A rotary part laser processing path planning method, system, device and storage medium based on rotation axis stroke constraint

Abstract

The application discloses a kind of rotary parts laser processing path planning systems based on rotation axis stroke constraint, comprising: acquisition module, for obtaining the center point coordinates and processing normal vector of each processing block after rotary parts segmentation;Z direction layering module, for grouping center point Z coordinate according to set layering width, obtain layer sequence along Z direction arrangement;Machine tool axis parameter module, for reading swing head configuration and swing axis, rotation axis stroke interval data, and determine boundary line;The application aims to solve the following technical problems: 1. solve the problem that BC / AC double swing head machine tool rotation axis cannot rotate cyclically, cable is easy to wind and interfere, from CAM path planning source, eliminate C-axis large-angle jump across ±180°;2. realize according to machine tool swing axis (A / B axis) stroke, rotation axis (C axis) stroke automatic matching polar angle sorting boundary line, adapt to multiple types of double swing head machine tool working condition.

Description

Technical Field

[0001] This invention belongs to the field of five-axis laser processing computer-aided manufacturing path planning technology, specifically relating to a method, system, equipment and storage medium for laser processing of rotary parts based on rotation axis travel constraints. Background Technology

[0002] In the aerospace industry, rotating parts are often cut into sections and shaped using laser cutting, dividing the parts into several independent processing blocks. Current methods process these blocks sequentially according to the order in which they are generated, resulting in disordered arrangement of the processing blocks. The processing head repeatedly traverses within the same layer, leading to long idle strokes and low efficiency.

[0003] Currently, there are two categories of known relevant patents, as follows:

[0004] Category 1:

[0005] Patent Publication Number: CN112475591A Patent Title: A Double-Switch-Head Five-Axis Linkage Laser Processing Machine Tool and its Working Method

[0006] Patent Publication Number: CN108857092A Patent Title: Laser Cutting Path Planning Method, Apparatus, Storage Medium, and Computer Equipment

[0007] These patents primarily disclose zigzag path hierarchical sorting algorithms for three-axis and general-purpose five-axis machine tools. Their core purpose is to shorten idle travel and improve machining continuity, representing the mainstream path optimization solution in the industry. However, these methods are only designed for ordinary three-axis / general-purpose five-axis machine tools and do not consider cable constraints or rotation axis angle range limitations for dual-swivel head machine tools. They lack polar angle boundary line matching and angle range mapping logic, and therefore cannot solve the problem of angle jumps across ±180°.

[0008] Category Two:

[0009] Patent Publication Number: CN114939792A Patent Title: A Method for Limiting the C-Axis Rotation Angle of a Five-Axis Head

[0010] Patent Publication Number: CN119175471A Patent Title: Laser Cutting Method and System

[0011] Patent Publication Number: CN121500870A Patent Title: Collision-Free Path Planning Method for Three-Dimensional Five-Axis Machining Equipment

[0012] These patents focus on limiting axis travel at the machine tool hardware and electrical control levels, representing passive protection during the motion execution phase and currently the mainstream solution in the industry for addressing axis overtravel. The main drawbacks of this method are: 1) It is a passive protection measure during the motion execution phase, unable to proactively avoid problems during path planning; 2) It requires modification of machine tool hardware, increasing costs and potential failure points; 3) It cannot optimize machining path efficiency.

[0013] 1. Traditional general-purpose Zigzag algorithm lacks machine tool axis system adaptation logic. The traditional Zigzag path algorithm only takes "shortening the idle travel" as the single objective, without combining the axis system travel and cable constraints of the double-swivel head machine tool for directional optimization. During sorting, the polar angle range is randomly distributed, which can easily cause angle jumps across ±180°, making it unable to adapt to the motion limitations of the double-swivel head machine tool.

[0014] 2. Angle constraints rely on hardware limits, which is a temporary solution but not a fundamental one. Existing solutions mostly use hardware limit switches and electrical limit programs to limit the range of motion of the shaft. They can only intercept overtravel commands during the motion execution phase and cannot avoid angle cross-zone jumps from the source of path planning. At the same time, adding hardware will increase the cost of equipment modification, assembly complexity and failure points.

[0015] 3. There is no linkage between the angle range and the machine tool axis travel. Existing technology does not set specific polar angle sorting boundaries for different B-axis travel ranges. Different B-axis travels correspond to different machine tool motion logics. Using a single boundary line for sorting will cause the angle distribution to exceed the reasonable range of the axis system under some working conditions, and there is still a risk of interference.

[0016] 4. The logic of intra-layer sorting and inter-layer connection is disconnected. Some improved algorithms only optimize intra-layer sorting, without applying same-side or proximity constraints to inter-layer connections. This results in large distances between the beginning and end of adjacent layers, increasing idle travel and further amplifying the probability of angle jumps. In summary, existing path planning algorithms cannot simultaneously meet the three core requirements of efficient path planning, axis angle constraints, and cable interference prevention, becoming a technical bottleneck restricting the stability and processing efficiency of rotary parts on double-swivel head machine tools. Summary of the Invention

[0017] This invention provides a laser processing system and method for fabricating a double-sided mesh for a stealth helmet, to solve the problems mentioned in the background. The specific solution is as follows:

[0018] The system includes a data acquisition module, a Z-axis layering module, a machine tool axis parameter module, a polar angle calculation module, an angle mapping module, an intra-layer sorting module, an inter-layer connection module, and a path output module.

[0019] The acquisition module is connected to the Z-axis layering module and the polar angle calculation module respectively, and is used to obtain the center point coordinates and machining normal vectors of each machining block after the rotary part is divided, and send the center point coordinates to the Z-axis layering module and the machining normal vectors to the polar angle calculation module.

[0020] The Z-axis layering module is connected to the layer-in-layer sorting module and is used to group the Z coordinates of the center point according to the set layer width to obtain the layer sequence arranged along the Z-axis, and send the layer sequence to the layer-in-layer sorting module.

[0021] The machine tool axis parameter module is connected to the angle mapping module and is used to read the swing head configuration and the stroke range data of the swing axis and the rotary axis, determine the dividing line, and send the dividing line to the angle mapping module.

[0022] The polar angle calculation module is connected to the angle mapping module and is used to obtain the original polar angle and lateral mark of each processing block according to the processing normal vector, and send the original polar angle and the lateral mark to the angle mapping module.

[0023] The angle mapping module is connected to the intra-layer sorting module and is used to map the original polar angle to the target angle range according to the boundary line to obtain the sorting angle, and send the sorting angle and the lateral flag to the intra-layer sorting module.

[0024] The intra-layer sorting module is connected to the inter-layer connection module and is used to sort the even-numbered layers in the layer sequence in ascending order of sorting angle and the odd-numbered layers in descending order of sorting angle, and send the sorted layer sequence to the inter-layer connection module.

[0025] The interlayer connection module is connected to the path output module and is used to select the processing block in the next layer whose lateral marker is the same as the last processing block in the previous layer and whose center point spatial distance is the closest, and move it to the first position of the layer, and send the connected layer sequence to the path output module.

[0026] The path output module is used to splice each layer according to the set processing direction and output the processing block sequence after the interlayer connection is completed.

[0027] 2. A laser processing path planning method for rotary parts based on rotation axis travel constraints, comprising:

[0028] S1, obtain the center point coordinates and machining normal vector of each machining block after the rotary part is divided;

[0029] S2, group the Z coordinates of the center points of each processing block according to the set layer width to obtain the layer sequence arranged along the Z direction;

[0030] S3, read real-time data of machine tool axes and determine the type of dividing line;

[0031] S4, calculate the polar angle and lateral markings of each processing block;

[0032] S5, map the original polar angle to the target angle range according to the boundary line type to obtain the sorted angle;

[0033] S6, arrange the even-numbered layers in the layer sequence in ascending order of polar angle, and the odd-numbered layers in ascending / descending order of sorting angle;

[0034] S7, adjacent layers are connected at the nearest endpoint on the same side;

[0035] S8. After step S7 is completed, the layers are spliced ​​according to the set processing direction, the processing block sequence is output and the laser processing command is generated.

[0036] Preferably, in step S2, the processing blocks are grouped according to the Z coordinate value of the center point of each processing block by setting the layer width. Blocks within the same Z value range are grouped into one layer and arranged in ascending or descending order of Z value to form a layer sequence.

[0037] Preferably, in step S3, the travel range data of the oscillating head configuration and the oscillating axis and the rotating axis of the laser processing machine tool are read. When the oscillating axis travel is in the positive range and the rotating axis travel is in the symmetrical range, or when the oscillating axis travel is in the negative range and the rotating axis travel is in the unidirectional range, the BC configuration takes -180° and the AC configuration takes -90° as the dividing line; in other cases, the BC configuration takes 0° and the AC configuration takes 90° as the dividing line.

[0038] Preferably, in step S4, when the magnitude of the horizontal component of the processing normal vector is less than 1e-9, it is determined to be a zero vector, and the processing block is skipped or assigned a default sorting angle and placed at the end of its layer.

[0039] Preferably, in step S4, the horizontal component of the machining normal vector is taken, with the positive X-axis direction as the reference direction. The original polar angle is obtained by the dot product and cross product of the horizontal component and the reference direction through the arctangent of the four quadrants. The lateral mark is determined by the sign of the cross product. When the cross product is less than zero, the lateral mark is recorded as the left side; otherwise, it is recorded as the right side. The reference direction is taken as the positive X-axis direction or the direction pointed to by the boundary line.

[0040] Preferably, in step S7, for two adjacent layers, among the processing blocks in the latter layer whose lateral markings are the same as the last processing block in the former layer, the one with the smallest spatial distance between its center point and the center point of the last processing block is moved to the first position in the latter layer, while the remaining processing blocks in that layer maintain their original order.

[0041] Preferably, in S8, a processing direction selection is provided. The set processing direction includes bottom-up and top-down. When the set processing direction is top-down, the entire layer sequence is reversed and then spliced.

[0042] An electronic device includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method described in any of the preceding claims.

[0043] A computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the method described in any of the preceding claims.

[0044] This invention aims to solve the following technical problems:

[0045] 1. Solve the problems of the rotary axis not being able to rotate cyclically and the cables being easily tangled and interfered with in BC / AC dual-swivel head machine tools, and eliminate large angle jumps of ±180° across the C-axis from the source of CAM path planning;

[0046] 2. Automatically match polar angle sorting boundary lines based on the travel of the machine tool's oscillating axis (A / B axis) and rotary axis (C axis) to adapt to various types of double-swivel head machine tool working conditions;

[0047] 3. Complete the layered orientation sorting to ensure stable processing sequence within each layer and the shortest connection distance between layers. While avoiding axis interference, minimize idle travel and improve processing efficiency.

[0048] 4. Optimization is achieved through internal planning methods, eliminating the need to modify machine tool hardware, reducing implementation costs, and ensuring compatibility with existing mainstream five-axis laser processing equipment, thus having a wide range of applications. Attached Figure Description

[0049] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0050] Figure 1 This invention relates to a schematic diagram of the overall path planning process;

[0051] Figure 2 This invention provides a schematic diagram of the BC double-swivel head machine tool structure in an embodiment.

[0052] Figure 3 This invention provides schematic diagrams of the cone-shaped model before and after segmentation in an embodiment; Figure 4 This invention provides a schematic diagram showing the center position and direction of a single machining block Z in an embodiment of the tapered component.

[0053] Figure 5 This invention provides a schematic diagram of the Z-axis layering of the tapered component in an embodiment. Figure 6 This invention provides a schematic diagram illustrating the definition of the boundary line position in an embodiment. Figure 7 This invention provides a flowchart for reading machine tool axis parameters and determining the boundary line in an embodiment; Figure 8 This invention provides a schematic diagram illustrating the positional relationship between the pattern and the boundary line in an embodiment. Figure 9 This invention provides a schematic diagram illustrating the processing sequence of each processing block after sorting in an embodiment.

[0054] Figure 10 This is a schematic diagram of an NC instruction segment output by the post-processing of a BC-configured machine tool in an embodiment of the present invention. Detailed Implementation

[0055] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0056] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0057] In this embodiment of the invention, the oscillating axis refers to the B-axis in the BC configuration or the A-axis in the AC configuration, and the rotation axis refers to the C-axis; the C-axis rotates around the Z-axis, and counterclockwise rotation is positive when viewed from the positive direction of the Z-axis to the negative direction; the B-axis oscillates around the Y-axis, and counterclockwise rotation is positive when viewed from the positive direction of the Y-axis to the negative direction; the A-axis oscillates around the X-axis, and counterclockwise rotation is positive when viewed from the positive direction of the X-axis to the negative direction. The three linear axes of the workpiece coordinate system and the machine tool coordinate system are aligned.

[0058] This invention provides a laser processing path planning system for rotary parts based on rotation axis travel constraints, comprising:

[0059] The acquisition module is used to obtain the center point coordinates and machining normal vectors of each machining block after the rotary part is divided.

[0060] The Z-axis layering module is used to group the center point Z coordinates according to the set layer width to obtain a layer sequence arranged along the Z direction;

[0061] The machine tool axis parameter module is used to read the configuration of the oscillating head and the travel range data of the swing axis and rotary axis, and to determine the dividing line;

[0062] The polar angle calculation module is used to obtain the original polar angle and lateral markings of each processing block;

[0063] The angle mapping module is used to map the original polar angle to the target angle range to obtain the sorted angle;

[0064] The intra-layer sorting module is used to sort even-numbered layers in ascending order by sorting angle and odd-numbered layers in descending order by sorting angle.

[0065] The interlayer connection module is used to select a processing block from a layer and move it to the first position of that layer;

[0066] The path output module is used to splice each layer according to the set processing direction and output the processing block sequence after the interlayer connection is completed.

[0067] S1. Obtain the center point coordinates and machining normal vectors of each machining block after the rotary part is segmented.

[0068] After the workpiece is clamped on the machine tool table, it is reverse-engineered through scanning to obtain a geometric model with a machining coordinate system. This model is then imported into preprocessing software and divided according to the part structure to obtain a set of machining blocks. Each machining block outputs the center point coordinates (X, Y, Z) and the machining normal vector (Nx, Ny, Nz). The normal vector points in the opposite direction to the feed direction of the machining head, i.e., the outer normal of the machining block. Figure 3As shown.

[0069] S2. Group the center points of each processing block according to the set layer width, to obtain a layer sequence arranged along the Z direction.

[0070] Set the layer width DivideWidth (a value greater than zero, given according to the part height and machining block height dimensions, for example, a tapered part with a height of 420 mm and a DivideWidth of 60 mm). Divide the Z-intervals starting from the Z-coordinate of the center point of the lowest machining block. Machining blocks whose center point Z-coordinates fall within the same interval are grouped into the same layer. The layers are arranged in ascending order of Z-coordinate to obtain the layer sequence Layers = [Layer0, Layer1, …, LayerN-1], as shown below. Figure 4 and Figure 5 As shown, the tapered part is divided into 7 layers. The layer sequence is fixed at this step as bottom to top, and the adjustment of the machining direction is left to be processed in S9.

[0071] S3. Read real-time data of machine tool axes and determine the type of dividing line;

[0072] (1) Definition of dividing line: In the XOY plane of the workpiece coordinate system, with the positive direction of the X-axis as 0° and counterclockwise as positive, the negative direction of the X-axis is -180° (equivalent to 180°), the positive direction of the Y-axis is 90°, and the negative direction of the Y-axis is -90°. The four candidate dividing lines are 0°, 90°, -90°, and -180°, as follows: Figure 6 As shown. The function of the dividing line is to act as the endpoint of the continuous interval of sorting angles, so that the sorting angle within the layer does not cross the endpoint.

[0073] (2) Read the target machine tool's oscillating head configuration (BC configuration or AC configuration), oscillating axis travel range, and rotary axis travel range. The process is as follows: Figure 7 As shown. In the industry, the travel of the rotary axis is [-180°, 180°] (hereinafter referred to as the symmetrical range) or [0°, 360°] (hereinafter referred to as the unidirectional range), and the travel of the swing axis is [0°, 90°] (hereinafter referred to as the positive range) or [-90°, 0°] (hereinafter referred to as the negative range), for a total of eight combinations.

[0074] (3) The determination of the dividing line is based on the projection orientation of the machining head axis in the XOY plane when the swing axis swings to ±90°, and the starting point of the rotation axis travel range. Taking the BC configuration, B axis travel in the negative range, and C axis travel in the unidirectional range as an example: the B axis swings around the Y axis, and the machining head axis is always located in the XOZ plane. When the B axis swings to -90° (or any angle in the negative range), the projection of the machining head axis in the XOY plane falls in the negative direction of the X axis, that is, the position of the -180° dividing line. At this time, the C axis command angle is 0°. The C axis can traverse all machining blocks in this layer by rotating from 0° in one direction to 360°. Therefore, -180° is taken as the dividing line. Similarly, the other seven combinations can be derived and classified into four modes according to the dividing line, as shown in Table 1.

[0075] (Table 1: Comparison Table of Boundary Lines and Sort Angle Intervals)

[0076] Mode 1 BC B-axis: 0°~90° -180° [-180°, 180°] C-axis travel symmetrical range Mode 1 BC B-axis: -90°~0° -180° [0°, 360°] C-axis travel unidirectional range Mode 2 BC B-axis: 0°~90° 0° [0°, 360°] C-axis travel unidirectional range Mode 2 BC B-axis: -90°~0° 0° [-180°, 180°] C-axis travel symmetrical range Mode 3 AC A-axis: 0°~90° -90° [-180°, 180°] C-axis travel symmetrical range Mode 3 AC A-axis: -90°~0° -90° [0°, 360°] C-axis travel unidirectional range Mode 4 AC A-axis: 0°~90° 90° [0°, 360°] C-axis travel unidirectional range Mode 4 AC A-axis: -90°~0° 90° [-180°, 180°] C-axis travel symmetrical range

[0077] Table 1 can be summarized as follows: When the swing axis travel is in the positive range and the rotation axis travel is in the symmetrical range, or when the swing axis travel is in the negative range and the rotation axis travel is in the unidirectional range, the BC configuration takes -180° and the AC configuration takes -90°; in other cases, the BC configuration takes 0° and the AC configuration takes 90°. The modes and dividing lines are as follows... Figure 8 As shown.

[0078] The fixed offset Δ in the last column of Table 1 is used for post-processing of S10. Its value is given by the machine tool swivel head structure: the sorting angle plus Δ falls into the rotary axis travel range, and the mapping remains monotonic. Therefore, the monotonicity of the sorting angle means that the rotary axis command angle is monotonic. Taking the negative range of the A-axis and the unidirectional range of the C-axis in mode 3 as an example, the sorting angle range [-90°, 270°) plus +90° becomes [0°, 360°), which is consistent with the C-axis travel.

[0079] S4 Calculates the original polar angle and lateral marker.

[0080] For each processing block in the current layer[i]:

[0081] (1) Based on the normal vector (Nx, Ny, Nz) data of each processing block in step S1, obtain the horizontal component (Nx, Ny) of the processing block normal vector.

[0082] (2) If the magnitude of (Nx, Ny) is less than the threshold (e.g., 1e-9), it is considered a zero vector and is skipped or given a default angle.

[0083] (3) Normalization yields unit vectors (ux, uy).

[0084] A. Let the horizontal component of the normal vector of the current processing block be... Calculate its modulus:

[0085]

[0086] B. To prevent the zero vector from causing invalid subsequent calculations, a tolerance threshold is set. Normalized unit vector for:

[0087]

[0088] C. Signed polar angle calculation (original polar angle), with the positive X-axis direction as the reference point. As a reference direction, calculation Compared to The signed polar angle. Using the dot product and cross product of two-dimensional vectors:

[0089]

[0090] Original polar angle (Unit: degrees) Calculated using the arctan function of the four quadrants:

[0091]

[0092] Its value range is: -180°< ≤180°.

[0093] D. Lateral Identification Calculation

[0094] The lateral indicator IsLeft records which side of the reference direction (positive X-axis) the normal vector of the machining block falls on, and is determined by the sign of the cross product Cross.

[0095]

[0096] When the cross product (Cross) is less than 0, it is marked as left. This identifier name may differ from the actual geometric orientation, but as a same-side matching identifier for inter-layer connection, its function is only to ensure "same-side consistency".

[0097] S5. Map the original polar angle to the target angle range according to the boundary line type to obtain the sorted angle.

[0098] Based on the boundary line type determined in step S3, Mapping to the target angle range yields the mapped angle. .

[0099] Mode 1 (Boundary Line -180°):

[0100] A. If > 180°, then = - 360°;

[0101] B. Otherwise = .

[0102] C. In particular, if | -180°| < 1e-6, then forced = -180° (unified critical value).

[0103] Mode 2 (0° dividing line):

[0104] A. If < 0°, then = + 360°;

[0105] B. Otherwise = .

[0106] C. If ≥ 360°, then = 0°.

[0107] Mode 3 (Boundary Line -90°):

[0108] A. If < -90°, then = + 360°;

[0109] B. Otherwise = .

[0110] C. If | - 270° | < 1e-6, then = -90°.

[0111] Mode M4 (90° dividing line):

[0112] A. If < 90°, then = + 360°;

[0113] B. Otherwise = .

[0114] C. If | - 450° | < 1e-6, then = 90°.

[0115] S6. Arrange even-numbered layers in the layer sequence in ascending order by polar angle, and odd-numbered layers in ascending / descending order by sorting angle.

[0116] For each Layer[i] (i starts from 0):

[0117] A. If i is an even number (0,2,4,…): Sort all blocks in the layer in ascending order of polar angle (counterclockwise).

[0118] B. If i is an odd number (1,3,5,...): Sort all blocks in the layer from largest to smallest polar angle (clockwise).

[0119] This step ensures that the paths within a layer exhibit a Zigzag pattern: even-numbered layers move from the minimum angle near the boundary to the maximum angle, odd-numbered layers move from the maximum angle to the minimum angle, and adjacent layers connect naturally near their endpoints.

[0120] S7. Adjacent layers are connected at the nearest endpoint on the same side.

[0121] Traverse adjacent layer pairs (Layer[i-1] and Layer[i], i≥1):

[0122] A. Get the last block of the previous layer, lastBlock.

[0123] B. In the current layer [i], filter out all blocks where IsLeft is true to form a candidate set Candidates.

[0124] C. If the candidate set is not empty: Select the block startBlock from Candidates that has the closest spatial Euclidean distance to the center point of lastBlock.

[0125] D. Remove startBlock from Layer[i] and insert it at the head of Layer[i] (index 0), while keeping the original order of the remaining blocks unchanged.

[0126] E. If the candidate set is empty (which is theoretically unlikely because the normal vector covers the entire circumference), then maintain the original order of the current layer.

[0127] This connection mechanism ensures that: ① the already determined internal order of each layer is not disrupted; ② the transition point between adjacent layers occurs on the block "on the same side" as the endpoint of the previous layer, thus avoiding the path forcibly crossing the angle boundary line; ③ the nearest selection further shortens the empty travel distance.

[0128] S8. Assemble each layer according to the set processing direction and output the processing block sequence.

[0129] Provides a processing direction selection: If processing is required from top to bottom, the entire layer sequence is reversed (i.e., starting from the highest layer). This step is performed after the inter-layer connection is completed to maintain the correctness of the connection logic.

[0130] Concatenate all layers sequentially (from bottom to top or top to bottom, determined by the ZigzagDirection parameter) to output the final sequence of processed blocks.

[0131] According to Table 1, this belongs to Mode 1, with a boundary line of -180° and a sorting angle range of [-180°, 180°), Δ=0°. The conical part is divided into 7 layers, with a Divide Width of 60 mm. Layer 0 is arranged in ascending order of θ′, with the first machining block having θ′ = -179.2° and the last machining block having θ′ = 178.6°. Layer 1 is arranged in descending order, with its starting machining block selected by S8 from the candidates with the right-hand side marker, choosing the one with the smallest distance from the center point of the last machining block of Layer 0. This machining block has θ′ = 176.4°, and the remaining machining blocks of Layer 1 proceed in descending order until θ′ = -178.1°. The C-axis command angle is the sorting angle itself, increasing unidirectionally from -179.2° to 178.6° before entering the next layer at 176.4° and decreasing unidirectionally. It does not cross the -180° boundary line throughout the entire process and has no reverse 356° rotation. Post-processing output NC instruction fragments, such as Figure 10 As shown.

[0132] AC-configured machine tool, A-axis travel [-90°, 0°], C-axis travel [0°, 360°]

[0133] According to Table 1, this belongs to Mode 3, with a boundary line of -90° and a sorting angle range of [-90°, 270°), Δ = +90°. For machining blocks in S6 with an original polar angle less than -90°, add 360°. For example, θ0 = -150° is mapped to θ′ = 210°; θ0 = -90° remains at -90°; for machining blocks where |θ′ - 270°| < 1e-6, take θ′ = -90°. The sorting angle for even-numbered layers increases from -90° to nearly 270°. After adding +90°, the C-axis command angle increases from 0° to nearly 360°, falling within the C-axis travel and not crossing the 0° / 360° boundary. The reference direction for the lateral marker is the boundary line direction d = (0, -1), and the inter-layer transition point is on the same side of the boundary line as the endpoint of the previous layer.

[0134] The electronic device includes a memory, a processor, and a bus. The memory stores a computer program that implements the method described in Embodiment 1 and the comparative data in Table 1. The processor executes the program to complete all steps from reading the machining block data to outputting the machining block sequence. This device can be a CAM workstation or a host computer integrated into a machine tool CNC system.

[0135] Computer-readable storage media

[0136] The storage medium contains a computer program, which, when executed by a processor, implements the method described in Embodiment 1. The storage medium includes a USB flash drive, a portable hard drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk.

[0137] The present invention has the following advantages:

[0138] 1. Fundamentally avoids C-axis angle overruns and cable interference: By using the C-axis travel boundaries (-180°, 0°, -90°, 90°) as the dividing lines for polar angle sorting, and strictly limiting the sorted angles within the allowable range, the generated machining path naturally satisfies the physical travel limitations of the C-axis. No tool retraction / re-feeding is required in the post-processing stage, ensuring continuous and uninterrupted machining, fundamentally eliminating the risk of cable entanglement.

[0139] 2. Significantly improves machining efficiency: It avoids the retraction / feedback idle stroke caused by angle overtravel, reduces unnecessary C-axis rotation (such as avoiding reverse rotation from 178° to -178° by 356°), and shortens the machining time per piece.

[0140] 3. Adaptive to various machine tool configurations: It can automatically identify AC-axis or BC-axis machine tools and distinguish between the positive stroke (e.g., 0°~90°) and negative stroke (e.g., -90°~0°) of the oscillating head axis, automatically selecting the optimal boundary mode. No manual intervention is required, reducing process preparation time and facilitating portability between different machine tools.

[0141] 4. Maintaining the directionality of Zigzag within a layer while achieving smooth transitions between layers: The reverse sorting of odd and even layers ensures that the path within each layer travels in a single direction, which is beneficial for uniform processing. The "nearest point on the same side" connection mechanism achieves the shortest distance connection between layers while maintaining the order within the layer, and avoids crossing the boundary line, thus ensuring both efficiency and safety.

[0142] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A laser processing path planning system for rotary parts based on rotation axis travel constraints, characterized in that, include: The module includes: data acquisition module, Z-axis layering module, machine tool axis parameter module, polar angle calculation module, angle mapping module, intra-layer sorting module, inter-layer connection module, and path output module. The acquisition module is connected to the Z-axis layering module and the polar angle calculation module respectively, and is used to obtain the center point coordinates and machining normal vectors of each machining block after the rotary part is divided, and send the center point coordinates to the Z-axis layering module and the machining normal vectors to the polar angle calculation module. The Z-axis layering module is connected to the layer-in-layer sorting module and is used to group the Z coordinates of the center point according to the set layer width to obtain the layer sequence arranged along the Z-axis, and send the layer sequence to the layer-in-layer sorting module. The machine tool axis parameter module is connected to the angle mapping module and is used to read the swing head configuration and the travel range data of the swing axis and the rotary axis, determine the dividing line, and send the dividing line to the angle mapping module. The polar angle calculation module is connected to the angle mapping module and is used to obtain the original polar angle and lateral mark of each processing block according to the processing normal vector, and send the original polar angle and the lateral mark to the angle mapping module. The angle mapping module is connected to the intra-layer sorting module and is used to map the original polar angle to the target angle range according to the boundary line to obtain the sorting angle, and send the sorting angle and the lateral flag to the intra-layer sorting module. The intra-layer sorting module is connected to the inter-layer connection module and is used to sort the even-numbered layers in the layer sequence in ascending order of sorting angle and the odd-numbered layers in descending order of sorting angle, and send the sorted layer sequence to the inter-layer connection module. The interlayer connection module is connected to the path output module and is used to select the processing block in the next layer whose lateral marker is the same as the last processing block in the previous layer and whose center point spatial distance is the closest, and move it to the first position of the layer, and send the connected layer sequence to the path output module. The path output module is used to splice each layer according to the set processing direction and output the processing block sequence after the interlayer connection is completed.

2. A laser processing path planning method for rotary parts based on rotation axis travel constraints, characterized in that, include: S1, obtain the center point coordinates and machining normal vector of each machining block after the rotary part is divided; S2, group the Z coordinates of the center points of each processing block according to the set layer width to obtain the layer sequence arranged along the Z direction; S3, read real-time data of machine tool axes and determine the type of dividing line; S4, calculate the polar angle and lateral markings of each processing block; S5, map the original polar angle to the target angle range according to the boundary line type to obtain the sorted angle; S6, arrange the even-numbered layers in the layer sequence in ascending order of polar angle, and the odd-numbered layers in ascending / descending order of sorting angle; S7, adjacent layers are connected at the nearest endpoint on the same side; S8. After step S7 is completed, the layers are spliced ​​together according to the set processing direction, and the processing block sequence is output.

3. The laser processing path planning method for rotary parts based on rotation axis travel constraints according to claim 2, characterized in that, In S2, the processing blocks are grouped according to the Z coordinate value of the center point of each processing block by setting the layer width. Blocks within the same Z value range are grouped into one layer and arranged in ascending or descending order of Z value to form a layer sequence.

4. The laser processing path planning method for rotary parts based on rotation axis travel constraints according to claim 2, characterized in that, In S3, the specific data to be read are the oscillating head configuration and the stroke range of the oscillating axis and the rotating axis of the laser processing machine tool. When the oscillating axis stroke is in the positive range and the rotating axis stroke is in the symmetrical range, or when the oscillating axis stroke is in the negative range and the rotating axis stroke is in the unidirectional range, the BC configuration takes -180° and the AC configuration takes -90° as the dividing line; in other cases, the BC configuration takes 0° and the AC configuration takes 90° as the dividing line.

5. The laser processing path planning method for rotary parts based on rotation axis travel constraints according to claim 2, characterized in that, In step S4, when the magnitude of the horizontal component of the processing normal vector is less than 1e-9, it is determined to be a zero vector, and the processing block is skipped or assigned a default sorting angle and placed at the end of its layer.

6. The laser processing path planning method for rotary parts based on rotation axis travel constraints according to claim 2, characterized in that, In S4, the horizontal component of the machining normal vector is taken, with the positive X-axis direction as the reference direction. The original polar angle is obtained by the dot product and cross product of the horizontal component and the reference direction through the arctangent of the four quadrants. The lateral mark is determined by the sign of the cross product. When the cross product is less than zero, the lateral mark is recorded as the left side; otherwise, it is recorded as the right side. The reference direction is either the positive X-axis direction or the direction pointed to by the boundary line.

7. The method according to claim 2, characterized in that, In S7, for two adjacent layers, among the processing blocks in the latter layer with the same lateral marker as the last processing block in the former layer, the one with the smallest spatial distance between its center point and the center point of the last processing block is moved to the first position in the latter layer, while the remaining processing blocks in that layer maintain their original order.

8. The method according to claim 2, characterized in that, S8 provides a processing direction selection, and the set processing direction includes bottom to top and top to bottom. When the set processing direction is top to bottom, the entire layer sequence is reversed and then spliced.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 2 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 2 to 8.

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