Method, device and equipment for machining motion planning and storage medium

Abstract

The application is suitable for the field of automation control technology, and provides a machining motion planning method, device, equipment and storage medium. The machining motion planning method comprises the following steps: acquiring a maximum translational speed of a tool tip motion trajectory and a tool tip motion time, and acquiring a maximum rotational speed of a tool shaft motion trajectory and a tool shaft motion time; smoothing a tool tip translational corner of the tool tip motion trajectory and a tool shaft rotational corner of the tool shaft motion trajectory; determining a translational boundary speed of a tool tip translational connection point of the smoothed tool tip motion trajectory and a rotational boundary speed of a tool shaft rotational connection point of the tool shaft motion trajectory according to the maximum translational speed of the tool tip motion trajectory and the maximum rotational speed of the tool shaft motion trajectory; and synchronizing the translational motion of the tool tip with the rotational motion of the tool shaft according to the translational boundary speed, the rotational boundary speed, the tool tip motion time and the tool shaft motion time. The machining motion planning method provided by the embodiment of the application can improve machining quality.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automation control technology, and particularly relates to a machining motion planning method, device, equipment and storage medium. BACKGROUND

[0002] In the field of five-axis laser cutting, a method of parameter synchronization is usually adopted to mainly take the tool tip trajectory motion as the main part, the tool shaft vector follows the motion of the tool tip trajectory, and five-axis machine tool machining is realized. However, the motion of each axis of the five-axis laser cutting machine tool is determined by the tool tip translation and the tool shaft rotation, and excessive tool shaft motion will cause the speed of each axis to exceed the machine tool limit value, which will affect the machining quality of the machine tool. SUMMARY

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

[0004] In a first aspect, embodiments of the present application provide a machining motion planning method, comprising:

[0005] obtaining a tool tip maximum translation speed and a tool tip motion time of a tool tip motion trajectory, and obtaining a tool shaft maximum rotation speed and a tool shaft motion time of a tool shaft motion trajectory;

[0006] fairing a tool tip translation corner of the tool tip motion trajectory and a tool shaft rotation corner of the tool shaft motion trajectory;

[0007] determining a translation boundary speed of a tool tip translation junction point of the tool tip motion trajectory and a rotation boundary speed of a tool shaft rotation junction point of the tool shaft motion trajectory after the fairing according to the tool tip maximum translation speed and the tool shaft maximum rotation speed;

[0008] synchronizing the translation motion of the tool tip and the rotation motion of the tool shaft according to the translation boundary speed, the rotation boundary speed, the tool tip motion time and the tool shaft motion time.

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

[0010] determining a real-time machining machine tool position of the tool tip translation and the tool shaft rotation through interpolation according to the synchronization result.

[0011] In a possible implementation manner of the first aspect, the obtaining of the tool tip maximum translation speed and the tool tip motion time of the tool tip motion trajectory, and the obtaining of the tool shaft maximum rotation speed and the tool shaft motion time of the tool shaft motion trajectory, comprises:

[0012] obtaining machine tool coordinates of each motion axis;

[0013] According to the machine tool coordinates, a maximum translational velocity of a tool tip and a maximum rotational velocity of a tool axis are determined.

[0014] In a possible implementation manner of the first aspect, the determining of the maximum translational velocity of the tool tip and the maximum rotational velocity of the tool axis according to the machine tool coordinates comprises:

[0015] According to geometric positive variation, the machine tool coordinates are decomposed into a tool tip position and a tool axis movement vector, and according to increments of each axis of the machine tool, the maximum translational velocity of the tool tip and the maximum rotational velocity of the tool axis are determined.

[0016] In a possible implementation manner of the first aspect, the smoothing processing of the tool tip translational corner of the tool tip movement trajectory and the tool axis rotational corner of the tool axis movement trajectory comprises:

[0017] Determining a position relationship of a control point of a corner curve of the tool tip translational corner;

[0018] According to the position relationship of the control point, a smoothing error and a maximum curvature of the corner curve of the tool tip translational corner are determined, so as to determine a tool tip corner smoothing curve;

[0019] Determining a plane corner curve of the tool axis rotational corner in a specified plane;

[0020] Projecting the plane corner curve to a unit sphere in a normalized manner to determine a tool axis corner smoothing curve.

[0021] In a possible implementation manner of the first aspect, the determining of the plane corner curve of the tool axis rotational corner in the specified plane comprises:

[0022] Determining a tool axis rotational error of a plane corner curve of a to-be-constructed tool axis rotational corner in the specified plane in a unit sphere projection manner;

[0023] Converting the rotational error into a corner maximum length error, so as to determine the plane corner curve.

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

[0025] Performing velocity planning on the tool tip movement trajectory and the tool axis movement trajectory after the smoothing processing;

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

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

[0028] a data acquisition module configured to acquire a maximum translational speed of a tool tip, a maximum rotational speed of a tool shaft, a tool tip motion time, and a tool shaft motion time of a specified motion trajectory;

[0029] a smoothing processing module configured to smooth a translational corner of the tool tip and a rotational corner of the tool shaft of the specified motion trajectory;

[0030] a boundary speed determination module configured to determine a translational boundary speed of a translational junction point and a rotational boundary speed of a rotational junction point of the specified motion trajectory after the smoothing processing according to the maximum translational speed of the tool tip and the maximum rotational speed of the tool shaft;

[0031] a motion synchronization module configured to synchronize the translational motion of the tool tip with the rotational motion of the tool shaft according to the translational boundary speed, the rotational boundary speed, the tool tip motion time, and the tool shaft motion time.

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

[0033] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable by a processor to implement the processing motion planning method in any one of the first aspect.

[0034] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a terminal device, enables the terminal device to execute the processing motion planning method in any one of the first aspect.

[0035] The embodiment of the present application has the following beneficial effects:

[0036] The maximum translational speed of the tool tip and the tool tip motion time of the tool tip motion trajectory, and the maximum rotational speed of the tool shaft and the tool shaft motion time of the tool shaft motion trajectory are acquired, the translational corner of the tool tip motion trajectory and the rotational corner of the tool shaft motion trajectory are smoothed, the translational boundary speed of the translational junction point and the rotational boundary speed of the rotational junction point of the tool tip motion trajectory after the smoothing processing are determined according to the maximum translational speed of the tool tip and the maximum rotational speed of the tool shaft, and the translational motion of the tool tip is synchronized with the rotational motion of the tool shaft according to the translational boundary speed, the rotational boundary speed, the tool tip motion time, and the tool shaft motion time, so that the synchronization of the translational motion of the tool tip and the rotational motion of the tool shaft is realized, the continuity of the motion of each shaft is ensured, the phenomenon of the vibration of the machine tool during processing is reduced, and the processing quality is improved. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic flowchart of a machining motion planning method provided in an embodiment of this application;

[0039] Figure 2 This is a flowchart illustrating step A1 of the machining motion planning method provided in an embodiment of this application;

[0040] Figure 3 This is a flowchart illustrating step A2 of the machining motion planning method provided in an embodiment of this application;

[0041] Figure 4 This is a schematic diagram of the smoothing process of the tool tip translational corner in a machining motion planning method provided in an embodiment of this application;

[0042] Figure 5 This is a schematic diagram of the smoothing process of the tool axis rotation angle in a machining motion planning method provided in an embodiment of this application;

[0043] Figure 6 This is a flowchart illustrating step A23 of the machining motion planning method provided in an embodiment of this application;

[0044] Figure 7 This is a schematic diagram of the tool axis rotation corner smoothness error in a machining motion planning method provided in an embodiment of this application;

[0045] Figure 8 This is a schematic diagram of the boundary velocities of each trajectory unit in a machining motion planning method provided in an embodiment of this application;

[0046] Figure 9 This is a flowchart illustrating step A4 of the machining motion planning method provided in an embodiment of this application;

[0047] Figure 10 This is a schematic diagram of time synchronization of a processing motion planning method provided in an embodiment of this application;

[0048] Figure 11 This is a flowchart illustrating a machining motion planning method provided in another embodiment of this application;

[0049] Figure 12is a structural schematic diagram of a machining motion planning device provided by an embodiment of the present application;

[0050] Figure 13 is a structural schematic diagram of a data acquisition module of the machining motion planning device provided by an embodiment of the present application;

[0051] Figure 14 is a structural schematic diagram of a smoothing processing module of the machining motion planning device provided by an embodiment of the present application;

[0052] Figure 15 is a structural schematic diagram of a tool shaft curve determination sub-module of the machining motion planning device provided by an embodiment of the present application;

[0053] Figure 16 is a structural schematic diagram of a motion synchronization module of the machining motion planning device provided by an embodiment of the present application;

[0054] Figure 17 is a structural schematic diagram of a machining motion planning device provided by another embodiment of the present application;

[0055] Figure 18 is a structural schematic diagram of a machining device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the technical problems to be solved by the present application, the technical solutions and the beneficial effects clearer, the following further describes the present application in detail with reference to the accompanying drawings and embodiments. 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. Figures 1 to 18

[0057] In the following description, specific details are set forth in order to provide a thorough understanding of embodiments of the present application. However, persons skilled in the art will understand that embodiments of the present application can be practiced without these specific details. In other instances, well-known systems, structures, circuits, and methods have not been described in detail in order to avoid obscuring the description of the present application.

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

[0059] It should also be understood that the term "and / or" used in the specification and the appended claims of the present application means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. ​

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

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

[0062] In the present specification, the phrase "one embodiment" or "some embodiments" etc. means that the specific feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in other some embodiments", "in yet some embodiments" etc. appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprise", "include", "have" and their conjugates mean "including but not limited to", unless otherwise specifically emphasized.

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

[0064] Figure 1 is a flowchart of the machining motion planning method provided by an embodiment of the present application. Referring to Figure 1 , the machining motion planning method provided by the embodiments of the present application includes steps A1 to A4.

[0065] Step A1, acquiring the maximum translational speed of the tool tip motion trajectory and the tool tip motion time, and acquiring the maximum rotational speed of the tool shaft motion trajectory and the tool shaft motion time.

[0066] The tool tip is a point at the end of the tool. The tool shaft is the axis that fixes the tool, and the workpiece rotates around this axis.

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

[0068] The tool tip motion time is the time for the tool tip to move along the tool tip motion trajectory. The tool shaft motion time is the time for the tool shaft to move along the tool shaft motion trajectory. The tool tip motion time and the tool shaft motion time can be read from the machine tool system.

[0069] The tool tip maximum translational velocity is a kinematic constraint parameter of the tool tip translation. The tool shaft maximum rotational velocity is a kinematic constraint parameter of the tool shaft rotation.

[0070] In machining (such as five-axis laser cutting), the kinematic constraints of the tool tip translation and the kinematic constraints of the tool shaft rotation in the machine tool structure and the workpiece coordinate system are usually determined by the machine tool manufacturer, the programmer and the process designer.

[0071] Figure 2 is a flowchart of step A1 of the machining motion planning method provided by an embodiment of the present application. Referring to Figure 2 Of course, the tool tip maximum translational velocity and the tool shaft maximum rotational velocity can also be obtained according to 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 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, determining the tool tip maximum translational velocity and the tool shaft maximum rotational velocity according to the machine tool coordinates.

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

[0076] Specifically, taking an AB rotary table (i.e. an A-axis and B-axis rotary table) as an example, is the motion amount of each axis of the five-axis machine tool, P = [P x , P y , P z ] T and O = [O i , O j , O k ] T is the tool tip coordinate and the tool shaft vector in the workpiece coordinate system, and the positive change thereof is:

[0077]

[0078] For linear tool path, the maximum translational velocity of tool tip V m and the maximum rotational velocity of tool axis W m The increments of the axes positions of tool tip translation and tool axis rotation (ΔX, ΔY, ΔZ, ΔA, ΔB) can be determined according to the tool tip translational and tool axis rotational positions of the tool tip motion trajectory and the tool axis motion trajectory.

[0079]

[0080] Step A2, smoothing the tool tip translational corner of the tool tip motion trajectory and the tool axis rotational corner of the tool axis motion trajectory.

[0081] The smoothing of the tool tip translational corner and the tool axis rotational corner can realize the continuous change of the velocity and acceleration, and specifically, a cubic Bezier curve can be used to smooth the tool tip translational corner of the tool tip motion trajectory and the tool axis rotational corner of the tool axis motion trajectory (also referred to as tool axis rotation angle). In other embodiments, a quintic Bezier curve is used to smooth the tool tip translational corner of the tool tip motion trajectory and the tool axis rotational corner of the tool axis motion trajectory.

[0082] Figure 3 is a flowchart of step A2 of the machining motion planning method provided by an embodiment of the present application. Referring to Figure 3 , the above step A2 can specifically include step A21 and step A24.

[0083] Step A21, determining the position relationship of the control points of the corner curve of the tool tip translational corner.

[0084] Figure 4 is a schematic diagram of the smoothing of the tool tip translational corner of the machining motion planning method provided by an embodiment of the present application. Referring to Figure 4 , assuming that the linear tool tip motion trajectory has N+1 (N≥2) translational corner points P i (i=0, 1, 2, …, N) (i.e., tool tip translational corners), for the linear corner point P i+1 , the cubic Bezier curve smoothing at P is denoted as The expression of

[0085]

[0086] In the above formula, is the control point of the corner curve .

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

[0088]

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

[0090] Step A22: Based on the positional relationship of the control points, determine the smoothness error and maximum curvature of the corner curve of the tool tip translational corner, thereby determining the smoothness curve of the tool tip corner.

[0091] Smoothing error ε i :

[0092] The maximum error for corner smoothing is

[0093] θ i Let P be a vector i P i+1 sum vector P i+1 P i+2 The supplementary angle of the included angle.

[0094] To prevent overlap between adjacent corner smooth curves, d i The possible values ​​are as follows:

[0095]

[0096] Among them, L i and L i+1 The respective trajectories of the blade tip P i P i+1 and P i+1 P i+2 The length.

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

[0098]

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

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

[0101] Figure 5 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. Referring to Figure 5 , in the specified plane O i O i+1 O i+2 The tool axis rotation corner is smoothed using the same method as the tool tip translation corner smoothing, and the plane corner curve of the tool axis rotation corner can be obtained. Among them, the specified plane O i O i+1 O i+2 is the workpiece plane.

[0102] The curve is an inserted cubic Bezier curve, which together with the remaining line segment and constitutes the plane corner curve of the tool axis rotation corner (i.e. the smoothing curve of the tool axis rotation corner).

[0103] Figure 6 is a flowchart of step A23 of the machining motion planning method provided by an embodiment of the present application. Referring to Figure 6 , the above-mentioned step A23 can specifically include step A231 and step A232.

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

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

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

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

[0108] In RtΔOEO i+1 In China, according to Solving these two equations simultaneously, we find 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 shaft rotation error δ i exist Inside, Where M is ∠O i O i+1 O i+2 The direction vector of the angle bisector has a value of Direction and vector O i+1 E is consistent. When δ i =α i At that time, e i With α i Positive correlation. Due to the error length ||O i+1 E||=e i ≥0, therefore, when the above expression has one positive root and one negative root, e i Take the positive root. When the above equation has two positive roots, the smaller positive root is usually chosen to reduce the direction deviation of the tool axis vector. Given the tool axis rotation error δ... i At that time, it can be in plane O i O i+1 O i+2 Upper limit of control error e for smoothing corners in upper structure i Based on this, a smooth tool axis vector within the allowable error range is obtained, which can better control the corner curves on the spherical surface. Machining errors.

[0111] Step A24: Normalize the planar corner curve and project it onto the unit sphere to determine the smooth curve of the cutter axis corner.

[0112] Plane corner curve Normalized projection onto a unit sphere yields the smoothed tool axis corner curve.

[0113]

[0114] Therefore, the tool axis point O i+1 The smoothing curve of the cutter shaft corner after smoothing is mainly composed of arcs. Smooth curve and an arc The composed, i.e. smoothed, tool axis vector trajectory is composed of spherical smoothing curve segments and circular arc curve segments.

[0115] Step A3, according to the maximum translational velocity of the tool tip and the maximum rotational velocity of the tool axis, determining the translational boundary velocity of the tool tip translational connection point of the tool tip motion trajectory after smoothing processing and the rotational boundary velocity of the tool axis rotational connection point of the tool axis motion trajectory.

[0116] After smoothing processing the tool tip motion trajectory and the tool axis motion trajectory under error control, the boundary velocity of the smoothed tool tip motion trajectory and the tool axis motion trajectory (also known as tool axis vector direction) is determined, and the aforementioned boundary velocity includes the translational boundary velocity of the tool tip translational connection point and the rotational boundary velocity of the tool axis rotational connection point.

[0117] The translational boundary velocity can be divided into a tool tip start velocity and a tool tip end velocity.

[0118] The rotational boundary velocity can be divided into a tool axis start velocity and a tool axis end velocity.

[0119] Figure 8 is a schematic diagram of the boundary velocity of each trajectory unit of the machining motion planning method provided by an embodiment of the present application. The boundary velocity of the tool tip trajectory is taken as an example. Figure 8

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

[0121]

[0122] In the above formula, v c is the maximum velocity of the constraint of the adjacent straight line segments before and after the smoothed curve .

[0123] The translational boundary velocity of the tool tip translational connection point of the remaining straight line segment P 2i+1 is v 2i and v 2i+1 . To meet the requirements of the time-synchronized motion of the subsequent tool tip and tool axis directions, the minimum value of the boundary velocity should satisfy the following constraint:

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

[0125] According to the relationship between the tool tip corner error and the curvature, by analogy, the curvature extreme value of the tool axis vector corner smoothing is ​

[0126]

[0127] wherein,

[0128] Knife tip point smoothing curve Corresponding smoothing tool axis vector curve The rotation boundary speed of the tool axis rotation joint point is w 2i-1 and w 2i Similarly, according to the curvature value at the curvature extreme point E, it can be known that:

[0129]

[0130] wherein, w c is introduced to synchronize the time constraint, the knife tip point smoothing curve Corresponding smoothing tool axis vector curve The maximum angular velocity that the adjacent straight line segments before and after can reach. The rotation boundary speed w of the remaining circular arc curve is min(w 2i ,w 2i+ 1,w c ).

[0131] Step A4, according to the translational boundary speed, the rotational boundary speed, the knife tip motion time and the tool axis motion time, synchronizing the translational motion of the knife tip with the rotational motion of the tool axis.

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

[0133] Figure 9 is the flowchart of step A4 of the machining motion planning method provided by an embodiment of the application. Referring to Figure 9 , the above step A4 can specifically include step A41 and step A42.

[0134] Step A41, performing speed planning on the knife tip motion trajectory and the tool axis motion trajectory after the smoothing processing.

[0135] In order to realize the time synchronization motion of the knife tip point and the tool axis, it is necessary to determine the speed planning model of the knife tip motion trajectory and the tool axis direction. The S-shaped acceleration and deceleration model is the most commonly used speed planning model in actual machine tool machining, which can ensure the continuous jerk in the motion process. Therefore, the S-shaped time parameter speed planning model v(t) can be adopted:

[0136]

[0137] In the above formula, v s and v eThe start and end velocities of a segment of trajectory. ΔV a = v m -v s and ΔV d = v m -v e respectively represent the acceleration difference and deceleration difference. t a , t c and t d respectively represent the acceleration time, constant velocity time and deceleration time. Among them, the acceleration time t a and deceleration time t d can be expressed by the maximum acceleration A m and maximum jerk J m set by the system:

[0138]

[0139] t a , t c and t d correspond to the acceleration distance L a , constant velocity distance L c and deceleration distance L d respectively, 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 one of the tool tip movement time and the tool shaft movement time to be as large as the larger one, so that the translational movement of the tool tip is synchronized with the rotational movement of the tool shaft.

[0143] After completing the velocity planning of the tool tip movement trajectory and the tool shaft movement trajectory, synchronize the time of each segment of tool tip movement and the corresponding tool shaft movement.

[0144] The time synchronization of tool tip and tool shaft movement refers to, after velocity planning is performed on each segment of tool tip trajectory P i and the corresponding tool shaft vector O i respectively, synchronizing the shorter one of the movement times of the two trajectories to be as large as the longer one of the movement times of the two trajectories, so that the tool tip trajectory P i and the corresponding tool shaft vector O i achieve the purpose of time synchronization.

[0145] Figure 10is a schematic diagram of time synchronization of the machining motion planning method provided by an embodiment of the present application. Referring to Figure 10 , suppose the start speed and end speed v s of a segment of trajectory e and there is an acceleration-constant speed-deceleration speed curve with motion time T s , as shown in A0 curve in Figure 10 . In synchronization, the motion time is required to be extended to a longer time T e (T e >T s ). T1, T2 and T3 are three threshold values of time synchronization, respectively representing the acceleration-constant speed time threshold T1, the acceleration time threshold T2 and the constant speed time threshold T3, corresponding to the following expressions:

[0146]

[0147] In Figure 10 , there are five kinds of speed curves after time synchronization, which are acceleration-constant speed-deceleration speed curve A1, acceleration-constant speed speed curve A2, acceleration speed curve A3, deceleration-constant speed speed curve A4. The corresponding time synchronization conditions are as follows.

[0148] When T e <T1, A0 is synchronized by A1. In the synchronization process, the acceleration time t a and the deceleration time t d are kept unchanged, and the constant speed time is extended to t c =T e -t a -t d . After synchronization, the constant speed segment speed V m will be reduced to v m , and v m depends on T e :

[0149]

[0150] When T1<T e <T2, A0 is synchronized by A2. In the synchronization process, the constant speed segment speed is v e , the acceleration process time is extended from T a to t a , the constant speed 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 the acceleration time t a is an integer multiple of the machine tool interpolation period T, let The ratio of T is rounded up. The end speed after synchronization:

[0153]

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

[0155]

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

[0157]

[0158] For the remaining line segment, the speed constraint introduced by time synchronization can be calculated as follows:

[0159]

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

[0161] (a) When the tool tip movement time T f is less than the tool shaft movement time T w and the tool tip starting speed v sgreater than the tool tip end speed v e synchronizing the time of the tool tip movement to T w , and reducing the tool tip start speed v s of the tool tip movement;

[0162] (b) when the tool tip movement time T f is less than the tool axis movement time T w and the tool tip start speed v s is less than or equal to the tool tip end speed v e , synchronizing the time of the tool tip movement to T w , reducing the tool tip end speed v e of the tool tip movement;

[0163] (c) when the tool tip movement time T f is greater than the tool axis movement time T w and the tool axis start speed w s is greater than the tool axis end speed w e , synchronizing the time of the tool axis movement to T f , reducing the tool axis start speed w s of the tool axis movement;

[0164] (4) when the tool tip movement time T f is greater than the tool axis movement time T w and the tool axis start speed w s is less than or equal to the tool axis end speed w e , synchronizing the time of the tool tip movement to T w , reducing the tool axis end speed w e of the tool axis movement.

[0165] According to the above, the tool tip maximum translation speed and the tool tip movement time of the tool tip movement trajectory are obtained, the tool axis maximum rotation speed and the tool axis movement time of the tool axis movement trajectory are obtained, the tool tip translation corner of the tool tip movement trajectory and the tool axis rotation corner of the tool axis movement trajectory are smoothed, the translation boundary speed of the tool tip translation connection point of the smoothed tool tip movement trajectory and the rotation boundary speed of the tool axis rotation connection point of the smoothed tool axis movement trajectory are determined according to the tool tip maximum translation speed and the tool axis maximum rotation speed, and the translation movement of the tool tip and the rotation movement of the tool axis are synchronized according to the translation boundary speed, the rotation boundary speed, the tool tip movement time and the tool axis movement time, so that the synchronization of the tool tip translation and the tool axis rotation is realized, the continuity of the movement of each axis is ensured, the phenomenon of machine tool processing vibration is reduced, the processing quality is improved, and the processing efficiency is further improved.

[0166] Figure 11 is a flowchart of a machining movement planning method provided by another embodiment of the application. Referring to Figure 11 , the machining movement planning method can further include step A5.

[0167] Step A5, according to the synchronization result, determining the real-time machining tool tip translational and tool axis rotational machine tool position by interpolation.

[0168] According to the machine tool interpolation period T, the tool tip P i and the tool axis vector O i displacement of motion, and through the inverse transformation, the real-time interpolation machine tool position M i is obtained. The inverse transformation is realized to the actual machining machine tool position, so as to realize machining.

[0169] Taking the above-mentioned AB rotary table as an example, the inverse transformation is as follows:

[0170]

[0171] Finally, the velocity curve is obtained through the displacement difference of adjacent time, the acceleration curve is obtained through the velocity difference of adjacent time, and the acceleration curve is obtained through the acceleration difference of adjacent time.

[0172] The machining motion planning method provided by the embodiments of the present application can realize the synchronization of tool tip translation and tool axis rotation, can meet the speed, acceleration, jerk and other constraints of tool tip translation and tool axis rotation of a five-axis laser cutting device and the continuity of each axis motion, can improve the machining quality and further improve the machining efficiency, and can be applied to real-time synchronization planning of tool tip and tool axis motion of five-axis laser machining.

[0173] Corresponding to the method described in the above embodiments, Figure 12 a structural block diagram of the machining motion planning device provided by the embodiments of the present application is shown. For ease of illustration, only parts related to the embodiments of the present application are shown.

[0174] Referring to Figure 12 the machining motion planning device provided by the embodiments of the present application includes a data acquisition module 1A, a fairing processing module 2A, a boundary velocity determination module 3A and a motion synchronization module 4A.

[0175] The data acquisition module 1A is configured to acquire the maximum translational velocity of the tool tip, the maximum rotational velocity of the tool axis, the tool tip motion time and the tool axis motion time of the specified motion trajectory.

[0176] The fairing processing module 2A is configured to perform fairing processing on the tool tip translational corner and the tool axis rotational corner of the specified motion trajectory.

[0177] The boundary velocity determination module 3A is configured to determine the translational boundary velocity of the tool tip translational connection point and the rotational boundary velocity of the tool axis rotational connection point of the specified motion trajectory after the fairing processing according to the maximum translational velocity of the tool tip and the maximum rotational velocity of the tool axis.

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

[0179] Figure 13 FIG. 1A is a structural schematic diagram of a data acquisition module of a machining motion planning device according to an embodiment of the present application. Figure 13 The data acquisition module 1A can include a coordinate acquisition submodule 11A and a speed acquisition submodule 12A.

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

[0181] The speed acquisition submodule 12A is configured to determine the maximum translational speed of the tool tip and the maximum rotational speed of the tool shaft according to the machine tool coordinates.

[0182] Figure 14 FIG. 2A is a structural schematic diagram of a smoothing processing module of a machining motion planning device according to an embodiment of the present application. Figure 14 The smoothing processing module 2A can include a position relationship determination submodule 21A, a smoothing submodule 22A, a tool shaft curve determination submodule 23A, and a tool shaft curve processing submodule 24A.

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

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

[0185] The tool shaft curve determination submodule 23A is configured to determine the planar corner curve of the tool shaft rotational corner in the specified plane.

[0186] The tool shaft curve processing submodule 24A is configured to normalize and project the planar corner curve to a unit sphere to determine the tool shaft corner smoothing curve.

[0187] Figure 15 FIG. 3A is a structural schematic diagram of a tool shaft curve determination submodule of a machining motion planning device according to an embodiment of the present application. Figure 15 The tool shaft curve determination submodule 23A can include a rotational error determination unit 231A and a conversion unit 232A.

[0188] The rotational error determination unit 231A is configured to determine the tool shaft rotational error of the planar corner curve of the to-be-constructed tool shaft rotational corner in the specified plane projected to the unit sphere.

[0189] The conversion unit 232A is configured to convert the rotation error into a corner maximum length error, so as to determine the planar corner curve.

[0190] Figure 16 is a structural schematic diagram of a motion synchronization module of a machining motion planning device provided by an embodiment of the present application. Referring to Figure 16 The motion synchronization module 4A can include a speed planning submodule 41A and a synchronization submodule 42A.

[0191] The speed planning submodule 41A is configured to perform speed planning on the smoothed tool tip motion trajectory and the tool shaft motion trajectory.

[0192] The synchronization submodule 42A is configured to synchronize the smaller one of the tool tip motion time and the tool shaft motion time to be as large as the larger one, so as to synchronize the translational motion of the tool tip with the rotational motion of the tool shaft.

[0193] Figure 17 is a structural schematic diagram of a machining motion planning device provided by another embodiment of the present application. Referring to Figure 17 The machining motion planning device can further include a machine tool position determination module 5A.

[0194] The machine tool position determination module 5A is configured to determine the real-time machining machine tool position of the tool tip translational motion and the tool shaft rotational motion through interpolation according to the synchronization result.

[0195] It should be noted that the information interaction, execution process and the like between the above devices / submodules are based on the same concept as the method embodiments of the present application, and the specific functions and the technical effects brought by the same can be referred to the method embodiments part, which will not be described here.

[0196] Figure 18 is a structural schematic diagram of a machining device provided by an embodiment of the present application. As Figure 18 shown, the machining device 18 of this embodiment includes at least one processor 180 (only one is shown in the figure), a memory 181, and a computer program 182 stored in the memory 181 and executable on the at least one processor 180; the processor 180 implements the steps in the above-mentioned various method embodiments when executing the computer program 182. Figure 18

[0197] The machining device can include, but is not limited to, the processor 180 and the memory 181. Those skilled in the art can understand that Figure 6 is merely an example of the machining device and does not constitute a limitation on the machining device, and can include more or fewer components than those shown in the figure, or combine certain components, or different components, for example, can also include input / output devices, network access devices, buses, etc.

[0198] ​The processor 180 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

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

[0200] For example, the computer program 182 can be divided into one or more modules / units, which are stored in the memory 181 and executed by the processor 180 to complete the present application. One or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which 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 number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0202] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the above described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the application. The specific working process of the unit and module in the system can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0203] The foregoing integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on such understanding, all or part of the processes in the foregoing embodiment methods can be instructed by a computer program to relevant hardware, and the computer program can be stored in a computer-readable storage medium. When the processor executes the computer program, the steps of each method embodiment can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium includes any entity or device that can carry the computer program code to the device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0204] The embodiment of the 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 each method embodiment described above can be implemented.

[0205] The embodiment of the application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in each method embodiment described above.

[0206] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described in detail or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0207] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0208] In the embodiments provided in the present application, it should be understood that the disclosed apparatuses / devices and methods can be implemented in other ways. For example, the above-described apparatus / device embodiments are merely illustrative, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

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

[0210] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method of machining motion planning, characterized by, The method comprises the following steps: obtaining the maximum translational velocity of the tool tip and the tool tip motion time of the tool tip motion trajectory, and obtaining the maximum rotational velocity of the tool shaft and the tool shaft motion time of the tool shaft motion trajectory; smooth processing of the tool tip translational corner of the tool tip motion trajectory and the tool shaft rotational corner of the tool shaft motion trajectory; determining the translational boundary velocity of the tool tip translational corner and the rotational boundary velocity of the tool shaft rotational corner of the tool tip motion trajectory after smooth processing according to the maximum translational velocity of the tool tip and the maximum rotational velocity of the tool shaft; synchronizing the translational motion of the tool tip with the rotational motion of the tool shaft according to the translational boundary velocity, the rotational boundary velocity, the tool tip motion time and the tool shaft motion time.

2. The machining motion planning method of claim 1, wherein, The machining motion planning method further comprises: determining the real-time machining machine position of the tool tip translation and tool shaft rotation through interpolation according to the synchronization result.

3. The machining motion planning method of claim 1, wherein, The method of obtaining the maximum translational velocity of the tool tip and the tool tip motion time of the tool tip motion trajectory, and obtaining the maximum rotational velocity of the tool shaft and the tool shaft motion time of the tool shaft motion trajectory, comprises: obtaining the machine coordinates of each motion axis; determining the maximum translational velocity of the tool tip and the maximum rotational velocity of the tool shaft according to the machine coordinates.

4. The machining motion planning method of claim 3, wherein, The method of determining the maximum translational velocity of the tool tip and the maximum rotational velocity of the tool shaft according to the machine coordinates comprises: decomposing the machine coordinates into tool tip position and tool shaft motion vector according to geometric positive change, and determining the maximum translational velocity of the tool tip and the maximum rotational velocity of the tool shaft according to the increments of each axis of the machine.

5. The machining motion planning method of claim 1, wherein, The method of smooth processing of the tool tip translational corner of the tool tip motion trajectory and the tool shaft rotational corner of the tool shaft motion trajectory comprises: determining the position relationship of the control points of the corner curve of the tool tip translational corner; determining the smooth error and maximum curvature of the corner curve of the tool tip translational corner according to the position relationship of the control points, thereby determining the tool tip corner smooth curve; determining the plane corner curve of the tool shaft rotational corner in the specified plane; normalizing the projection of the plane corner curve to the unit sphere to determine the tool shaft corner smooth curve.

6. The machining motion planning method of claim 5, wherein, The method of determining the plane corner curve of the tool shaft rotational corner in the specified plane comprises: determining the tool shaft rotational error of the plane corner curve of the tool shaft rotational corner in the specified plane projected on the unit sphere; converting the rotational error into the maximum length error of the corner, thereby determining the plane corner curve.

7. The machining motion planning method of any one of claims 1 to 6, wherein, The method of synchronizing the translational motion of the tool tip with the rotational motion of the tool shaft according to the translational boundary velocity, the rotational boundary velocity, the tool tip motion time and the tool shaft motion time comprises: performing speed planning on the tool tip motion trajectory and the tool shaft motion trajectory after smooth processing; synchronizing the smaller one of the tool tip motion time and the tool shaft motion time to be as large as the larger one, so that the translational motion of the tool tip is synchronized with the rotational motion of the tool shaft.

8. A machining motion planning apparatus characterized by comprising: The method comprises the following steps: a data acquisition module for obtaining the maximum translational velocity of the tool tip, the maximum rotational velocity of the tool shaft, the tool tip motion time and the tool shaft motion time of the specified motion trajectory; a smooth processing module for smooth processing of the tool tip translational corner and the tool shaft rotational corner of the specified motion trajectory; a synchronization module for synchronizing the translational motion of the tool tip with the rotational motion of the tool shaft according to the translational boundary velocity, the rotational boundary velocity, the tool tip motion time and the tool shaft motion time. a boundary speed determining module, configured to determine a translational boundary speed of a translational connection point of the tool tip of the specified motion trajectory and a rotational boundary speed of a rotational connection point of the tool shaft according to the maximum translational speed of the tool tip and the maximum rotational speed of the tool shaft; a motion synchronizing module, configured to synchronize the translational motion of the tool tip with the rotational motion of the tool shaft according to the translational boundary speed, the rotational boundary speed, the tool tip motion time and the tool shaft motion time.

9. A processing apparatus characterized by comprising: A computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the machining motion planning method according to any one of claims 1 to 7.

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

Images