Follow-up laser cutting head motion control method and device

Abstract

The invention provides a follow-up laser cutting head motion control method and device. The method comprises the steps that the number of collision times allowing a laser cutting head to collide is preset; after the laser cutting head collides with the workpiece, the laser cutting head stops moving in the horizontal direction and is lifted to a safe height; if the number of collisions between the laser cutting head and the workpiece is within the range of the preset number of collisions, the following steps are executed: the laser cutting head descends to a cutting height which is a preset cutting distance between the laser cutting head and the workpiece; and if the laser cutting head still collides with the workpiece after descending to the cutting height, repeating the steps after the laser cutting head collides with the workpiece. In other words, according to the follow-up laser cutting head motion control method, the frequency of human intervention can be reduced, and the cutting efficiency of the laser cutting head is improved.

Description

Technical Field

[0001] The present invention belongs to the field of laser cutting technology, and more particularly, relates to a motion control method and device for a follow-up laser cutting head. Background Art

[0002] In laser cutting production, although the laser cutting head can perform high-speed tracking to ensure a safe cutting distance from the workpiece, the metal sheet is often uneven, stress is released during cutting, or the inner contour waste is lifted, resulting in the laser cutting head not responding in time during cutting. The laser cutting head is very likely to collide with the sheet and cause an alarm to stop, requiring human intervention to restart. Summary of the Invention

[0003] The present invention provides a motion control method and device for a follow-up laser cutting head, which can reduce the frequency of human intervention and improve cutting efficiency.

[0004] The technical solution adopted by the present invention is a motion control method for a follow-up laser cutting head, the method comprising:

[0005] The preset number of collisions allowed between the laser cutting head and the workpiece is the preset number of collisions;

[0006] Determine whether the laser cutting head collides with the workpiece;

[0007] If the laser cutting head collides with the workpiece, the laser cutting head is controlled to stop moving in the horizontal direction and raised to a safe height;

[0008] If the number of collisions between the laser cutting head and the workpiece is within the range of the preset number of collisions, the following steps are performed:

[0009] Controlling the laser cutting head to descend to a cutting height, wherein the cutting height is the cutting distance in the vertical direction between the laser cutting head and the workpiece during a preset processing process;

[0010] If the laser cutting head still collides with the workpiece after descending to the cutting height, repeat the above steps after the laser cutting head collides with the workpiece;

[0011] If the laser cutting head does not collide with the workpiece after descending to the cutting height, the laser cutting head resumes moving and cutting in the horizontal direction.

[0012] That is to say, in the motion control method of the follow-up laser cutting head of the present application, the number of collisions of the laser cutting head is first preset. When the laser cutting head collides with the workpiece, the laser cutting head stops moving in the horizontal direction and is lifted to a safe height. If the number of collisions between the laser cutting head and the workpiece at this time is within the range of the preset number of collisions, the laser cutting head can be lowered from the safe height to the cutting height, that is, after the laser cutting head is lifted to the safe height, the cutting distance between the laser cutting head and the current position in the workpiece is readjusted. If the laser cutting head still collides with the workpiece after being lowered to the cutting height, the above steps after the laser cutting head collides with the workpiece are repeated. If the laser cutting head does not collide with the workpiece after being lowered to the cutting height, the laser cutting head can resume movement in the horizontal direction. This method can readjust the cutting height between the laser cutting head and the workpiece within the range of the allowed number of collisions between the laser cutting head and the workpiece, so that the laser cutting head can continue to move in the horizontal direction without interfering with the workpiece, thereby reducing the frequency of human intervention and improving the cutting efficiency of the laser cutting head.

[0013] Optionally, it also includes:

[0014] After the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece is recorded;

[0015] It is determined whether the number of collisions between the laser cutting head and the workpiece is within a preset collision number range.

[0016] Optionally, after the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece is recorded, further comprising:

[0017] After the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece at the current position is recorded.

[0018] Optionally, after the laser cutting head collides with the workpiece, recording the number of collisions between the laser cutting head and the workpiece at the current position further includes:

[0019] After the laser cutting head collides with the workpiece for the first time at the current position, it starts to record the number of collisions;

[0020] If the laser cutting head still collides with the workpiece after descending to the cutting height at the current position, the number of collisions recorded previously is accumulated.

[0021] Optionally, if the laser cutting head does not collide with the workpiece after descending to the cutting height, the method further includes:

[0022] The number of times the laser cutting head collides with the workpiece is cleared.

[0023] Optionally, the method further includes, if the number of collisions between the laser cutting head and the workpiece exceeds the preset number of collisions, causing the laser cutting head to no longer descend to the cutting height.

[0024] Optionally, the laser cutting head is lowered to a cutting height, comprising:

[0025] Get the surface height of the workpiece at its current position;

[0026] According to the surface height and the preset cutting distance, the laser cutting head is lowered to the cutting height.

[0027] Optionally, the method further includes:

[0028] After the laser cutting head collides with the workpiece, a collision alarm signal is generated;

[0029] According to the alarm signal, the laser cutting head stops moving in the horizontal direction and stops after being lifted to a safe height;

[0030] If the number of collisions between the laser cutting head and the workpiece is within the preset collision number range, the alarm signal is reset after a delay of X time, and the laser cutting head is automatically lowered to the cutting height after a further delay of Y time;

[0031] If the number of collisions between the laser cutting head and the workpiece exceeds the range of the preset number of collisions, the laser cutting head will no longer be started.

[0032] A laser cutting head motion control device comprises a controller and a laser cutting head. The controller controls the motion of the laser cutting head according to the servo laser cutting head motion control method.

[0033] A computer terminal device comprises a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the motion control method of a follow-up laser cutting head.

[0034] A computer-readable storage medium stores at least one computer program, wherein the computer program is loaded and executed by a processor to implement the operations performed by the motion control method of the follow-up laser cutting head. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A flowchart of the motion control method for a follow-up laser cutting head provided in the present invention;

[0037] Figure 2 A schematic diagram of the structure of the laser cutting head motion control device provided by the present invention;

[0038] Figure 3 This is a structural diagram of the computer terminal device provided by the present invention. Specific embodiments

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below 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 invention and are not intended to limit the present invention.

[0040] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0041] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the motion control method, device or element of the follow-up laser cutting head must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] Furthermore, 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 the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the descriptions of some inventions, "plurality" means two or more, unless otherwise specifically defined.

[0043] The present application provides a motion control method for a follow-up laser cutting head, which can reduce the frequency of human intervention after the laser cutting head collides with a workpiece during the cutting process, thereby improving the cutting efficiency of the laser cutting head.

[0044] See Figure 1 , the motion control method of the follow-up laser cutting head includes the following steps:

[0045] Step S100: The number of collisions allowed between the laser cutting head and the workpiece is preset to a preset number of collisions.

[0046] Specifically, a range of times that the laser cutting head is allowed to collide with the workpiece is preset.

[0047] Step S300: determining whether the laser cutting head collides with the workpiece.

[0048] For example, in one embodiment, a sensor on the laser cutting head may be used to determine whether the laser cutting head collides with the workpiece.

[0049] In step S500, if the laser cutting head collides with the workpiece, the laser cutting head is controlled to stop moving in the horizontal direction and is lifted to a safe height.

[0050] Specifically, when the laser cutting head collides with the workpiece during movement, the laser cutting head stops moving in the horizontal direction at the current position, thereby stopping cutting the workpiece and lifting it to a safe height.

[0051] It can be understood that the laser cutting head moves horizontally along the cutting track during the cutting process. If there is any warping on the workpiece, the laser cutting head may collide with the workpiece during rapid movement. At the moment the laser cutting head collides with the workpiece, the laser cutting head can stop moving horizontally and be lifted to a safe height.

[0052] In step S700, if the number of collisions between the laser cutting head and the workpiece is within a preset collision number range, the following steps are performed:

[0053] Step S710: Control the laser cutting head to descend to a cutting height, where the cutting height is a cutting distance in the vertical direction between the laser cutting head and the workpiece during a preset processing process.

[0054] It is understandable that before cutting, the laser cutting head generally presets a cutting distance in the vertical direction between the laser cutting head and the workpiece surface. The laser cutting head will follow in the vertical direction during the cutting process to ensure that the preset cutting distance is always maintained between the laser cutting head and the workpiece surface. Only when the follow-up movement of the laser cutting head does not respond in time will the laser cutting head collide with the workpiece. Therefore, when the laser cutting head is lifted to a safe height, the cutting distance between the laser cutting head and the current position in the workpiece can be readjusted.

[0055] Step S720: If the laser cutting head still collides with the workpiece after descending to the cutting height, repeat the above steps after the laser cutting head collides with the workpiece; if the laser cutting head does not collide with the workpiece after descending to the cutting height, the laser cutting head resumes moving cutting in the horizontal direction.

[0056] It is understood that if the laser cutting head still collides with the workpiece after descending to the cutting height, the above steps including step S500, step S700 and step S710 are repeated. That is, the laser cutting head is raised to a safe height again, and then the cutting distance between the laser cutting head and the workpiece is adjusted again.

[0057] If the laser cutting head does not collide with the workpiece after descending to the cutting height, the laser cutting head resumes moving in the horizontal direction and can continue cutting the workpiece.

[0058] That is to say, in the motion control method of the follow-up laser cutting head of the present application, the number of collisions of the laser cutting head is first preset. When the laser cutting head collides with the workpiece, the laser cutting head stops moving in the horizontal direction and is lifted to a safe height. If the number of collisions between the laser cutting head and the workpiece at this time is within the range of the preset number of collisions, the laser cutting head can be lowered from the safe height to the cutting height, that is, after the laser cutting head is lifted to the safe height, the cutting distance between the laser cutting head and the current position in the workpiece is readjusted. If the laser cutting head still collides with the workpiece after being lowered to the cutting height, the above steps after the laser cutting head collides with the workpiece are repeated. If the laser cutting head does not collide with the workpiece after being lowered to the cutting height, the laser cutting head can resume movement in the horizontal direction. This method can readjust the cutting height between the laser cutting head and the workpiece within the range of the allowed number of collisions between the laser cutting head and the workpiece, so that the laser cutting head can continue to move in the horizontal direction without interfering with the workpiece, thereby reducing the frequency of human intervention and improving the cutting efficiency of the laser cutting head.

[0059] For example, in one embodiment, the number of collisions allowed for the laser cutting head to collide may be preset to three, four, or five times.

[0060] Furthermore, in order to facilitate the determination of whether the number of collisions between the laser cutting head and the workpiece is within a preset collision number range, the motion control method of the follow-up laser cutting head further includes:

[0061] After the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece is recorded.

[0062] For example, in one embodiment, a sensor on the laser cutting head can sense whether the laser cutting head collides with the workpiece. If the laser cutting head collides with the workpiece, the sensor can generate a sensing signal, and the number of times the laser cutting head collides with the workpiece can be recorded based on the sensing signal.

[0063] Determine whether the number of collisions between the laser cutting head and the workpiece is within a preset collision number range.

[0064] It can be understood that when the number of collisions between the laser cutting head and the workpiece is less than or equal to the preset number of collisions, it is considered that the number of collisions between the laser cutting head and the workpiece is within the preset number of collisions; when the number of collisions between the laser cutting head and the workpiece is greater than the preset number of collisions, it is considered that the number of collisions between the laser cutting head and the workpiece exceeds the preset number of collisions.

[0065] Furthermore, after the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece is recorded, which may specifically include:

[0066] After the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece at the current position is recorded.

[0067] It can be understood that in the above method, what is recorded is the number of times the laser cutting head collides with the workpiece at the current position, rather than the number of times the laser cutting head collides with the workpiece during the entire cutting process. If the number of times the laser cutting head collides with the workpiece at the current position is less than or equal to the preset number of collisions, it means that the laser cutting head can eliminate the collision with the workpiece after adjusting the cutting height between the laser cutting head and the workpiece. If the number of times the laser cutting head collides with the workpiece at the current position is greater than the preset number of collisions, it means that the laser cutting head cannot eliminate the collision with the workpiece after adjusting the cutting height between the laser cutting head and the workpiece. In other words, the laser cutting head can adjust the cutting height between the laser cutting head and the workpiece multiple times at the current position where the collision occurs, and then determine whether the collision between the laser cutting head and the workpiece can be eliminated. This method can further reduce the frequency of human intervention.

[0068] Furthermore, after the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece at the current position is recorded, which may specifically include:

[0069] After the laser cutting head collides with the workpiece for the first time at the current position, it starts to record the number of collisions.

[0070] If the laser cutting head collides with the workpiece after it descends to the cutting height at the current position, the number of collisions recorded previously will be accumulated.

[0071] For example, the preset number of collisions allowed for the laser cutting head is three.

[0072] After the laser cutting head collides with the workpiece for the first time at the current position, the number of collisions between the laser cutting head and the workpiece is recorded as one. At this time, the laser cutting head is lifted to a safe height and can be lowered again to the cutting height between the workpiece. If the laser cutting head still collides with the workpiece at this time, the number of collisions between the laser cutting head and the workpiece is accumulated on the basis of one time, and the number of collisions between the laser cutting head and the workpiece is two. At this time, since the number of two collisions is still within the preset range, the laser cutting head continues to be lifted to a safe height and can continue to be lowered again to the cutting height between the workpiece. In this way, each time the laser cutting head collides with the workpiece at the current position, the total number of collisions recorded in the previous record is added by one, until the total number of collisions exceeds the preset number of collisions three times. At this time, the laser cutting head can no longer be lowered after being lifted to a safe height.

[0073] Furthermore, in step S520, if the laser cutting head does not collide with the workpiece after descending to the cutting height, the following steps may be further included:

[0074] The number of collisions between the laser cutting head and the workpiece is cleared.

[0075] It can be understood that when the laser cutting head descends to the cutting height without colliding with the workpiece, it means that the collision between the laser cutting head and the workpiece has been eliminated. At this time, the number of times the laser cutting head collides with the workpiece will be cleared, so that after the laser cutting head collides with the workpiece at the next position, the number of times the laser cutting head collides with the workpiece at this position can be re-recorded to determine whether it is within the preset number of collisions.

[0076] Furthermore, in one embodiment, if the number of collisions between the laser cutting head and the workpiece exceeds a preset number of collisions, the laser cutting head may be shut down.

[0077] It can be understood that when the number of collisions between the laser cutting head and the workpiece exceeds the preset number of collisions, it means that the collision between the laser cutting head and the workpiece cannot be eliminated. At this time, the laser cutting head can be shut down, that is, it will no longer descend to the cutting height. After the laser cutting head is shut down, human intervention can be used to eliminate the collision between the laser cutting head and the workpiece.

[0078] Furthermore, the laser cutting head is lowered to the cutting height, which may specifically include:

[0079] Get the surface height of the workpiece at its current position.

[0080] For example, the surface height of the workpiece at its current position can be obtained through a sensor. The sensor can detect the surface height of the workpiece in real time when the laser cutting head is moving.

[0081] According to the surface height and the preset cutting distance, the laser cutting head is lowered to the cutting height.

[0082] It can be understood that the safe height of the laser cutting head is known, and based on the surface height of the workpiece at the current position detected by the sensor and the preset cutting distance, the cutting height to which the laser cutting head needs to be lowered can be obtained.

[0083] In addition, in one embodiment, in order to ensure the stability of the motion control of the laser cutting head, the motion control method of the follow-up laser cutting head further includes:

[0084] When the laser cutting head collides with the workpiece, a collision alarm signal is generated.

[0085] According to the alarm signal, the laser cutting head stops moving in the horizontal direction and stops after being lifted to a safe height.

[0086] If the number of collisions between the laser cutting head and the workpiece is within the preset collision number range, the alarm signal will be reset after a delay of X time, and the laser cutting head will automatically descend to the cutting height after a delay of Y time. For example, the range of X can be 0.5s to 1.5s, and the range of Y can be 600ms to 800ms.

[0087] If the number of collisions between the laser cutting head and the workpiece exceeds the range of the preset collision number, the laser cutting head will no longer start, that is, the laser cutting head will continue to generate an alarm signal, and the collision can be eliminated through manual intervention.

[0088] See Figure 2 The present application also provides a laser cutting head motion control device, including a controller and a laser cutting head, wherein the controller controls the motion of the laser cutting head according to the follow-up laser cutting head motion control method provided in the embodiment.

[0089] Also, see Figure 3 The present application also provides a computer terminal device, which includes a memory and a processor. The memory stores a code, and the processor is configured to obtain the code and execute the follow-up laser cutting head motion control method in the present application.

[0090] The processor may be a general-purpose central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more processors for controlling the execution of the motion control method of the servo laser cutting head in the present application.

[0091] The memory may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via a communication bus. The memory may also be integrated with the processor.

[0092] The memory is used to store program code for executing the solution of the present application, and the execution is controlled by the processor. The processor is used to execute the program code stored in the memory. The program code may include one or more software modules. The determination of the melt quality characteristics in the above embodiment can be implemented by the processor and one or more software modules in the program code in the memory.

[0093] The computer terminal device can be a general-purpose computer terminal device or a dedicated computer terminal device. In a specific implementation, the computer terminal device can be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. The embodiments of the present application do not limit the type of computer terminal device.

[0094] In addition, in other aspects of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores at least one computer program, and the computer program is loaded and executed by a processor to implement the operations performed by the above-mentioned follow-up laser cutting head motion control method.

[0095] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of some inventions should be included in the protection scope of some inventions.

Claims

1. A motion control method for a follow-up laser cutting head, characterized in that: The method comprises: The preset number of collisions allowed between the laser cutting head and the workpiece is the preset number of collisions; Determine whether the laser cutting head collides with the workpiece; If the laser cutting head collides with the workpiece, the laser cutting head is controlled to stop moving in the horizontal direction and raised to a safe height; If the number of collisions between the laser cutting head and the workpiece is within the range of the preset number of collisions, the following steps are performed: Controlling the laser cutting head to descend to a cutting height, wherein the cutting height is the vertical distance between the laser cutting head and the workpiece during machining; If the laser cutting head still collides with the workpiece after descending to the cutting height, repeat the above steps after the laser cutting head collides with the workpiece; If the laser cutting head does not collide with the workpiece after descending to the cutting height, the laser cutting head resumes moving and cutting in the horizontal direction.

2. The motion control method of a follow-up laser cutting head according to claim 1, characterized in that: Also includes: After the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece is recorded; It is determined whether the number of collisions between the laser cutting head and the workpiece is within a preset collision number range.

3. The motion control method of a follow-up laser cutting head according to claim 2, characterized in that: After the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece is recorded, further comprising: After the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece at the current position is recorded.

4. The motion control method of a follow-up laser cutting head according to claim 3, characterized in that: After the laser cutting head collides with the workpiece, the number of collisions between the laser cutting head and the workpiece at the current position is recorded, and the method further includes: After the laser cutting head collides with the workpiece for the first time at the current position, it starts to record the number of collisions; If the laser cutting head still collides with the workpiece after descending to the cutting height at the current position, the number of collisions recorded previously is accumulated.

5. The motion control method of a follow-up laser cutting head according to claim 2, wherein: If the laser cutting head does not collide with the workpiece after descending to the cutting height, the method further includes: The number of times the laser cutting head collides with the workpiece is cleared.

6. The motion control method of a follow-up laser cutting head according to any one of claims 1 to 5, characterized in that: The method further includes, if the number of collisions between the laser cutting head and the workpiece exceeds the preset number of collisions, causing the laser cutting head to no longer descend to the cutting height.

7. The motion control method of a follow-up laser cutting head according to any one of claims 1 to 5, characterized in that: The laser cutting head is lowered to a cutting height, comprising: Get the surface height of the workpiece at its current position; According to the surface height and the preset cutting distance, the laser cutting head is lowered to the cutting height.

8. The motion control method of a follow-up laser cutting head according to claim 6, wherein: The method further comprises: After the laser cutting head collides with the workpiece, a collision alarm signal is generated; According to the alarm signal, the laser cutting head stops moving in the horizontal direction and stops after being lifted to a safe height; If the number of collisions between the laser cutting head and the workpiece is within the preset collision number range, the alarm signal is reset after a delay of X time, and the laser cutting head is automatically lowered to the cutting height after a further delay of Y time; If the number of collisions between the laser cutting head and the workpiece exceeds the range of the preset number of collisions, the laser cutting head will no longer be started.

9. A laser cutting head motion control device, characterized in that: The invention comprises a controller and a laser cutting head, wherein the controller controls the movement of the laser cutting head according to the motion control method of the servo laser cutting head according to any one of claims 1 to 8.

10. A computer terminal device, characterized in that: The computer terminal device includes a memory and a processor, the memory stores a code, and the processor is configured to obtain the code and execute the motion control method of the follow-up laser cutting head according to any one of claims 1 to 8.

11. A computer-readable storage medium storing at least one computer program, characterized in that: The computer program is loaded and executed by a processor to implement the operations performed by the motion control method for a follow-up laser cutting head according to any one of claims 1 to 8.

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