Laser processing system, laser processing method and five-axis laser processing equipment

Abstract

The invention relates to the technical field of laser processing, and discloses a laser processing system, a laser processing method and five-axis laser processing equipment. The laser processing system scans product point cloud coordinate data of a 3D product through the product scanning module, the attitude calculation module calculates product space attitude data of the current 3D product according to the product point cloud coordinate data, and the reference contour fitting module fits the reference and contour of the 3D product and a 3D product model pre-stored in the system. The cutting path output module is used for outputting processing path program data of the current 3D product according to the determined point cloud coordinate data of the first product contour; and finally, the processing execution module carries out shape follow-up processing on the 3D product according to the processing path program data in cooperation with a shape follow-up processing motion platform. And non-contact positioning is adopted, products are protected, the machining efficiency and precision are guaranteed, and the yield is increased.

Description

Technical Field

[0001] The present application belongs to the field of laser processing technology, and specifically relates to a laser processing system, a laser processing method and a five-axis laser processing equipment. Background Art

[0002] Currently, conventional processing equipment for curved surface products mostly uses probes to locate products. However, probe positioning of curved surface products has the following drawbacks:

[0003] (1) Curved products have complex shapes and surface changes, which places higher demands on the adaptability of the probe positioning system. If the system cannot accurately adapt to the surface changes, it may lead to inaccurate positioning or collision between the probe and the product surface.

[0004] (2) When positioning curved products, the contact pressure between the probe and the product surface needs to be precisely controlled, especially when the product being positioned is fragile. Excessive pressure may cause scratches or cracks on the product surface, while too little pressure may prevent stable positioning.

[0005] It can be seen from this that the current probe positioning method has the problems of uncontrollable positioning accuracy, easy damage to products, and inability to compensate for the differences in contours of different products, which leads to poor product processing accuracy and affects product yield. Summary of the Invention

[0006] The purpose of this application is to provide a laser processing system, a laser processing method and a five-axis laser processing equipment to solve the problems of uncontrollable positioning accuracy and easy damage to products in the current probe positioning method.

[0007] To achieve the above objectives, the present application provides a first aspect of a laser processing system, comprising:

[0008] Product scanning module, used to scan the 3D product to be processed to output product point cloud coordinate data;

[0009] A posture calculation module calculates the product space posture data of the current 3D product based on the product point cloud coordinate data;

[0010] A reference contour fitting module is used to fit the reference and contour of the 3D product and the 3D product model pre-stored in the system to determine the first product contour point cloud coordinate data;

[0011] A cutting path output module, configured to output processing path program data of the current 3D product based on the determined first product outline point cloud coordinate data;

[0012] The processing execution module is used to perform conformal processing on the 3D product in cooperation with the conformal processing motion platform according to the processing path program data.

[0013] As a further improvement of the above technical solution:

[0014] In some embodiments, the posture calculation module further includes:

[0015] Used to set a preset product benchmark based on the product point cloud coordinate data, and calculate the product space posture data of the current 3D product based on the preset product benchmark, the product space posture data including the rotation angle around the X axis, the rotation angle around the Y axis, and the rotation angle around the Z axis;

[0016] In some embodiments, the posture calculation module further includes an XY axis rotation angle calculation unit and a Z axis rotation angle calculation unit;

[0017] The XY axis rotation angle calculation unit is used to calculate the rotation angle around the X axis and the rotation angle around the Y axis based on at least three points on the plane of the 3D product, wherein the at least three points are located on the same first auxiliary calculation circle, and the center of the first auxiliary calculation circle is located on a normal line passing through the preset product reference;

[0018] The Z-axis rotation angle calculation unit is used to calculate the rotation angle around the Z-axis based on at least four intersection points on the curved surface of the 3D product, wherein the at least four intersection points are located on the same second auxiliary calculation circle, and the center of the second auxiliary calculation circle is located on the normal line passing through the preset product reference.

[0019] In some embodiments, the preset product reference is the geometric center of the 3D product.

[0020] In some embodiments, the laser processing system further includes a posture compensation module, which is used to compensate the product space posture data into the model contour point cloud coordinate data of the 3D product model pre-stored in the system.

[0021] In some embodiments, the system defines pre-stored 3D product model outline point cloud coordinate data: M = {M1, M2, ..., Mn}, and the product point cloud coordinate data: Q = {Q1, Q2, ..., Qn};

[0022] The reference profile fitting module includes:

[0023] A reference calculation unit, used to calculate the reference point M (X0, Y0, Z0) of the model contour point cloud coordinate data and the reference point Q (X0, Y0, Z0) of the product point cloud coordinate data;

[0024] The fitting unit is used to align the reference point M (X0, Y0, Z0) with the reference point Q (X0, Y0, Z0) through a registration algorithm.

[0025] In some embodiments, the fitting unit is configured to first calculate the rotation matrix R1 and the translation vector t1 using a registration algorithm, and then transform each point in the model contour point cloud coordinate data M={M1, M2, ..., Mn} using a formula, where the transformation formula is as follows:

[0026] P 标 =R1·Mi+t1, i=1, 2, 3...n;

[0027] Among them, P 标 The first product contour point cloud coordinate data after benchmark fitting and alignment.

[0028] In some embodiments, the cutting path output module includes:

[0029] The product contour data processing submodule is used to perform matching calculation on the first product contour point cloud coordinate data and the dimensional tolerance of the 3D product to output good product point cloud coordinate data.

[0030] In some embodiments, the product profile data processing submodule includes:

[0031] The tolerance judgment unit is used to match and calculate the first product contour point cloud coordinate data with the dimensional tolerance of the 3D product to determine whether the current first product contour point cloud coordinate data meets the product tolerance range requirements, and define the product that meets the product tolerance range requirements as a good product, otherwise it is defined as a defective product.

[0032] In some embodiments, the tolerance determination unit includes:

[0033] A product size calculation subunit calculates the size of the 3D product according to the first product outline coordinate point cloud data, including the height dimension H in the Z direction, the width dimension W in the Y direction, and the length dimension L in the X direction;

[0034] The tolerance comparison subunit is used to compare and judge the calculated height dimension H, width dimension W and length dimension L with the dimensional tolerance of the 3D product.

[0035] In some embodiments, the judgment rule of the tolerance comparison subunit is: if H+W is within the tolerance and H+L is within the tolerance, it is judged as a good product; otherwise, it is judged as a defective product.

[0036] In some embodiments, the product profile data processing submodule further includes:

[0037] a good product processing unit, configured to correct and adjust the first product outline point cloud coordinate data of the product defined as a good product as a whole according to the dimensional tolerance of the 3D product, and output the corrected good product point cloud coordinate data;

[0038] And / or, a defective product processing unit is used to send a stop operation signal and / or an alarm signal when the current 3D product is judged to be a defective product.

[0039] In some embodiments, the processing execution module includes a laser processing unit and the conformal processing motion platform;

[0040] The cutting path output module also includes:

[0041] A five-axis coordinate conversion submodule calculates the laser normal angle of the surface contour position point of the 3D product based on the good product point cloud coordinate data to obtain the second product contour point cloud coordinate data including XYZAC coordinate data;

[0042] The program conversion submodule is used to convert the second product contour point cloud coordinate data into processing path program data suitable for the processing execution module.

[0043] In some embodiments, the five-axis coordinate conversion submodule further includes:

[0044] A cutting trajectory determination unit, configured to determine a cutting path trajectory based on the good product point cloud coordinate data;

[0045] The normal angle calculation unit is used to calculate the normal angle A and the normal angle C of the laser processing of the laser processing unit according to the determined cutting path trajectory.

[0046] In some embodiments, the normal angle calculation unit determines the normal angle A and the normal angle C of the laser processing by the laser processing unit by using a sphere center calculation method or a quadrilateral center normal vector calculation method.

[0047] In some embodiments, the sphere center calculation method includes:

[0048] Taking point cloud coordinate data of n points from P1 to Pn on the cutting path trajectory, and dividing the cutting path trajectory into n trajectory segments including straight line segments and circular arc segments through the n points from P1 to Pn;

[0049] The first and last points of the arc segment are Pi-1 and Pi respectively. The set from Pi-1 to Pi is Ti-1, i, and they are all points on the sphere. Ti = (Xi, Yi, Zi). Find the center point R1 (Xr1, Yr1, Zr1).

[0050] According to the general expression of the sphere equation: (Xi-Xr1) 2 +(Yi-Yr1) 2 +(Zi-Zr1) 2 =r 2, then Xr1, Yr1, Zr1 can be obtained by solving the equation group;

[0051] Given the center of the sphere R1 (Xr1, Yr1, Zr1) and the point Ti (Xi, Yi, Zi) on the circle, you can first calculate the normal vector That is, the vector pointing from the center of the sphere to the point:

[0052] Then the normal vector The normal vector after projection onto the YZ plane is (0, Yi-Yr1, Zi-Zr1), so the normal angle A can be calculated by the following formula: Ai = atan2(Yi-Yr1, Zi-Zr1);

[0053] Then the normal vector The normal vector after projection onto the XY plane is (Xi-Xr1, Yi-Yr1, 0), so the normal angle C can be calculated by the following formula: Ci=atan2(Xi-Xr1, Yi-Yr1).

[0054] In some embodiments, the quadrilateral center normal vector calculation method includes:

[0055] Take the contour point cloud data P1, P2, and P3, and use P2 to extract the point clouds P2-1 and P2-2 near the contour line to form a quadrilateral-like shape;

[0056] Calculate the normal vector of the center point P2 of the quadrilateral: the normal angle A is perpendicular to the straight lines P2-1 and P2-2, and the normal angle C is perpendicular to the straight lines P1 and P3;

[0057] Definition: P2-1(x1, y1, z1), P2-2(x2, y2, z2), P1(x3, y3, z3), P3(x4, y4, z4);

[0058] P2 and the normal vector are calculated as follows:

[0059]

[0060] The obtained normal vector: Among them, a=(y2-y1)(z4-z1)-(z2-z1)(y4-y1), b=9z2-z1)(x4-x1)-(x2-x1)(z4-z1), c=(x2-x1)(y4-y1)-(y2-y1)(x4-x1);

[0061] The unit vectors of the normal angle A and the normal angle C at point P2 are and The normal phase A angle and normal phase C angle of point P2 are calculated as follows:

[0062]

[0063] A second aspect of the present application further provides a laser processing method, which is applied to the laser processing system provided according to the first aspect. The laser processing method includes:

[0064] Scan the 3D product to be processed to output the product point cloud coordinate data;

[0065] Calculating product space posture data of the current 3D product based on the product point cloud coordinate data;

[0066] Fitting the 3D product to the base and contour of the 3D product model pre-stored in the system to determine first product contour point cloud coordinate data;

[0067] Outputting processing path program data of the current 3D product based on the determined first product outline point cloud coordinate data;

[0068] The 3D product is subjected to conformal processing according to the processing path program data and in conjunction with the conformal processing motion platform.

[0069] The third aspect of the present application also provides a five-axis laser processing device, including the laser processing system provided according to the first aspect above.

[0070] Compared with the prior art, the present application provides a laser processing system, a processing method and a five-axis laser processing device, which have at least the following beneficial effects:

[0071] The laser processing system provided by the present application has a positioning method for 3D product processing that is different from the existing probe positioning method. Specifically, the product point cloud coordinate data of the 3D product is scanned by the product scanning module, and the product space posture data of the current 3D product is calculated by the posture calculation module based on the product point cloud coordinate data. The reference contour fitting module fits the reference and contour of the 3D product and the 3D product model pre-stored in the system to determine the first product contour point cloud coordinate data. The cutting path output module is used to output the processing path program data of the current 3D product based on the determined first product contour point cloud coordinate data; finally, the processing execution module cooperates with the conformal processing motion platform to perform conformal processing on the 3D product based on the processing path program data. In this way, the laser processing system provided by the present application has the following advantages:

[0072] 1. The entire positioning process uses a non-contact product positioning method to avoid scratches on the product caused by contact probes, while improving the efficiency of product positioning and product contour acquisition;

[0073] 2. Fit the scanned 3D product data with the system’s pre-stored 3D product model data to ensure contour dimensional accuracy and effectively improve product yield;

[0074] 3. The posture calculation module is used to obtain the product's spatial posture data first, so as to determine the product's posture in space, and then coordinate fitting is performed to avoid the situation where direct coordinate fitting is easily prone to actual fitting errors when targeting complex curved surface products.

[0075] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without inventive work. In the drawings:

[0077] Figure 1 A topological diagram of a laser processing system provided in an embodiment of the present application;

[0078] Figure 2 A schematic diagram of a method for calculating product spatial posture data by a posture calculation module in a laser processing system provided in an embodiment of the present application;

[0079] Figure 3 A schematic diagram of dimension marking of a 3D product provided in an embodiment of the present application;

[0080] Figure 4 Schematic diagram of a method for calculating an optimal cutting path using product dimensional tolerance by a product contour data processing submodule in a laser processing system provided by an embodiment of the present application;

[0081] Figure 5 A structural diagram showing the effect of product curvature changes on the laser normal angle is provided for the embodiment of the present application;

[0082] Figure 6 A 3D product software analysis diagram provided in an embodiment of the present application;

[0083] Figure 7 A schematic diagram of the relationship between the center of a sphere and an angle provided in an embodiment of the present application;

[0084] Figure 8 A planar diagram illustrating calculation of a normal vector of a quadrilateral center provided in an embodiment of the present application;

[0085] Figure 9 A three-dimensional diagram of the calculation of the normal vector of the center of a quadrilateral provided in an embodiment of the present application;

[0086] Figure 10 A flowchart of a laser processing method provided in an embodiment of the present application;

[0087] Figure 11 Method Flowchart of a method for obtaining model contour point cloud coordinate data of a 3D model in a laser processing method provided in an embodiment of the present application;

[0088] Figure 12a A schematic diagram showing that an STL file model includes n triangles in the laser processing method provided in an embodiment of the present application;

[0089] Figure 12b This is a schematic diagram of the point locations of the STL file model;

[0090] Figure 13 Schematic diagram of extracting edge points for STL file model;

[0091] Figure 14 Schematic diagram of extracting model contour point cloud coordinate data after homogenization calculation of the STL file model.

[0092] Description of Reference Numerals

[0093] 100. Product scanning module;

[0094] 200, posture calculation module; 210, XY axis rotation angle calculation unit; 220, Z axis rotation angle calculation unit;

[0095] 300, attitude compensation module;

[0096] 400, reference profile fitting module; 410, reference calculation unit; 420, fitting unit;

[0097] 500, cutting path output module; 510, product contour data processing submodule; 511, tolerance judgment unit; 512, good product processing unit; 513, bad product processing unit; 520, five-axis coordinate conversion submodule; 521, cutting trajectory determination unit; 522, normal angle calculation unit; 530, program conversion submodule;

[0098] 600. Processing execution module. DETAILED DESCRIPTION

[0099] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.

[0100] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0101] Taking products with 3D curved structures as an example, they are usually formed through hot pressing molds. The shape and contour of each product after forming will be different. The probes with existing technology can only locate the product position and cannot compensate for the differences in product contours.

[0102] Example 1

[0103] To solve the above technical problems, this embodiment provides a laser processing system that can be used for processing, for example, high-transmittance 3D products, and in particular relates to a 3D glass laser conformal cutting processing system.

[0104] See also Figure 1 The laser processing system provided in this embodiment includes: a product scanning module 100, a posture calculation module 200, a reference contour fitting module 400, a cutting path output module 500 and a processing execution module 600.

[0105] The product scanning module 100 is used to scan the 3D product to be processed and output the product point cloud coordinate data. Specifically, the product scanning module 100 includes a 3D profile scanner. The 3D profile scanner uses spectral confocal technology and camera 3D imaging technology to scan highly transparent 3D products to accurately extract the product point cloud coordinate data.

[0106] The posture calculation module 200 calculates the product space posture data of the current 3D product based on the product point cloud coordinate data.

[0107] It is understandable that, given the varying spatial positions of each processed 3D product, if subsequent processing is performed consistently with the product positioned horizontally, the final product will exhibit deviations, and the yield rate cannot be guaranteed. Therefore, this embodiment requires calculating the spatial posture data of the 3D product prior to processing to determine the current placement of the 3D product. Based on this current posture data, subsequent steps can be adaptively adjusted to improve processing accuracy and yield.

[0108] The reference profile fitting module 400 is used to fit the reference and profile of the 3D product and the 3D product model pre-stored in the system to determine the first product profile point cloud coordinate data.

[0109] The cutting path output module 500 is used to output the processing path program data of the current 3D product according to the determined first product contour point cloud coordinate data.

[0110] The processing execution module 600 is used to perform conformal processing on 3D products in accordance with the processing path program data and in conjunction with the conformal processing motion platform.

[0111] In this embodiment, the processing execution module 600 includes a laser processing unit and a conformal processing motion platform; the 3D product is installed on the conformal processing motion platform, and the conformal processing motion platform can ensure that the processing laser always remains perpendicular to the processing surface of the 3D product, thereby realizing 3D conformal processing.

[0112] In this way, the laser processing system provided in this embodiment adopts a non-contact product positioning method during the entire positioning processing process to avoid scratches and damages to the product caused by contact probes; the product data obtained by scanning the 3D product is fitted with the data of the 3D product model pre-stored in the system to ensure the accuracy of the contour size and effectively improve the product yield; compared with probe positioning, the efficiency of product positioning and product contour acquisition is improved.

[0113] In order to more clearly describe the technical solution of this application, the laser processing system provided in this embodiment is described below, specifically as follows:

[0114] The posture calculation module 200 also includes a function for setting a preset product reference based on the product point cloud coordinate data and calculating the product space posture data of the current 3D product based on the preset product reference. In this embodiment, the product space posture data includes the rotation angle around the X-axis, the rotation angle around the Y-axis, and the rotation angle around the Z-axis. It will be understood that the rotation angle around the X-axis and the rotation angle around the Y-axis correspond to the deflection posture of the 3D product relative to the horizontal plane (the plane formed by the XY axes), and the rotation angle around the Z-axis corresponds to the deflection posture of the 3D product relative to the vertical plane.

[0115] Please also refer to Figure 2 Furthermore, the posture calculation module 200 also includes an XY axis rotation angle calculation unit 210 and a Z axis rotation angle calculation unit 220.

[0116] The XY axis rotation angle calculation unit 210 is used to calculate the rotation angle around the X axis and the rotation angle around the Y axis according to at least three points on the plane of the 3D product, wherein the at least three points are located on the same first auxiliary calculation circle (such as Figure 2 On the circle indicated by C in the figure, the center of the first auxiliary calculation circle is located on the normal line passing through the preset product reference. In this way, the rotation angle around the X axis and the rotation angle around the Y axis are calculated using the plane determined by the three points.

[0117] In this embodiment, any four points (e.g., C1, C2, C3, and C4) on the first auxiliary calculation circle are selected, and a plane is formed by the four points C1, C2, C3, and C4. The rotation angles around the X-axis and the rotation angles around the Y-axis are calculated using the coordinate data of the four points, thereby improving the calculation accuracy.

[0118] The Z-axis rotation angle calculation unit 220 is used to calculate the rotation angle around the Z-axis according to at least four intersection points on the curved surface (arc surface) of the 3D product, wherein the at least four intersection points are located on the same second auxiliary calculation circle (such as Figure 2 The center of the second auxiliary calculation circle is located on the normal line passing through the preset product reference.

[0119] It can be understood that when the 3D product is placed flat, it has a certain height when viewed from the side. The center of the second auxiliary calculation circle is located within the height range of the 3D product and below the plane determined by the first auxiliary calculation circle to form at least four intersections with the curved surface of the 3D product, and the diameter of the second auxiliary calculation circle must be greater than the width of the 3D product.

[0120] Therefore, when it is necessary to calculate the rotation angle around the Z axis, this embodiment cooperates with the first auxiliary calculation circle to determine the plane, selects any point on the normal line of the preset product reference within the height range of the 3D product as the center of the circle, and then plans the second auxiliary calculation circle with a preset diameter, thereby forming four intersection points C5, C6, C7, and C8, and then calculates the rotation angle of the 3D product around the Z axis based on the coordinate data of the four intersection points C5, C6, C7, and C8.

[0121] Optionally, considering that 3D products that are usually processed are generally regular in shape, in order to improve the convenience of processing, the preset product reference can be directly selected as the geometric center of the 3D product.

[0122] In this embodiment, the laser processing system also includes a posture compensation module 300, wherein the posture compensation module 300 is used to compensate the product space posture data obtained from the posture calculation module 200 to the model contour point cloud coordinate data of the 3D product model pre-stored in the system, so as to enrich the data of the 3D product model, thereby providing more data support for subsequent reference contour fitting.

[0123] In this embodiment, the model outline point cloud coordinate data of the 3D product pre-stored in the definition system is: M = {M1, M2, ..., Mn}; the product point cloud coordinate data is: Q = {Q1, Q2, ..., Qn};

[0124] The reference profile fitting module 400 includes a reference calculation unit 410 and a fitting unit 420. The reference calculation unit 410 is used to calculate the reference point M (X0, Y0, Z0) of the model profile point cloud coordinate data and the reference point Q (X0, Y0, Z0) of the product point cloud coordinate data; the fitting unit 420 is used to align the reference point M (X0, Y0, Z0) with the reference point Q (X0, Y0, Z0) through a registration algorithm.

[0125] Specifically, the fitting unit 420 is used to first calculate the rotation matrix R1 and the translation vector t1 through the registration algorithm, and then transform each point in the model contour point cloud coordinate data M={M1, M2, ..., Mn} through the formula, which is as follows:

[0126] P 标 =R1·Mi+t1, i=1, 2, 3...n;

[0127] Among them, P 标 It is the first product contour point cloud coordinate data after benchmark fitting alignment.

[0128] In some embodiments, it is necessary to perform a slight adjustment on the entire contour point cloud using the calculated first product contour point cloud coordinate data and the calculated product size data, which can be specifically performed in the cutting path output module 500 .

[0129] The cutting path output module 500 includes a product contour data processing submodule 510 , which is used to perform matching calculations on the first product contour point cloud coordinate data and the dimensional tolerance of the 3D product to output good product point cloud coordinate data.

[0130] Specifically, the product outline data processing submodule 510 includes a tolerance determination unit 511. This unit is used to match and calculate the first product outline point cloud coordinate data with the dimensional tolerance of the 3D product to determine whether the current first product outline point cloud coordinate data meets the product tolerance range requirements. Products that meet the product tolerance range requirements are defined as good products, while those that do not are defined as defective products. Thus, the tolerance determination unit 511 detects the outline differences of each 3D product and automatically screens good and defective products before processing based on the differences. This ensures outline dimensional accuracy, prevents defective products from entering subsequent processing stages, and effectively improves product yield.

[0131] Please also refer to Figure 3 Optionally, the tolerance determination unit 511 includes a product size calculation subunit and a tolerance comparison subunit. The product size calculation subunit calculates the dimensions of the 3D product based on the first product outline coordinate point cloud data, including the height dimension H in the Z direction, the width dimension W in the Y direction, and the length dimension L in the X direction; the tolerance comparison subunit is used to compare and determine the calculated height dimension H, width dimension W, and length dimension L with the dimensional tolerance of the 3D product.

[0132] Specifically, such as Figure 4 As shown, the distances of points P1-1, P1-2, and P1-3 from the product center are calculated and compared with the product size. Through tolerance calculation, the point with the smallest dimensional tolerance value is taken as the optimal path; if the calculated path data exceeds the dimensional tolerance, the current product is judged to be defective.

[0133] The thickness tolerance H is used as the point range, P1-1 is H max , P1-3 is H min , and then use this to calculate whether P1-1, P1-2, and P1-3 are within the width W tolerance. The calculation method for length L is the same.

[0134] Among them, the judgment rules of the tolerance comparison subunit are:

[0135] If both H+W and H+L are within tolerance, the product is considered good; otherwise, it is considered defective. In other words, if both H+W and H+L are within tolerance, the product is considered good; if both H+W and H+L are within tolerance, the product is considered defective; if both H+W and H+L are within tolerance, the product is considered defective; if both H+W and H+L are within tolerance, the product is considered defective; and if both H+W and H+L are outside tolerance, the product is considered defective.

[0136] In some embodiments, the product profile data processing submodule 510 further includes a good product processing unit 512 and a bad product processing unit 513. The good product processing unit 512 is configured to perform overall correction adjustments (i.e., minor adjustments) to the first product profile point cloud coordinate data of the product, defined as a good product, based on the dimensional tolerance of the 3D product, and output the corrected good product point cloud coordinate data. Thus, through tolerance calculation, the point with the smallest dimensional tolerance value is selected as the optimal path, thereby generating the corrected good product point cloud coordinate data.

[0137] If the calculated path data exceeds the dimensional tolerance, the current 3D product is judged to be defective. The defective product processing unit 513 is used to issue a stop operation signal and / or an alarm signal when the current 3D product is judged to be defective to ensure that defective products are screened out before processing. The stop operation signal can be issued to suspend the operation of the laser processing system, and the alarm signal can also be issued to alert the staff through the sound and light alarm of the alarm device.

[0138] In this embodiment, the cutting path output module 500 further includes a five-axis coordinate conversion submodule 520 and a program conversion submodule 530. The five-axis coordinate conversion submodule 520 calculates the laser normal angle of the surface contour position of the 3D product based on the good product point cloud coordinate data to obtain the second product contour point cloud coordinate data containing XYZAC coordinate data; the program conversion submodule 530 is used to convert the second product contour point cloud coordinate data into machining path program data suitable for the machining execution module 600.

[0139] Optionally, the five-axis coordinate conversion submodule 520 further includes a cutting trajectory determination unit 521 and a normal angle calculation unit 522. The cutting trajectory determination unit 521 is used to determine the cutting path trajectory based on the good product point cloud coordinate data; the normal angle calculation unit 522 is used to calculate the normal angle A and the normal angle C of the laser processing unit based on the determined cutting path trajectory.

[0140] See also Figure 5 、 Figure 6 and Figure 7 In some embodiments, the normal angle calculation unit determines the normal angle A and the normal angle C of the laser processing of the laser processing unit by a spherical center calculation method.

[0141] Specifically, the steps of the sphere center calculation method are as follows:

[0142] The point cloud coordinate data of n points P1 to Pn on the cutting path trajectory are obtained, and the cutting path trajectory is divided into n trajectory segments including straight line segments and circular arc segments through the n points P1 to Pn.

[0143] Among them, the first and last points of the arc segment are Pi-1 and Pi respectively, and the set from Pi-1 to Pi is Ti-1, i, and they are all points on the sphere, Ti = (Xi, Yi, Zi), find the center point R1 (Xr1, Yr1, Zr1).

[0144] According to the general expression of the sphere equation: (Xi-Xr1) 2 +(Yi-Yr1) 2 +(Zi-Zr1) 2 =r 2 , then Xr1, Yr1, and Zr1 can be obtained by solving the equation group.

[0145] Given the center of the sphere R1 (Xr1, Yr1, Zr1) and the point Ti (Xi, Yi, Zi) on the circle, you can first calculate the normal vector That is, the vector pointing from the center of the sphere to the point:

[0146] Then the normal vector The normal vector after projection onto the YZ plane is (0, Yi-Yr1, Zi-Zr1), so the normal phase A angle can be calculated by the following formula: Ai=atan2(Yi-Yr1, Zi-Zr1).

[0147] Then the normal vector The normal vector after projection onto the XY plane is (Xi-Xr1, Yi-Yr1, 0), so the normal angle C can be calculated by the following formula: Ci=atan2(Xi-Xr1, Yi-Yr1).

[0148] like Figure 6 As shown in the figure, the coordinate data of 9 points P1-P9 are selected by analyzing the product diagram with software. The cutting path trajectory is divided into 9 trajectory segments including straight line segments and circular arc segments. Among them, P1-P2, P3-P4, P5-P6, P7-P8, and P9-P1 in the figure are straight line segments, and P2-P3, P4-P5, P6-P7, and P8-P9 are circular arc segments.

[0149] The first segment P1-P2: From point P1 to point P2, there is a set T12. In the set T12, the X-axis values ​​are the same and the Z-axis is 0. Therefore, the normal phase A angle A1=0 and the normal phase C angle C1=0 can be obtained.

[0150] The second section P2-P3: Through the above-mentioned sphere center calculation method, we obtain point P3 A3=atan2(Y3-Yr1, Z3-Zr1), C3=atan2(X3-Xr1, Y3-Yr1).

[0151] The third section P3-P4: point P3 to point P4 are set T34. In set T34, the Y-axis value and the Z-axis value are the same. We can get A4=A3, C4=atan2(X4-Xr2, Y4-Yr2).

[0152] By analogy: the product contour composed of straight line segments and arc segments can be calculated based on the coordinates Pn (Xn, Yn, Zn, An, Cn) of the product's geometric center point to form trajectory data.

[0153] See also Figure 5 、 Figure 8 and Figure 9 In some embodiments, the normal angle calculation unit determines the normal angle A and the normal angle C of the laser processing of the laser processing unit by using a quadrilateral center normal vector calculation method.

[0154] Specifically, the contour point cloud data P1, P2, and P3 are taken, and the point clouds P2-1 and P2-2 near the contour are extracted using P2 to form a quasi-equilateral quadrilateral.

[0155] Calculate the normal vector of the center point P2 of the quadrilateral: the normal angle A is perpendicular to the straight lines P2-1 and P2-2, and the normal angle C is perpendicular to the straight lines P1 and P3.

[0156] Definition: P2-1(x1, y1, z1), P2-2(x2, y2, z2), P1(x3, y3, z3), P3(x4, y4, z4).

[0157] P2 and the normal vector are calculated as follows:

[0158]

[0159] The obtained normal vector: Among them, a=(y2-y1)(z4-z1)-(z2-z1)(y4-y1), b=9z2-z1)(x4-x1)-(x2-x1)(z4-z1), c=(x2-x1)(y4-y1)-(y2-y1)(x4-x1).

[0160] The unit vectors of the normal angle A and the normal angle C at point P2 are and The normal phase A angle and normal phase C angle of point P2 are calculated as follows:

[0161]

[0162] See also Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 It should be noted that the normal angles in traditional CNC processing paths are all given by CAM software based on the model, while the laser cutting normal angles of the laser processing system for the 3D product in this application are affected by the fluctuations in the hot pressing molding dimensions of the 3D product and need to be given based on actual calculations to ensure processing accuracy.

[0163] The product scanning module 100 of this embodiment uses spectral confocal technology to scan and locate 3D products, and jointly with the posture calculation module 200, the reference contour fitting module 400, the cutting path output module 500 and the processing execution module 600 completes the product contour scanning, generates digital model data, completes posture calculation, reference contour fitting, and outputs the processing path program data of the 3D product. Finally, the 3D product is subjected to conformal processing according to the processing path program data of the 3D product in conjunction with the conformal processing motion platform.

[0164] Example 2

[0165] See also Figure 1 and Figure 10 This embodiment provides a laser processing method, which is applied to the laser processing system provided according to the above embodiment 1. The laser processing method includes the following steps:

[0166] S100: Scan the 3D product to be processed to output the product point cloud coordinate data;

[0167] S200: Calculating product space posture data of the current 3D product based on the product point cloud coordinate data;

[0168] S300: Fitting the 3D product with the reference and contour of the 3D product model pre-stored in the system to determine first product contour point cloud coordinate data;

[0169] S400: Outputting processing path program data of the current 3D product according to the determined first product outline point cloud coordinate data;

[0170] S500: Perform conformal processing on 3D products according to the processing path program data and the conformal processing motion platform.

[0171] Furthermore, the above-mentioned step S200 includes setting a preset product benchmark based on the product point cloud coordinate data, and calculating the product space posture data of the current 3D product based on the preset product benchmark, and the product space posture data includes the rotation angle around the X-axis, the rotation angle around the Y-axis and the rotation angle around the Z-axis.

[0172] Specifically, the above step S200 further includes:

[0173] S210: Taking the geometric center of the 3D product as the preset product reference, and forming a first auxiliary calculation circle with a first preset diameter, taking at least three intersection points of the first auxiliary calculation circle on the 3D product, and calculating the rotation angle of the 3D product around the X-axis and the rotation angle around the Y-axis in space; wherein the center of the first auxiliary calculation circle is located on the normal passing through the preset product reference.

[0174] S220: Taking the geometric center of the 3D product as the preset product reference, and forming a second auxiliary calculation circle with a second preset diameter, taking at least four intersection points formed by the second auxiliary calculation circle and the curved surface of the 3D product to calculate the rotation angle around the Z axis; wherein the center of the second auxiliary calculation circle is located on the normal passing through the preset product reference and is within the height range of the 3D product.

[0175] In this embodiment, the laser processing method also includes a posture compensation step between step S300 and step S200, and the posture compensation step includes compensating the obtained product space posture data into the model contour point cloud coordinate data of the 3D product model pre-stored in the system; to enrich the data of the 3D product model, thereby providing more data support for subsequent reference contour fitting.

[0176] The above step S300 includes:

[0177] S310: Calculate the reference point M (X0, Y0, Z0) of the model contour point cloud coordinate data and the reference point Q (X0, Y0, Z0) of the product point cloud coordinate data.

[0178] S320: Align the reference point M (X0, Y0, Z0) with the reference point Q (X0, Y0, Z0) through the registration algorithm. Specifically, the rotation matrix R1 and the translation vector t1 are first calculated through the registration algorithm, and then each point in the model contour point cloud coordinate data M = {M1, M2, ..., Mn} is transformed using the formula. The transformation formula is as follows:

[0179] P 标 =R1·Mi+t1, i=1, 2, 3...n;

[0180] Among them, p 标 It is the first product contour point cloud coordinate data after benchmark fitting alignment.

[0181] The above step S400 includes:

[0182] S410: Matching calculation is performed on the first product contour point cloud coordinate data and the dimensional tolerance of the 3D product to determine whether the current first product contour point cloud coordinate data meets the product tolerance range requirements, and the product that meets the product tolerance range requirements is defined as a good product, otherwise it is defined as a defective product.

[0183] S420: Correct and adjust the first product outline point cloud coordinate data of the product defined as a good product as a whole (ie, make slight adjustments) according to the dimensional tolerance of the 3D product, and output the corrected good product point cloud coordinate data.

[0184] Thus, by detecting the contour differences of each hot-pressed 3D product, good and bad products can be automatically sorted before processing based on the difference, ensuring contour dimensional accuracy and effectively improving product yield. The method, rules, and handling measures for determining good and bad products have been described in detail in the first embodiment above and will not be repeated here.

[0185] S430: Calculate the laser normal angle of the surface contour position of the 3D product based on the good product point cloud coordinate data to obtain the second product contour point cloud coordinate data including XYZAC coordinate data. The laser normal angle includes the normal A angle and the normal C angle.

[0186] S440: Convert the second product contour point cloud coordinate data into processing path program data suitable for the processing execution module 600.

[0187] Please also refer to Figure 11 In some embodiments, the model outline point cloud coordinate data of the 3D product model pre-stored in the system of this embodiment is obtained by the following method. Specifically, extracting the model outline point cloud coordinate data of the 3D product model includes:

[0188] S10: Convert the imported 3D model into an STL format file;

[0189] S20: parsing the STL format file and setting a model reference point in the 3D model in the STL format file to generate model point cloud coordinate data coordinates;

[0190] S30: Extracting the point cloud coordinate data XnYnZn of the 3D model outline, transferring the point cloud coordinate data file with XYZ to obtain the model outline point cloud coordinate data.

[0191] Please also refer to Figure 12a 、 Figure 12b 、 Figure 13 and Figure 14 It should be noted that the 3D model in the STL format file contains n triangles, each triangle is defined by three vertices, and can be represented by a point cloud as follows:

[0192] M={(X1, Y1, Z1), (X2, Y2, Z2),…, (Xn, Yn, Zn)};

[0193] That is, each vertex of a triangle will be added to the point cloud as an independent point.

[0194] Point cloud sampling and averaging: In order to generate a uniformly distributed point cloud data, it is necessary to sample on the triangle. To uniformly sample a point from the triangle, the following method can be used:

[0195] For the three vertices V1, V2, V3 of a triangle, randomly generate two parameters r1, r2∈[0, 1], and then calculate the sampling point M:

[0196] m=(1-R1-R2)·V1+r1·V2+R2·v3

[0197] If r1+r2>1, the values ​​of r1 and r2 are regenerated until the condition r1+r2≤1 is met, and finally the point cloud data is formed.

[0198] The above step S20 includes:

[0199] S21: Determine the centroids of all triangles.

[0200] S22: Calculate the average value of the centroids of all triangles to obtain the geometric center of the entire 3D model.

[0201] Specifically, a certain point of the 3D model in the STL format file is used as the model reference point, recorded as Pref=(X0, Y0, Z0), and then the model reference point is mapped to the geometric center origin (0, 0, 0) by translation.

[0202] The translation formula is: for each vertex P = (x, y, z) in STL, translate it to get a new point:

[0203] P′=(x′, y′, z′); x′=x-x0; y′=y-y0; z′=z-z0;

[0204] Through this translation operation, the selected base point can be mapped to the origin, changing the coordinate system of the model.

[0205] S23: Evenly insert points on the outline of the 3D model in the STL format file to generate the model point cloud coordinate data coordinates. The specific steps are as follows:

[0206] Equally spaced sampling: Calculate the distance D of each edge and set the point cloud spacing to d. Then, uniform points can be inserted to form a standard digital point cloud.

[0207] The laser processing method provided in this embodiment is applied to the laser processing system provided according to the above-mentioned embodiment 1. Therefore, the laser processing method provided in this embodiment has the same technical effect as the above-mentioned embodiment 1.

[0208] Furthermore, this embodiment also provides a five-axis laser processing device, which includes the laser processing system provided in the first embodiment.

[0209] It should be noted that in this application, unless otherwise specified, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like used to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0210] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0211] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0212] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0213] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A laser processing system, characterized in that: include: Product scanning module, used to scan the 3D product to be processed to output product point cloud coordinate data; A posture calculation module calculates the product space posture data of the current 3D product based on the product point cloud coordinate data; A reference contour fitting module is used to fit the reference and contour of the 3D product and the 3D product model pre-stored in the system to determine the first product contour point cloud coordinate data; A cutting path output module, configured to output processing path program data of the current 3D product based on the determined first product outline point cloud coordinate data; The processing execution module is used to perform conformal processing on the 3D product in cooperation with the conformal processing motion platform according to the processing path program data.

2. The laser processing system according to claim 1, characterized in that The posture calculation module also includes: Used to set a preset product benchmark based on the product point cloud coordinate data, and calculate the product space posture data of the current 3D product based on the preset product benchmark, the product space posture data including the rotation angle around the X axis, the rotation angle around the Y axis, and the rotation angle around the Z axis; Preferably, the posture calculation module further includes an XY axis rotation angle calculation unit and a Z axis rotation angle calculation unit; the XY axis rotation angle calculation unit is used to respectively calculate the rotation angle around the X axis and the rotation angle around the Y axis based on at least three points on the plane of the 3D product, wherein the at least three points are located on the same first auxiliary calculation circle, and the center of the first auxiliary calculation circle is located on the normal line passing through the preset product reference; the Z axis rotation angle calculation unit is used to calculate the rotation angle around the Z axis based on at least four intersection points on the curved surface of the 3D product, wherein the at least four intersection points are located on the same second auxiliary calculation circle, and the center of the second auxiliary calculation circle is located on the normal line passing through the preset product reference; Preferably, the preset product reference is the geometric center of the 3D product.

3. The laser processing system according to any one of claims 1 to 2, characterized in that: The laser processing system further includes a posture compensation module, which is used to compensate the product space posture data into the model contour point cloud coordinate data of the 3D product model pre-stored in the system.

4. The laser processing system according to claim 1, wherein: Define the model outline point cloud coordinate data of the 3D product pre-stored in the system: M = {M1, M2, ..., Mn}, and the product point cloud coordinate data: Q = {Q1, Q2, ..., Qn}; The reference profile fitting module includes: A reference calculation unit, used to calculate the reference point M (X0, Y0, Z0) of the model contour point cloud coordinate data and the reference point Q (X0, Y0, Z0) of the product point cloud coordinate data; A fitting unit, used to align the reference point M (X0, Y0, Z0) with the reference point Q (X0, Y0, Z0) through a registration algorithm; Preferably, the fitting unit is used to first calculate the rotation matrix R1 and the translation vector t1 by a registration algorithm, and then transform each point in the model contour point cloud coordinate data M={M1, M2, ..., Mn} by a formula, and the transformation formula is as follows: P 标 =R1·Mi+t1,i=1、2、3……n; Among them, P 标 The first product contour point cloud coordinate data after benchmark fitting and alignment.

5. The laser processing system according to claim 1, wherein: The cutting path output module includes: The product contour data processing submodule is used to perform matching calculation on the first product contour point cloud coordinate data and the dimensional tolerance of the 3D product to output good product point cloud coordinate data.

6. The laser processing system according to claim 5, characterized in that The product profile data processing submodule includes: a tolerance judgment unit, configured to match and calculate the first product outline point cloud coordinate data with the dimensional tolerance of the 3D product to determine whether the current first product outline point cloud coordinate data meets the product tolerance range requirements, and define the product that meets the product tolerance range requirements as a good product, otherwise it is defined as a defective product; Preferably, the tolerance judgment unit includes: A product size calculation subunit calculates the size of the 3D product according to the first product outline coordinate point cloud data, including a height dimension H in the Z direction, a width dimension W in the Y direction, and a length dimension L in the X direction; The tolerance comparison subunit is used to compare and judge the calculated height dimension H, width dimension W and length dimension L with the dimensional tolerance of the 3D product; Further preferably, the judgment rule of the tolerance comparison subunit is: if H+W is within the tolerance and H+L is within the tolerance, it is judged as a good product, otherwise it is judged as a defective product.

7. The laser processing system according to claim 6, characterized in that: The product profile data processing submodule also includes: a good product processing unit, configured to correct and adjust the first product outline point cloud coordinate data of the product defined as a good product as a whole according to the dimensional tolerance of the 3D product, and output the corrected good product point cloud coordinate data; And / or, a defective product processing unit is used to send a stop operation signal and / or an alarm signal when the current 3D product is judged to be a defective product.

8. The laser processing system according to claim 5, wherein: The processing execution module includes a laser processing unit and the conformal processing motion platform; The cutting path output module also includes: A five-axis coordinate conversion submodule calculates the laser normal angle of the surface contour position point of the 3D product based on the good product point cloud coordinate data to obtain the second product contour point cloud coordinate data including XYZAC coordinate data; a program conversion submodule, configured to convert the second product outline point cloud coordinate data into machining path program data suitable for the machining execution module; Preferably, the five-axis coordinate conversion submodule further includes: A cutting trajectory determination unit, configured to determine a cutting path trajectory based on the good product point cloud coordinate data; a normal angle calculation unit, configured to calculate a normal angle A and a normal angle C of the laser processing of the laser processing unit according to the determined cutting path trajectory; Further preferably, the normal angle calculation unit determines the normal angle A and the normal angle C of the laser processing of the laser processing unit by a sphere center calculation method or a quadrilateral center normal vector calculation method; More preferably, the sphere center calculation method includes: Taking point cloud coordinate data of n points from P1 to Pn on the cutting path trajectory, and dividing the cutting path trajectory into n trajectory segments including straight line segments and circular arc segments through the n points from P1 to Pn; The first and last points of the arc segment are Pi-1 and Pi respectively. The set from Pi-1 to Pi is Ti-1, i, and they are all points on the sphere. Ti = (Xi, Yi, Zi). Find the center point R1 (Xr1, Yr1, Zr1). According to the general expression of the sphere equation: (Xi-Xr1) 2 +(Yi-Yr1) 2 +(Zi-Zr1) 2 =r 2 , then Xr1, Yr1, Zr1 can be obtained by solving the equation group; Given the center of the sphere R1 (Xr1, Yr1, Zr1) and the point Ti (Xi, Yi, Zi) on the circle, you can first calculate the normal vector That is, the vector pointing from the center of the sphere to the point: Then the normal vector The normal vector after projection onto the YZ plane is (0, Yi-Yr1, Zi-Zr1), so the normal angle A can be calculated by the following formula: Ai = atan2(Yi-Yr1, Zi-Zr1); Then the normal vector The normal vector after projection onto the XY plane is (Xi-Xr1, Yi-Yr1, 0), so the normal angle C can be calculated by the following formula: Ci = atan2(Xi-Xr1, Yi-Yr1); More preferably, the quadrilateral center normal vector calculation method includes: Take the contour point cloud data P1, P2, and P3, and use P2 to extract the point clouds P2-1 and P2-2 near the contour line to form a quadrilateral-like shape; Calculate the normal vector of the center point P2 of the quadrilateral: the normal angle A is perpendicular to the straight lines P2-1 and P2-2, and the normal angle C is perpendicular to the straight lines P1 and P3; Definition: P2-1(x1, y1, z1), P2-2(x2, y2, z2), P1(x3, y3, z3), P3(x4, y4, z4); P2 and the normal vector are calculated as follows: The obtained normal vector: Where, a=(y2-y1)(z4-z1)-(z2-z1)(y4-y1), b=(z2-z1)(x4-x1)-(x2-x1)(z4-z1), c=(x2-x1)(y4-y1)-(y2-y1)(x4-x1); The unit vectors of the normal angle A and the normal angle C at point P2 are and The normal phase A angle and normal phase C angle of point P2 are calculated as follows:

9. A laser processing method, characterized in that: Applied to the laser processing system according to any one of claims 1 to 8, the laser processing method comprises: Scan the 3D product to be processed to output the product point cloud coordinate data; Calculating product space posture data of the current 3D product based on the product point cloud coordinate data; Fitting the 3D product to the base and contour of the 3D product model pre-stored in the system to determine first product contour point cloud coordinate data; Outputting processing path program data of the current 3D product based on the determined first product outline point cloud coordinate data; The 3D product is subjected to conformal processing according to the processing path program data and in conjunction with the conformal processing motion platform.

10. A five-axis laser processing equipment, characterized in that: The laser processing system comprises the laser processing system according to any one of claims 1 to 8.

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