example. is the motion of each axis of the five-axis machine tool, P = [P x ,P y ,P z ] T andO=[O i ,O j ,O k ] T are the tool tip coordinates and tool axis vector in the workpiece coordinates, and their positive changes are:

[0077]

[0078] For linear tool paths, the maximum translation speed of the tool tip is V m and the maximum rotation speed of the knife shaft W m It can be determined based on the position increments of each axis (ΔX, ΔY, ΔZ, ΔA, ΔB) of the tool tip translation and tool axis rotation:

[0079]

[0080] Step A2: smoothing the tool tip translation corner of the tool tip motion trajectory and the tool axis rotation corner of the tool axis motion trajectory.

[0081] The tool tip translation angle and the tool axis rotation angle are smoothed to achieve continuous changes in speed and acceleration. Specifically, a cubic Bezier curve can be used to smooth the tool tip translation angle of the tool tip motion trajectory and the tool axis rotation angle (also called the tool axis rotation angle) of the tool axis motion trajectory. In some other embodiments, a quintic Bezier curve is used to smooth the tool tip translation angle of the tool tip motion trajectory and the tool axis rotation angle of the tool axis motion trajectory.

[0082] Figure 3 is a flow chart of step A2 of the processing motion planning method provided by an embodiment of the present application. Figure 3 , the above step A2 may specifically include step A21 and step A24.

[0083] Step A21, determine the positional relationship of the control points of the corner curve of the tool tip translation corner.

[0084] Figure 4 Schematic diagram of the smoothing process of the tool tip translation corner in the machining motion planning method provided by an embodiment of the present application. Figure 4 , assuming that the linear tool tip motion trajectory has N+1 (N≥2) translation corner points P i (i=0,1,2,…,N) (i.e. tool tip translation angle), for the linear corner point P i+1 The smooth cubic Bezier curve at but The expression is:

[0085]

[0086] In the above formula, Corner curve control point.

[0087] In order to ensure the symmetry of the corner smoothing curve (i.e. the corner curve) and to facilitate the maximum error of the corner fitting to be at the midpoint of the corner curve, you can set The position relationship of the three control points is as follows:

[0088]

[0089] In the above formula, q i,i+1 and q i+1,i P i P i+1 and P i+1 P i+2 The unit direction vector of . is the modulo operator.

[0090] Step A22: Determine the smoothing error and maximum curvature of the corner curve of the tool tip translation corner according to the positional relationship of the control points, thereby determining the tool tip corner smoothing curve.

[0091] Smoothing error ε i :

[0092] The maximum error of corner smoothing is

[0093] θ i is the vector P i P i+1 and vector P i+1 P i+2 The supplementary angle of the angle included.

[0094] In order to prevent the overlap of adjacent corner smoothing curves, d i The values ​​are as follows:

[0095]

[0096] Among them, L i and L i+1 They are respectively the tool tip motion trajectory P i P i+1 and P i+1 P i+2 Length.

[0097] Corner curve The maximum curvature is at u = 0.5, so the maximum curvature value is

[0098]

[0099] When the control point When the tool tip is smoothed, the trajectory will have a non-zero straight line segment, that is, the original trajectory P i P i+1 on Therefore, the tool tip point P i+1 The tool tip corner smoothing curve after corner smoothing is mainly composed of straight line segments. Corner curve segment and straight line segments Composition, that is, the smoothing curve of the tool tip corner after smoothing is divided into a straight line segment and a corner curve segment.

[0100] Step A23, determine the plane corner curve of the tool axis rotation corner in the specified plane.

[0101] Figure 5 Schematic diagram of the smoothing process of the tool axis rotation corner in the machining motion planning method provided by an embodiment of the present application. Figure 5 , on the specified plane O i O i+1 O i+2 The same method as tool tip translation corner smoothing is used to smooth the tool axis rotation corner, and the plane corner curve of the tool axis rotation corner can be obtained. i O i+1 O i+2 The plane of the workpiece.

[0102] curve is the inserted cubic Bezier curve, and the remaining line segment and The plane corner curve that together forms the tool axis rotation corner (That is, the smooth curve of the tool axis rotation corner).

[0103] Figure 6 2 is a flow chart of step A23 of the processing motion planning method provided in one embodiment of the present application. Figure 6 The above step A23 may specifically include step A231 and step A232.

[0104] Step A231, determine the tool axis rotation error of the plane corner curve of the tool axis rotation corner to be constructed in the specified plane projected on the unit sphere.

[0105] Figure 7 Schematic diagram of the tool axis rotation corner smoothing error of the machining motion planning method provided by an embodiment of the present application. Figure 7 , plane corner curve The angle error of the tool axis vector direction after projection on the unit sphere (i.e., tool axis rotation error) is δ i ,||O i+1 E||=e i It is the maximum corner length error of the plane corner curve (i.e. the smooth curve of the tool axis rotation corner).

[0106] Step A232: Convert the rotation error into the maximum corner length error, thereby determining the plane corner curve.

[0107] According to the construction of smooth curve The method requires the tool axis rotation error δ iConverted into the maximum corner length error || O i+1 E||=e i , the specific conversion steps are as follows:

[0108] In RtΔOEO i+1 In, according to Combining these two equations, the maximum length error of the tool axis vector at the corner || O i+1 E||=e i :

[0109]

[0110] In the above formula, the tool axis rotation error δ i exist Inside, Where M is ∠O i O i+1 O i+2 The direction vector of the angle bisector of Direction and vector O i+1 E is consistent. When δ i =α i When i With α i Positive correlation. Due to the error length ||O i+1 E||=e i ≥0, so when the above formula has a positive root and a negative root, e i Take the positive root. When the above formula is two positive roots, in order to reduce the direction deviation of the tool axis vector, the smaller positive root is usually taken. i When the i O i+1 O i+2 The upper limit of control error e of the upper structure corner smoothing i , based on which the smooth tool axis vector within the allowable error range can be obtained, which can better control the plane corner curve on the spherical surface processing error.

[0111] Step A24, normalize and project the plane corner curve onto the unit sphere to determine the tool axis corner smoothing curve.

[0112] Plane corner curve Normalized projection onto the unit sphere to obtain the smoothed tool axis corner smoothing curve

[0113]

[0114] Therefore, the tool axis point O i+1 The smoothing curve of the tool axis corner after smoothing is mainly composed of arc Smooth curve And arc That is, the tool axis vector trajectory after smoothing is divided into spherical smooth curve segments and circular arc curve segments.

[0115] Step A3: Determine the translation boundary velocity of the tool tip translation connection point of the tool tip motion trajectory after smoothing and the rotation boundary velocity of the tool axis rotation connection point of the tool axis motion trajectory according to the maximum translation velocity of the tool tip and the maximum rotation velocity of the tool axis.

[0116] Under error control, after smoothing the tool tip motion trajectory and the tool axis motion trajectory, the boundary speeds of the smoothed tool tip motion trajectory and the tool axis motion trajectory (also known as the tool axis vector direction) are determined. The aforementioned boundary speeds include the translational boundary speed of the tool tip translation connection point and the rotational boundary speed of the tool axis rotation connection point.

[0117] The translational boundary velocity can be divided into the tool tip starting velocity and the tool tip ending velocity.

[0118] The rotation boundary speed can be divided into the tool axis starting speed and the tool axis ending speed.

[0119] Figure 8 Schematic diagram of the boundary speed of each trajectory unit in the machining motion planning method provided by an embodiment of the present application. Figure 8 For example.

[0120] Smooth curve The translation boundary velocity of the tool tip translation connection point is v 2i-1 and v 2i , the aforementioned translational boundary velocity can be calculated based on the curvature value at the curvature extreme point A:

[0121]

[0122] In the above formula, v c Time-smoothing curves for time synchronization The maximum speed of the constraint for the preceding and following adjacent straight line segments.

[0123] Remaining straight line segment P 2i+1 The translation boundary velocity of the tool tip translation connection point is v 2i and v 2i+1 In order to meet the requirements of subsequent time synchronization of the tool tip and tool axis, the minimum value of its boundary velocity should meet the following constraints:

[0124] v=min(v 2i ,v 2i+1 ,v c ).

[0125] According to the relationship between tool tip corner error and curvature, similarly, the maximum curvature of tool axis vector corner smoothing

[0126]

[0127] in,

[0128] Smooth curve of tool tip Corresponding smoothing tool axis vector curve The rotation boundary speed of the knife axis rotation connection point is w 2i-1 and w 2i , similarly, according to the curvature value at the extreme point E, we can know that:

[0129]

[0130] Among them, w c In order to introduce time synchronization constraints, the tool tip smoothing curve Corresponding smoothing tool axis vector curve The maximum angular velocity that the adjacent straight line segments can reach. The rotation boundary velocity of the remaining arc curve is w = min (w 2i ,w 2i+ 1,w c ).

[0131] Step A4: synchronize the translational motion of the tool tip with the rotational motion of the tool axis according to the translational boundary velocity, the rotational boundary velocity, the tool tip motion time, and the tool axis motion time.

[0132] Specifically, a time synchronization strategy is adopted to synchronize the motion time of the tool tip and tool axis vectors, and the boundary speed is adjusted to synchronize the translational motion of the tool tip with the rotational motion of the tool axis.

[0133] Fig. 9 is a flow chart of step A4 of the processing motion planning method provided in one embodiment of the present application. Fig. 9 , the above-mentioned step A4 may specifically include step A41 and step A42.

[0134] Step A41: Perform speed planning on the tool tip motion trajectory and tool axis motion trajectory after smoothing.

[0135] In order to achieve time-synchronous motion of the tool tip and tool axis, it is necessary to first determine the velocity planning model for the tool tip motion trajectory and tool axis direction. The S-type acceleration and deceleration model is the most commonly used velocity planning model in actual machine tool processing, which can ensure the continuity of jerk during motion. Therefore, the velocity planning model v(t) with S-type time parameters can be used:

[0136]

[0137] In the above formula, v s and v eis the starting speed and ending speed of a trajectory. ΔV a =v m -v s and ΔV d =v m -v e Represent the acceleration difference and deceleration difference respectively. a , t c and t d They represent acceleration time, uniform speed time and deceleration time respectively. Among them, acceleration time t a and deceleration time t d The maximum acceleration A that can be set by the system m and maximum jerk J m To express:

[0138]

[0139] t a , t c and t d The corresponding acceleration distance L a , uniform speed distance L c and deceleration distance L d , and the trajectory distance L:

[0140]

[0141] L c =V m t c , L=L a +L c +L d .

[0142] Step A42, synchronize the smaller of the tool tip movement time and the tool axis movement time to the same size as the larger one, so that the translational movement of the tool tip is synchronized with the rotational movement of the tool axis.

[0143] After completing the speed planning of the tool tip motion trajectory and the tool axis motion trajectory, synchronize the time of each tool tip motion and the corresponding tool axis motion.

[0144] The time synchronization of the tool tip and tool axis motion is achieved by i and the corresponding tool axis vector O i After speed planning, the trajectory with the shorter motion time is synchronized to the trajectory with the longer motion time, so that the tool tip trajectory P i and the corresponding tool axis vector O i To achieve the purpose of time synchronization.

[0145] Fig.10Schematic diagram of time synchronization of the machining motion planning method provided by an embodiment of the present application. Refer to Fig.10 , assuming that the starting speed and the ending speed v of a section of trajectory s <v e and there exists a speed curve of acceleration-uniform deceleration with a motion time of T s . Refer to the A0 curve shown in Fig.10 . During synchronization, it is required to extend the motion time to a longer time T e (T e >T s ). T1, T2, and T3 are three thresholds for time synchronization, respectively representing the time threshold T1 for acceleration-uniform motion; the time threshold T2 for acceleration; and the time threshold T3 for uniform motion. The corresponding expressions are as follows:

[0146]

[0147] In Fig.10 , there are five types of speed curves after time synchronization, which are: the speed curve A1 of acceleration-uniform deceleration; the speed curve A2 of acceleration-uniform motion; the speed curve characteristic A3 of acceleration; and the speed curve A4 of deceleration-uniform motion. The corresponding time synchronization conditions are as follows.

[0148] When T e <T1, synchronize A0 with A1. During the synchronization process, keep the acceleration time t a and the deceleration time t d unchanged, and extend the uniform motion time to t c =T e -t a -t d . After synchronization, the speed V of the uniform motion segment m will be reduced to v m , and v m depends on T e :

[0149]

[0150] When T1 < T e <T2, synchronize A0 with A2. During the synchronization process, the speed of the uniform motion segment is v e , the time of the acceleration process is extended from T a to t a , the uniform motion time is t c =T e -t a , and the deceleration time t d =0. t a depends on T e :

[0151]

[0152] To ensure that the acceleration time t a is an integer multiple of the interpolation cycle T of the machine tool, let the ratio of to T be rounded up. The end speed after synchronization:

[0153]

[0154] When T2 < T e < T3, synchronize A0 with A3. During the synchronization process, extend the acceleration time t a to T e , the constant-speed time t c = 0, and the deceleration time t d = 0. The end speed v e after synchronization depends on T e :

[0155]

[0156] When T3 < T e , synchronize A0 with A4. During the synchronization process, the deceleration time The constant-speed time is t c = T e - t d , and the acceleration time t a = 0. The end speed v e after synchronization depends on T e :

[0157]

[0158] For the remaining line segments, the speed constraints introduced by time synchronization can be calculated according to the following formula:

[0159]

[0160] Based on the above theoretical basis, the time synchronization of the tool tip and the tool axis can be achieved. Specifically, T f is the tool tip movement time, T w is the tool axis movement time, the starting speed of the tool tip (i.e., the translational boundary speed) is v s , the ending speed of the tool tip (i.e., the translational boundary speed) is v e , the starting speed of the tool axis (i.e., the rotational boundary speed) is w s , the ending speed of the tool axis (i.e., the rotational boundary speed) is w e , and the time synchronization processing in different cases is as follows:

[0161] (a) When the tool tip movement time T f is less than the tool axis movement time T w and the starting speed v of the tool tip sGreater than the tool tip end speed v e When the tool tip moves, the time is synchronized to T w , and reduce the tool tip starting speed v of the tool tip movement s ;

[0162] (b) When the tool tip moves for time T f Less than the knife axis movement time T w And the starting speed of the tool tip is v s Less than or equal to the tool tip end speed v e , synchronize the time of tool tip movement to T w , reduce the tool tip end speed v of the tool tip movement e ;

[0163] (c) When the tool tip moves for time T f Greater than the tool axis movement time T w And the knife axis starting speed w s Greater than the end speed w of the knife axis e , synchronize the time of the tool axis movement to T f , reduce the starting speed w of the tool axis movement s ;

[0164] (4) When the tool tip moves for time T f Greater than the tool axis movement time T w And the knife axis starting speed w s Less than or equal to the tool axis end speed w e , synchronize the time of tool tip movement to T w , reduce the tool axis end speed w of the tool axis movement e .

[0165] According to the above content, it can be known that the maximum translational speed and movement time of the tool tip of the tool tip motion trajectory, as well as the maximum rotational speed and movement time of the tool axis of the tool axis motion trajectory are obtained, the translational corner of the tool tip motion trajectory and the rotational corner of the tool axis motion trajectory are smoothed, and the translational boundary speed of the tool tip translation connection point of the tool tip motion trajectory after smoothing and the rotational boundary speed of the tool axis rotation connection point of the tool axis motion trajectory are determined according to the maximum translational speed of the tool tip and the maximum rotational speed of the tool axis. According to the translational boundary speed, the rotational boundary speed, the tool tip movement time and the tool axis movement time, the translational motion of the tool tip is synchronized with the rotational motion of the tool axis, which can achieve synchronization of tool tip translation and tool axis rotation, ensure the continuity of the motion of each axis, reduce the phenomenon of machine tool processing vibration, improve the processing quality and further improve the processing efficiency.

[0166] Fig.11 is a flow chart of a processing motion planning method provided by another embodiment of the present application. Fig.11 The above processing motion planning method may further include step A5.

[0167] Step A5: According to the synchronization result, the real-time machining machine tool position of the tool tip translation and tool axis rotation is determined by interpolation.

[0168] According to the machine tool interpolation cycle T, tool tip P i and the knife axis vector O i The displacement of the motion, and the real-time interpolation machine position M can be obtained through inverse transformation i , realize the inverse transformation to the actual processing machine tool position for processing.

[0169] Taking the aforementioned AB turntable as an example, its inverse transformation is:

[0170]

[0171] Finally, the velocity curve is obtained by the displacement difference at adjacent times, the acceleration curve is obtained by the velocity difference at adjacent times, and the acceleration curve is obtained by the acceleration difference at adjacent times.

[0172] The processing motion planning method provided in the embodiment of the present application can realize the synchronization of tool tip translation and tool axis rotation, can meet the constraints of speed, acceleration, jerk and the like of tool tip translation and tool axis rotation of the five-axis laser cutting equipment and the continuity of the motion of each axis, can improve the processing quality and further improve the processing efficiency, and can be applied to the real-time synchronization planning of tool tip and tool axis motion in five-axis laser processing.

[0173] Corresponding to the method described in the above embodiment, Fig.12 A structural block diagram of a processing motion planning device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0174] refer to Fig.12 The processing motion planning device provided in the embodiment of the present application includes a data acquisition module 1A, a smoothing processing module 2A, a boundary speed determination module 3A and a motion synchronization module 4A.

[0175] The data acquisition module 1A is used to obtain the maximum translation speed of the tool tip, the maximum rotation speed of the tool axis, the tool tip movement time and the tool axis movement time of the specified motion trajectory.

[0176] The smoothing processing module 2A is used to smooth the tool tip translation angle and tool axis rotation angle of the specified motion trajectory.

[0177] The boundary speed determination module 3A is used to determine the translation boundary speed of the tool tip translation connection point and the rotation boundary speed of the tool axis rotation connection point of the specified motion trajectory after smoothing processing according to the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis.

[0178] The motion synchronization module 4A is used to synchronize the translational motion of the tool tip with the rotational motion of the tool axis according to the translational boundary speed, the rotational boundary speed, the tool tip motion time and the tool axis motion time.

[0179] Fig.13 Schematic diagram of the structure of the data acquisition module of the processing motion planning device provided in one embodiment of the present application. Fig.13 The above-mentioned data acquisition module 1A may include a coordinate acquisition submodule 11A and a speed acquisition submodule 12A.

[0180] The coordinate acquisition submodule 11A is used to acquire the machine tool coordinates of each motion axis.

[0181] The speed acquisition submodule 12A is used to determine the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis according to the machine tool coordinates.

[0182] Fig.14 Schematic diagram of the structure of the smoothing processing module of the processing motion planning device provided in one embodiment of the present application. Fig.14 The above-mentioned smoothing processing module 2A may include a position relationship determination submodule 21A, a smoothing submodule 22A, a tool axis curve determination submodule 23A and a tool axis curve processing submodule 24A.

[0183] The position relationship determination submodule 21A is used to determine the position relationship of the control points of the corner curve of the tool tip translation corner.

[0184] The smoothing submodule 22A is used to determine the smoothing error and maximum curvature of the corner curve of the tool tip translation corner according to the positional relationship of the control points, thereby determining the tool tip corner smoothing curve.

[0185] The tool axis curve determination submodule 23A is used to determine the plane corner curve of the tool axis rotation corner on the specified plane.

[0186] The tool axis curve processing submodule 24A is used to normalize and project the plane corner curve onto the unit sphere to determine the tool axis corner smoothing curve.

[0187] Fig.15 Schematic diagram of the structure of the tool axis curve determination submodule of the machining motion planning device provided in one embodiment of the present application. Fig.15 The above-mentioned tool axis curve determination submodule 23A may include a rotation error determination unit 231A and a conversion unit 232A.

[0188] The rotation error determination unit 231A is used to determine the tool axis rotation error of the plane corner curve of the tool axis rotation corner to be constructed on the unit sphere.

[0189] The conversion unit 232A is used to convert the rotation error into a maximum corner length error, thereby determining a plane corner curve.

[0190] Fig.16 Schematic diagram of the structure of the motion synchronization module of the processing motion planning device provided in one embodiment of the present application. Fig.16 The above-mentioned motion synchronization module 4A may include a speed planning submodule 41A and a synchronization submodule 42A.

[0191] The speed planning submodule 41A is used to perform speed planning on the tool tip motion trajectory and tool axis motion trajectory after smoothing.

[0192] The synchronization submodule 42A is used to synchronize the smaller of the tool tip movement time and the tool axis movement time to the same value as the larger one, so that the translational movement of the tool tip is synchronized with the rotational movement of the tool axis.

[0193] Fig.17 is a schematic diagram of the structure of a processing motion planning device provided by another embodiment of the present application. Fig.17 The above-mentioned machining motion planning device may also include a machine tool position determination module 5A.

[0194] The machine tool position determination module 5A is used to determine the real-time machining machine tool position of the tool tip translation and tool axis rotation by interpolation according to the synchronization result.

[0195] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0196] Fig.18 This is a schematic diagram of the structure of a processing device provided in one embodiment of the present application. Fig.18 As shown, the processing device 18 of this embodiment includes: at least one processor 180 ( Fig.18 Only one is shown in the figure), a memory 181, and a computer program 182 stored in the memory 181 and executable on at least one processor 180; when the processor 180 executes the computer program 182, the steps in the above-mentioned method embodiments are implemented.

[0197] The processing equipment may include, but is not limited to, a processor 180 and a memory 181. Those skilled in the art will appreciate that Figure 6 It is only an example of processing equipment and does not constitute a limitation of the processing equipment. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access equipment, buses, etc.

[0198] The processor 180 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0199] In some embodiments, the memory 181 may be an internal storage unit of the processing device 18, such as a hard disk or memory of the processing device. In other embodiments, the memory 181 may also be an external storage device of the processing device, such as a plug-in hard disk equipped on the processing device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 181 may also include both an internal storage unit of the processing device and an external storage device. The memory 181 is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs, such as program codes of computer programs, etc. The memory 181 may also be used to temporarily store data that has been output or is to be output.

[0200] Exemplarily, the computer program 182 may be divided into one or more modules / units, one or more modules / units are stored in the memory 181, and are executed by the processor 180 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 182 in the processing device 18.

[0201] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0202] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0203] If the aforementioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium; when the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media include: any entity or device that can carry computer program code to a device / terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0204] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0205] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned various method embodiments.

[0206] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0207] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0208] In the embodiments provided in the present application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are merely schematic, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0209] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0210] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A processing motion planning method, characterized in that: include: Obtaining the maximum translation speed of the tool tip and the tool tip motion time of the tool tip motion trajectory, and obtaining the maximum rotation speed of the tool axis and the tool axis motion time of the tool axis motion trajectory; Smoothing the tool tip translation angle of the tool tip motion trajectory and the tool axis rotation angle of the tool axis motion trajectory; Determine the translation boundary speed of the tool tip translation connection point of the tool tip motion trajectory after smoothing and the rotation boundary speed of the tool axis rotation connection point of the tool axis motion trajectory according to the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis; The translational motion of the tool tip and the rotational motion of the tool axis are synchronized according to the translational boundary speed, the rotational boundary speed, the tool tip motion time, and the tool axis motion time.

2. The machining motion planning method according to claim 1, characterized in that: The processing motion planning method also includes: According to the synchronization results, the real-time machining machine position of the tool tip translation and tool axis rotation is determined by interpolation.

3. The processing motion planning method according to claim 1, characterized in that: The method of obtaining the maximum translation speed of the tool tip and the tool tip movement time of the tool tip movement trajectory, and obtaining the maximum rotation speed of the tool axis and the tool axis movement time of the tool axis movement trajectory, includes: Get the machine coordinates of each motion axis; The maximum translation speed of the tool tip and the maximum rotation speed of the tool axis are determined according to the machine tool coordinates.

4. The processing motion planning method according to claim 3, characterized in that: Determining the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis according to the machine tool coordinates includes: The machine tool coordinates are decomposed into a tool tip position and a tool axis motion vector according to the geometric positive change, and the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis are determined according to the increments of each axis of the machine tool.

5. The processing motion planning method according to claim 1, characterized in that: The smoothing process of the tool tip translation angle of the tool tip motion trajectory and the tool axis rotation angle of the tool axis motion trajectory includes: Determine the positional relationship of the control points of the corner curve of the tool tip translation corner; Determine the smoothing error and maximum curvature of the corner curve of the tool tip translation corner according to the positional relationship of the control points, thereby determining the tool tip corner smoothing curve; Determine the plane corner curve of the tool axis rotation corner on the specified plane; The plane corner curve is normalized and projected onto a unit sphere to determine a tool axis corner smoothing curve.

6. The processing motion planning method according to claim 5, characterized in that: The step of determining the plane corner curve of the tool axis rotation corner on the specified plane includes: Determine the tool axis rotation error of the projection of the plane corner curve of the tool axis rotation corner to be constructed on the unit sphere; The rotation error is converted into a maximum corner length error, thereby determining the plane corner curve.

7. The processing motion planning method according to any one of claims 1 to 6, characterized in that: The step of synchronizing the translational motion of the tool tip with the rotational motion of the tool axis according to the translational boundary speed, the rotational boundary speed, the tool tip motion time, and the tool axis motion time comprises: Performing speed planning on the tool tip motion trajectory and the tool axis motion trajectory after smoothing; The smaller one of the tool tip movement time and the tool shaft movement time is synchronized to be the same as the larger one, so that the translational movement of the tool tip is synchronized with the rotational movement of the tool shaft.

8. A processing motion planning device, characterized in that: include: A data acquisition module is used to obtain the maximum translation speed of the tool tip, the maximum rotation speed of the tool axis, the tool tip movement time and the tool axis movement time of the specified motion trajectory; A smoothing processing module is used to: smooth the tool tip translation angle and tool axis rotation angle of the specified motion trajectory; A boundary speed determination module is used to determine the translation boundary speed of the tool tip translation connection point and the rotation boundary speed of the tool axis rotation connection point of the specified motion trajectory after smoothing according to the maximum translation speed of the tool tip and the maximum rotation speed of the tool axis; The motion synchronization module is used to synchronize the translational motion of the tool tip with the rotational motion of the tool axis according to the translational boundary speed, the rotational boundary speed, the tool tip motion time and the tool axis motion time.

9. A processing equipment, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the machining motion planning method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processing motion planning method according to any one of claims 1 to 7 is implemented.

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