CN114859824B - Cutting follow-up control method, cutting device and computer readable storage medium - Google Patents
Cutting follow-up control method, cutting device and computer readable storage medium Download PDFInfo
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- CN114859824B CN114859824B CN202210514781.0A CN202210514781A CN114859824B CN 114859824 B CN114859824 B CN 114859824B CN 202210514781 A CN202210514781 A CN 202210514781A CN 114859824 B CN114859824 B CN 114859824B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32063—Adapt speed of tool as function of deviation from target rate of workpieces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a cutting follow-up control method, a cutting device and a computer readable storage medium, wherein the method comprises the following steps: determining the curved surface shape of a workpiece to be processed according to the historical follow-up control data; the interpolation positions and the interpolation speeds of the X axis and the Y axis of the last periodic cutting head in the horizontal direction are obtained; according to the curved surface shape, the interpolation positions and the interpolation speeds of the x axis and the y axis, determining the fluctuation speed of the plate surface of the workpiece to be processed in the z axis direction in the current period; acquiring a follow-up instruction height of a cutting head and a planning target position of the cutting head in the Z-axis direction in the current period; carrying out speed planning on the cutting head in the Z-axis direction according to the height of the follow-up instruction and the planning target position, and obtaining the planning speed of the cutting head in the Z-axis direction in the current period; determining the follow-up speed of the cutting head in the Z-axis direction in the current period according to the fluctuation speed and the planning speed; the cutting head is controlled to move according to the following speed. The invention can avoid the collision between the cutting device and the workpiece to be processed.
Description
Technical Field
The present invention relates to the field of cutting technologies, and in particular, to a cutting follow-up control method, a cutting device, and a computer readable storage medium.
Background
In the process of cutting a workpiece to be processed by using a cutting head, there are usually three directions of motion in an X axis, a Y axis and a Z axis, wherein XY forms a horizontal plane, a processed pattern performs interpolation motion on the XY plane, and the Z axis direction is follow-up motion. However, when the workpiece to be processed is processed, since the shape of the workpiece to be processed is a curved surface as the cross section of the workpiece to be processed, or the workpiece to be processed is placed in an inclined manner as the workpiece to be processed, such as a metal plate surface to be cut, cannot be guaranteed to be kept horizontal, and when the interpolation speed of the XY plane is high, the cutting head is easy to collide with the workpiece to be processed, and the cutting head and the workpiece to be processed are damaged.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a cutting follow-up control method, a cutting device and a computer readable storage medium, and aims to solve the problems that a cutting head collides with a workpiece to be processed to damage the cutting head and the workpiece to be processed.
In order to achieve the above object, the present invention provides a cutting follow-up control method, including:
Determining the curved surface shape of a workpiece to be processed according to the historical follow-up control data;
The interpolation positions and the interpolation speeds of the X axis and the Y axis of the last periodic cutting head in the horizontal direction are obtained;
According to the curved surface shape, the interpolation positions and the interpolation speeds of the x axis and the y axis, determining the fluctuation speed of the plate surface of the workpiece to be processed in the z axis direction in the current period;
acquiring a follow-up instruction height of a cutting head and a planning target position of the cutting head in the Z-axis direction in the current period;
Carrying out speed planning on the cutting head in the Z-axis direction according to the height of the follow-up instruction and the planning target position to obtain the planning speed of the cutting head in the Z-axis direction in the current period;
Determining the follow-up speed of the cutting head in the Z-axis direction in the current period according to the fluctuation speed and the planning speed;
and controlling the cutting head to move according to the follow-up speed.
Optionally, the step of determining the curved shape of the workpiece to be processed according to the historical follow-up control data includes:
Sub-history follow-up control data respectively corresponding to a plurality of continuous cutting time periods in the history follow-up control data are obtained, wherein the sub-history follow-up control data comprise the X-axis position and the Y-axis position of the cutting head and the position of a corresponding cut point on the workpiece to be processed in the Z-axis direction;
And determining the curved surface shape z=f (x, y) of the workpiece to be processed through a curved surface least square fitting method according to the sub-history follow-up control data corresponding to a plurality of continuous cutting time periods.
Optionally, the step of determining the fluctuation speed of the plate surface of the workpiece to be processed in the z-axis direction in the current period according to the curved surface shape and the interpolation positions and speeds of the x-axis and the y-axis includes:
And calculating to obtain the fluctuation speed of the plate surface of the workpiece to be processed in the z-axis direction under the current period according to the following formula:
Wherein, And/>Can be obtained by direct partial differentiation of f (x, y)/>And/>Interpolation speeds of an X axis and a Y axis of the previous period are respectively; /(I)And the rolling speed of the plate surface of the workpiece to be processed in the z-axis direction in the current period is set.
Optionally, the step of determining the follower speed of the cutting head in the Z-axis direction at the current cycle according to the heave speed and the planning speed comprises:
integrating the planning speed in time to obtain a command position to be moved by the cutting head in the z-axis direction in the current period;
Integrating the fluctuation speed in time to obtain the fluctuation distance of the workpiece to be processed in the z-axis direction in the current period;
the undulating distance is overlapped to the command position, and the actual position of the cutting head to be moved in the z-axis direction in the current period is obtained;
and obtaining the displacement of the cutting head in the z-axis direction in the current period according to the actual position, and differentiating the displacement in time to obtain the follow-up speed.
Optionally, before the step of controlling the cutting head to move according to the following speed, the method further comprises:
and when the follow-up speed is less than or equal to a preset maximum speed, executing the step of controlling the cutting head to move according to the follow-up speed.
Optionally, before the step of controlling the cutting head to move according to the following speed, the method further comprises:
And when the follow-up speed is greater than a preset maximum speed, correcting the actual position so that the follow-up speed is equal to or less than the preset maximum speed.
Optionally, when the following speed is greater than a preset maximum speed, adjusting the actual position so that the following speed is equal to or less than the preset maximum speed, and further including:
determining the acceleration of the cutting head in the Z-axis direction in the current period according to the corrected actual position;
And when the acceleration is larger than the preset maximum acceleration, correcting the actual position again so that the acceleration is equal to or smaller than the preset maximum acceleration.
In addition, to achieve the above object, the present invention also provides a cutting device including:
the first determining module is used for determining the curved surface shape of the workpiece to be processed according to the historical follow-up control data;
the first acquisition module is used for acquiring interpolation positions and speeds of an x axis and a y axis of the last periodic cutting head in the horizontal direction;
The second determining module is used for determining the fluctuation speed of the plate surface of the workpiece to be processed in the z-axis direction in the current period according to the curved surface shape, the interpolation positions and the interpolation speeds of the x-axis and the y-axis;
The second acquisition module is used for acquiring the follow-up instruction height of the cutting head and the planned target position of the cutting head in the Z-axis direction in the current period;
The third determining module is used for planning the speed of the cutting head in the Z-axis direction according to the height of the follow-up instruction and the planning target position, and obtaining the planning speed of the cutting head in the Z-axis direction in the current period;
a fourth determining module, configured to determine a follow-up speed of the cutting head in the Z-axis direction in the current period according to the heave speed and the planning speed;
and the control module is used for controlling the cutting head to move according to the follow-up speed.
In addition, to achieve the above object, the present invention also provides a cutting device including: the cutting control system comprises a memory, a processor and a cutting follow-up control program which is stored in the memory and can run on the processor, wherein the cutting follow-up control program realizes the steps of the cutting follow-up control method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a cutting-follow-up control program which, when executed by the processor, implements the respective steps of the cutting-follow-up control method as described above.
In the technical scheme disclosed by the embodiment of the invention, in the cutting process of a workpiece to be processed by a cutting head of the cutting device, the curved surface shape of the workpiece to be processed is determined through the history follow-up control data of cutting, so that the plate surface shape of the workpiece to be processed is predicted through the curved surface shape, the plate surface shape of the workpiece to be processed is combined on the basis of knowing the interpolation positions and the speeds of an x axis and a y axis of the cutting head in the horizontal direction in the last period, the fluctuation speed of the plate surface of the workpiece to be processed in the z axis direction, which is suitable for the interpolation positions in the horizontal direction and the current period of the speed, is determined, and when the cutting head moves in the horizontal direction xy, the cutting head moves in the z axis direction based on the fluctuation speed, so that the cutting head is prevented from colliding with the workpiece to be processed, and is suitable for the movement of the fluctuation trend of the workpiece to be processed in the current period z axis direction.
Further, according to the follow-up instruction height and the planning target position, the speed planning of the cutting head in the Z-axis direction is carried out on the cutting head in the Z-axis direction, the planning speed of the cutting head in the Z-axis direction in the current period is obtained, according to the relief speed and the planning speed, the follow-up speed of the cutting head in the Z-axis direction in the current period is determined, on the premise that the follow-up instruction height and the planning target position corresponding to the current period are determined, the planning speed of the cutting head in the Z-axis direction in the current period is determined, further according to the relief speed and the planning speed, the follow-up speed of the cutting head in the Z-axis direction in the current period is determined, so that when the cutting head cuts a workpiece to be processed according to the follow-up speed, the planning speed is met when the Z-axis direction reaches the planning target position, the relief speed exists corresponding to the planning target position, the cutting head and the workpiece to be processed is kept at the follow-up instruction height on the basis of the relief speed, the cutting head and the workpiece to be processed are simultaneously, the follow-up instruction height is kept between the cutting head and the workpiece to be processed is achieved, and the workpiece to be processed is prevented from being damaged.
Drawings
FIG. 1 is a schematic diagram of a cutting apparatus according to various embodiments of the present invention;
FIG. 2 is a flow chart of a first embodiment of a cutting follow-up control method according to the present invention;
FIG. 3 is a schematic diagram of a cutting device for cutting a workpiece to be processed according to an nth time period;
FIG. 4 is a flow chart of a second embodiment of the cutting follow-up control method of the present invention;
Fig. 5 is a schematic diagram showing the module composition of the cutting device of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the following description, suffixes such as "module", "part" or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a cutting device according to various embodiments of the present invention. The cutting device related to the cutting follow-up control method can be a three-dimensional five-axis cutting follow-up control cutting device.
As shown in fig. 1, the cutting device may include: a memory 101 and a processor 102. It will be appreciated by those skilled in the art that the block diagram of the terminal shown in fig. 1 is not limiting of the terminal, and that the terminal may include more or fewer components than shown, or may combine certain components, or a different arrangement of components. The memory 101 stores therein an operating system and a cutting-following control program. The processor 102 is a control center of the cutting device, and the processor 102 executes a cutting-follow-up control program stored in the memory 101 to implement the steps of the cutting-follow-up control method embodiments of the present invention.
Optionally, the cutting device may further include a display unit 103, where the display unit 103 includes a display panel, and the display panel may be configured in a form of a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), an Organic Light-Emitting Diode (OLED), or the like, for outputting and displaying an interface browsed by a user.
Based on the above-mentioned block diagram of the cutting device, various embodiments of the cutting follow-up control method of the present invention are presented.
In a first embodiment, the present invention provides a cutting follow-up control method, please refer to fig. 2, fig. 2 is a flow chart of a first embodiment of the cutting follow-up control method of the present invention. In this embodiment, the cutting follow-up control method includes the steps of:
Step S10, determining the curved surface shape of a workpiece to be processed according to historical follow-up control data;
The workpiece to be processed refers to a workpiece to be processed. The workpiece to be processed can be metal, nonmetal, metal base, nonmetal base composite material, leather, wood, fiber and the like.
The historical data comprise cutting data obtained after the workpiece to be processed is cut in the process that the cutting device cuts the workpiece to be processed. It is understood that the history data may be simply understood as cutting data obtained in the time sequence of cutting after the workpiece to be processed has been cut. The historical data comprise the X-axis position and Y-axis position of the cutting device corresponding to different cutting time periods and the height from the height position of the workpiece to be processed to the preset reference position in the Z-axis direction according to the time sequence of cutting.
Alternatively, the X-axis positions of the cutting device corresponding to different cutting time periods may be obtained by the X-axis encoder feedback, and the Y-axis positions may be obtained by the Y-axis encoder feedback.
Optionally, the height position of the workpiece to be processed in the Z-axis direction is up to the height of a preset reference position, wherein the preset reference position can be selected as a mechanical position zero point. For example, taking the nth time period in the history data as an example, please refer to fig. 3, fig. 3 is a schematic diagram of cutting corresponding to the nth time period for the cutting device to cut the workpiece to be processed. Wherein the point O is the mechanical position zero point of the system where the cutting device is located, the point O is fixed after the system returns to zero, the point A is the mechanical position where the cutting head of the cutting device is located in the nth time period, the point A can be fed back and obtained by a cutting head encoder, the mechanical position quantity A-O of the point A (namely, the point A is based on the vector of the mechanical position zero point O of the system) can be obtained through equivalent conversion of the encoder and the system, the point D is the placement position of the surface of the workpiece to be processed, the mechanical position quantity D-O of the surface of the workpiece to be processed (namely, the point D is based on the vector of the mechanical position zero point O of the system), wherein,The A-D value can be obtained through a height sensor, the point C is the position of the cutting head when the workpiece to be processed is cut, at this time, the distance between the point C and the point D is the height of the follow-up instruction, the height of the follow-up instruction is the distance between the preset cutting device and the surface of the workpiece to be processed when the workpiece to be processed is cut, and the height difference is the distance between the cutting head of the cutting device and the surface of the workpiece to be processed, and is set to be 1mm by way of example. The point B is a planned target position of the cutting head of the cutting device in the Z-axis direction in the nth time period, namely a height position reached by the movement of the cutting head in the Z-axis direction in the nth time period, and the distance from the point B to the point C is as follows:
As an alternative embodiment, step S10 includes:
Sub-history follow-up control data respectively corresponding to a plurality of continuous cutting time periods in the history follow-up control data are obtained, wherein the sub-history follow-up control data comprise the X-axis position and the Y-axis position of the cutting head and the position of a corresponding cut point on the workpiece to be processed in the Z-axis direction;
And determining the curved surface shape z=f (x, y) of the workpiece to be processed through a curved surface least square fitting method according to the sub-history follow-up control data corresponding to a plurality of continuous cutting time periods.
It should be noted that, the sub-history data corresponding to each of the continuous multiple cutting time periods in the history follow-up control data is sub-history data corresponding to each of the continuous multiple cutting time periods according to the time cutting sequence, and the shape change and the fluctuation of the workpiece to be processed can be estimated by the X-axis position, the Y-axis position and the height from the height position of the workpiece to be processed to the preset reference position in the Z-axis direction of the cutting device according to the sub-history data corresponding to each of the continuous multiple cutting time periods, so that the shape curve of the workpiece to be processed, that is, z=f (X, Y), is determined by the sub-history data corresponding to each of the continuous multiple cutting time periods and the curved surface least square fitting method.
Optionally, the shape curve of the workpiece to be processed is determined by a curved surface least square fitting method according to the sub-history data corresponding to each cutting time period, and the shape curve of the workpiece to be processed can be determined by a curved surface least square fitting method according to the sub-history data corresponding to each cutting time period and a preset curved surface type.
Optionally, the preset surface type may be a plane type, a B-spline surface, a hyperboloid, or the like.
Step S20, obtaining interpolation positions and speeds of an x-axis and a y-axis of a previous period cutting head in the horizontal direction;
Step S30, determining the fluctuation speed of the plate surface of the workpiece to be processed in the z-axis direction in the current period according to the curved surface shape, the interpolation positions and the interpolation speeds of the x-axis and the y-axis;
It should be noted that, in general, the workpiece to be processed is fixed at a position to be switched, such as point D, and when the cutting head of the cutting device is controlled to move in the horizontal direction xy, the surface of the workpiece to be processed fluctuates, which easily causes the cutting head to collide with the workpiece to be processed, and damages the cutting head and the workpiece to be processed.
In order to avoid the situation that a cutting head of a cutting device collides with a workpiece to be processed when the workpiece to be processed is cut, the cutting device and the workpiece to be processed are damaged, the fluctuation trend of the surface of the workpiece to be processed is known based on the shape curve of the workpiece to be processed, the interpolation positions and speeds of the x axis and the y axis of the cutting head in the horizontal direction of the previous period are obtained, the fluctuation trend of the workpiece to be processed in the z axis direction of the current period can be determined according to the interpolation positions of the x axis and the y axis of the cutting head in the horizontal direction, the fluctuation speed of the surface of the workpiece to be processed in the z axis direction of the current period is determined based on the speeds of the x axis and the y axis corresponding to the interpolation positions of the cutting head in the horizontal direction, when the cutting head moves in the xy direction, the cutting head is moved based on the fluctuation speed in the z axis direction, so that the cutting head is prevented from colliding with the workpiece to be processed, and the cutting head is adapted to the fluctuation trend of the workpiece to be processed in the z axis direction of the current period.
Optionally, step S30 includes:
And calculating to obtain the fluctuation speed of the plate surface of the workpiece to be processed in the z-axis direction under the current period according to the following formula:
Wherein, And/>Can be obtained by direct partial differentiation of f (x, y)/>And/>Interpolation speeds of an x axis and a y axis of the previous period are respectively; /(I)The rolling speed of the plate surface of the workpiece to be processed in the z-axis direction in the current period is obtained.
Step S40, acquiring the follow-up instruction height of the cutting head and the planned target position of the cutting head in the Z-axis direction in the current period;
Step S50, carrying out speed planning on the cutting head in the Z-axis direction according to the height of the follow-up instruction and the planning target position, and obtaining the planning speed of the cutting head in the Z-axis direction in the current period;
Step S60, determining the follow-up speed of the cutting head in the Z-axis direction in the current period according to the fluctuation speed and the planning speed;
And step S70, controlling the cutting head to move according to the follow-up speed.
It should be noted that, in the actual application process, based on the preset speed planning type and the preset cutting track, on the basis that the initial position of cutting and the end position of cutting in the Z-axis direction are definitely determined according to the preset cutting track, and the speed corresponding to the end position of cutting is 0, when the cutting head of the cutting device is planned in advance to obtain the workpiece to be processed to cut, the cutting device is planned to reach the height position corresponding to the movement to be reached in different cutting time periods in the Z-axis direction according to the cutting time sequence, and the height position to be reached by the movement is the planned target position. Based on the planned target positions corresponding to the cutting devices in different pre-planned cutting time periods, the planned target positions of the cutting head in the current period in the Z-axis direction can be obtained.
The height of the follow-up instruction is a preset distance between the cutting device and the surface of the workpiece to be processed when the workpiece to be processed is cut, and for example, please refer to fig. 3, fig. 3 is a schematic cutting diagram corresponding to an nth time period for the cutting device to cut the workpiece to be processed, wherein the distance between the point C and the point D is the height of the follow-up instruction.
And carrying out speed planning on the cutting head in the Z-axis direction according to the follow-up instruction height and the planning target position to obtain the planning speed of the cutting head in the Z-axis direction in the current period, determining the follow-up speed of the cutting head in the Z-axis direction in the current period according to the relief speed and the planning speed, determining the planning speed of the cutting head in the Z-axis direction in the current period on the premise of determining the follow-up instruction height and the planning target position corresponding to the current period, and further determining the follow-up speed of the cutting head in the Z-axis direction in the current period according to the relief speed and the planning speed, so that the relief speed exists corresponding to the planning target position when the cutting head meets the planning speed in the Z-axis direction when the cutting head cuts a workpiece to be processed according to the relief speed in the current period, and the cutting head and the workpiece to be processed are kept at the follow-up instruction height based on the relief speed.
As an alternative embodiment, step S60 includes:
integrating the planning speed in time to obtain a command position to be moved by the cutting head in the z-axis direction in the current period;
integrating the fluctuation speed in time to obtain the fluctuation distance of the processed workpiece in the z-axis direction in the current period;
the undulating distance is overlapped to the command position, and the actual position of the cutting head to be moved in the z-axis direction in the current period is obtained;
and obtaining the displacement of the cutting head in the z-axis direction in the current period according to the actual position, and differentiating the displacement in time to obtain the follow-up speed.
It should be noted that, the specific implementation manner of this step may be referred to the second embodiment, and this embodiment is not specifically described.
In the technical scheme disclosed in this embodiment, in the process of cutting a workpiece to be processed by a cutting head of a cutting device, a curved surface shape of the workpiece to be processed is determined by cutting history follow-up control data, so that a plate surface shape of the workpiece to be processed is predicted by the curved surface shape, and on the basis of knowing interpolation positions and speeds of an x axis and a y axis of the cutting head in the horizontal direction in the last period, a fluctuation speed of the plate surface of the workpiece to be processed in the z axis direction, which is suitable for the interpolation positions in the horizontal direction and the current period of the speed, is determined, and when the cutting head moves in the horizontal direction xy, the cutting head moves in the z axis direction based on the fluctuation speed, so as to avoid collision between the cutting head and the workpiece to be processed, and the cutting head is suitable for moving in a fluctuation trend of the workpiece to be processed in the z axis direction of the current period.
Further, according to the follow-up instruction height and the planning target position, the speed planning of the cutting head in the Z-axis direction is carried out on the cutting head in the Z-axis direction, the planning speed of the cutting head in the Z-axis direction in the current period is obtained, according to the relief speed and the planning speed, the follow-up speed of the cutting head in the Z-axis direction in the current period is determined, on the premise that the follow-up instruction height and the planning target position corresponding to the current period are determined, the planning speed of the cutting head in the Z-axis direction in the current period is determined, further according to the relief speed and the planning speed, the follow-up speed of the cutting head in the Z-axis direction in the current period is determined, so that when the cutting head cuts a workpiece to be processed according to the follow-up speed, the planning speed is met when the Z-axis direction reaches the planning target position, the relief speed exists corresponding to the planning target position, the cutting head and the workpiece to be processed is kept at the follow-up instruction height on the basis of the relief speed, the cutting head and the workpiece to be processed are simultaneously, the follow-up instruction height is kept between the cutting head and the workpiece to be processed is achieved, and the workpiece to be processed is prevented from being damaged.
In addition, when the cutting device is controlled to cut the workpiece to be processed along the shape of the plate surface of the workpiece to be processed when moving according to the follow-up speed, the cutting device is prevented from colliding with the workpiece to be processed, the processing quality of the workpiece to be processed is improved, the processing smoothness of the cutting device when the cutting device cuts the workpiece to be processed is improved, and the cutting efficiency is improved.
In a second embodiment based on the first embodiment, please refer to fig. 4, fig. 4 is a flow chart of a second embodiment of the cutting follow-up control method of the present invention. In this embodiment, step S60 includes:
step S61, performing time integration on the planning speed to obtain a command position to be moved by the cutting head in the z-axis direction in the current period;
Step S62, integrating the fluctuation speed in time to obtain the fluctuation distance of the processed workpiece in the z-axis direction in the current period;
Step S63, the undulating distance is overlapped to the command position, and the actual position of the cutting head to be moved in the z-axis direction in the current period is obtained;
and S64, obtaining the displacement of the cutting head in the z-axis direction in the current period according to the actual position, and differentiating the displacement in time to obtain the follow-up speed.
It should be noted that, when the cutting head of the cutting device is controlled to cut the workpiece to be processed, the speed planning type and the maximum speeds and the maximum accelerations of the respective cutting axes such as the x axis, the y axis and the z axis may be set in advance.
Alternatively, the speed plan type may be T-shaped or S-shaped.
Alternatively, by setting the maximum speed and the maximum acceleration of each cutting shaft, the excessive amplitude of the shake and the excessive frequency of the shake when the cutting device cuts the workpiece to be processed can be avoided.
In the practical application process, based on the preset speed planning type, the preset cutting track, the defined maximum speed and the defined maximum acceleration, on the basis that the initial position of cutting and the end position of cutting in the Z-axis direction are definitely determined according to the preset cutting track, and the speed corresponding to the end position of cutting is 0, the height positions reached by the corresponding movement of the cutting device in different cutting time periods in the Z-axis direction can be planned in advance when the cutting head of the cutting device cuts the workpiece to be processed.
And (3) integrating the planning speed in time to obtain a command position to which the cutting head is to be moved in the Z-axis direction in the current period, correspondingly, so that when the cutting head is moved to the command position in the Z-axis direction in the current period, the speed corresponding to the command position is the planning speed, and for example, please continue to refer to fig. 3, when the time period is the nth time period, the point B is a planning target position of the cutting head of the cutting device in the Z-axis direction in the nth time period, namely, the command position to which the cutting head is to be moved in the Z-axis direction in the nth time period, and the command position is assumed to be p z (n).
The fluctuation speed is integrated in time to obtain the fluctuation distance of the workpiece to be processed in the z-axis direction in the current period, correspondingly, the fluctuation distance between the cutting head and the plate surface of the workpiece to be processed is enabled to be based on the fluctuation speed of the cutting head in the z-axis direction, so that the collision between the cutting head and the plate surface of the workpiece to be processed is avoided, and the fluctuation distance is assumed to be
And the undulating distance is overlapped to the command position to obtain the actual position to which the cutting head moves in the Z-axis direction in the current period, correspondingly, when the cutting head moves in the Z-axis direction in the current period to the actual position, the cutting head moves to the command position in the Z-axis direction in the current period, the undulating distance is formed between the cutting head and the plate surface of the workpiece to be processed based on the undulating speed of the cutting head in the Z-axis direction at the same time, and the undulating distance is kept to be the distance between the cutting device and the plate surface of the workpiece to be processed when the cutting device cuts the workpiece to be processed. Assuming the actual position is
Obtaining the displacement of the cutting head in the z-axis direction in the current period according to the actual position, differentiating the displacement in time to obtain the follow-up speed, obtaining the displacement of the cutting head in the z-axis direction in the current period by the actual position of the cutting head in the z-axis direction in the current period, and differentiating the displacement in time, namelyThe follow-up speed is obtained to clearly determine the follow-up speed of the cutting head when the cutting head moves to the actual position in the z-axis direction, and the cutting head is controlled to cut the workpiece to be processed according to the follow-up speed. Where T is the time period length.
As an alternative embodiment, before step S70, further includes:
And when the follow-up speed is less than or equal to the preset maximum speed, executing step S70.
Optionally, before step S70, the method further includes:
And when the follow-up speed is greater than a preset maximum speed, correcting the actual position so that the follow-up speed is equal to or less than the preset maximum speed.
When the follow-up speed is greater than the preset maximum speed, the fact that the shaking amplitude is too large or the shaking frequency is too large when the workpiece to be processed is cut through the cutting device is indicated, the actual position is adjusted so that the follow-up speed is equal to or smaller than the preset maximum speed, the target actual position is determined according to the adjusted actual position, the actual position is corrected according to the target actual position, the workpiece to be processed can be cut according to the corrected actual position in the Z-axis direction when the cutting head of the cutting device cuts the workpiece to be processed, and the fact that the follow-up speed in the Z-axis direction when the cutting head of the cutting device cuts the workpiece to be processed is greater than the preset maximum speed is avoided.
Optionally, the step further includes, after correcting the actual position so that the follow-up speed is equal to or less than a preset maximum speed when the follow-up speed is greater than the preset maximum speed:
determining the acceleration of the cutting head in the Z-axis direction in the current period according to the corrected actual position;
And when the acceleration is larger than the preset maximum acceleration, correcting the actual position again so that the acceleration is equal to or smaller than the preset maximum acceleration.
Similarly, the acceleration of the cutting device in the Z-axis direction is determined according to the target actual position, the follow-up speed of the cutting device in the Z-axis direction may be determined according to the target actual position, and the acceleration V a may be determined according to the follow-up speed, for example, V a may be determined by |v z-Vz-1 |/T. When the acceleration is larger than the preset maximum acceleration, the fact that the shaking amplitude is too large or the shaking frequency is too large when the workpiece to be processed is cut through the cutting device is shown, the actual position is adjusted again to enable the acceleration to be equal to or smaller than the preset maximum acceleration, the actual position is corrected according to the adjusted target actual position, the workpiece to be processed can be cut according to the corrected actual position in the Z-axis direction when the workpiece to be processed is cut through the cutting device, and therefore the fact that the acceleration in the Z-axis direction is larger than the maximum acceleration when the workpiece to be processed is cut through the cutting device is avoided.
Referring to fig. 5, fig. 5 is a schematic block diagram of a cutting device according to the present invention, and the present invention further provides a cutting device 100, which includes:
a first determining module 110, configured to determine a curved surface shape of a workpiece to be processed according to the historical follow-up control data;
A first obtaining module 120, configured to obtain interpolation positions and speeds of the previous cycle cutting head along the x-axis and the y-axis in the horizontal direction;
A second determining module 130, configured to determine, according to the curved surface shape and the interpolation positions and speeds of the x-axis and the y-axis, a fluctuation speed of the plate surface of the workpiece to be processed in the z-axis direction in the current period;
The second obtaining module 140 is configured to obtain a follow-up command height of the cutting head and a planned target position of the cutting head in the Z-axis direction in the current period;
a third determining module 150, configured to perform speed planning on the cutting head in the Z-axis direction according to the height of the follow-up command and the planned target position, so as to obtain a planned speed of the cutting head in the Z-axis direction in the current period;
a fourth determining module 160, configured to determine a follow-up speed of the cutting head in the Z-axis direction in the current period according to the heave speed and the planning speed;
a control module 170 for controlling the cutting head to move according to the follow-up speed.
The invention also proposes a cutting device comprising: the method comprises a memory, a processor and a cutting follow-up control program stored in the memory and capable of running on the processor, wherein the cutting follow-up control program realizes the steps of the cutting follow-up control method in any embodiment when being executed by the processor.
The present invention also proposes a computer readable storage medium having stored thereon a cutting follow-up control program which, when executed by a processor, implements the steps of the cutting follow-up control method according to any of the embodiments above.
In the embodiments of the cutting device and the computer readable storage medium provided by the present invention, all technical features of each embodiment of the cutting follow-up control method are included, and the expansion and explanation contents of the description are basically the same as those of each embodiment of the cutting follow-up control method, which are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as above, comprising instructions for causing an apparatus (which may be a mobile phone, a computer, a server, a controlled terminal, or a network device, etc.) to perform the method of each embodiment of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A cutting follow-up control method, characterized in that the cutting follow-up control method comprises:
Determining the curved surface shape of a workpiece to be processed according to the historical follow-up control data;
The interpolation positions and the interpolation speeds of the X axis and the Y axis of the last periodic cutting head in the horizontal direction are obtained;
According to the curved surface shape, the interpolation positions and the interpolation speeds of the x axis and the y axis, determining the fluctuation speed of the plate surface of the workpiece to be processed in the z axis direction in the current period;
acquiring a follow-up instruction height of a cutting head and a planning target position of the cutting head in the Z-axis direction in the current period;
Carrying out speed planning on the cutting head in the Z-axis direction according to the height of the follow-up instruction and the planning target position to obtain the planning speed of the cutting head in the Z-axis direction in the current period;
Determining the follow-up speed of the cutting head in the Z-axis direction in the current period according to the fluctuation speed and the planning speed;
and controlling the cutting head to move according to the follow-up speed.
2. The method of claim 1, wherein the step of determining the curved shape of the workpiece to be processed based on the historical follow-up control data comprises:
Sub-history follow-up control data respectively corresponding to a plurality of continuous cutting time periods in the history follow-up control data are obtained, wherein the sub-history follow-up control data comprise the X-axis position and the Y-axis position of the cutting head and the position of a corresponding cut point on the workpiece to be processed in the Z-axis direction;
And determining the curved surface shape z=f (x, y) of the workpiece to be processed through a curved surface least square fitting method according to the sub-history follow-up control data corresponding to a plurality of continuous cutting time periods.
3. The cutting follow-up control method according to claim 1, wherein the step of determining the undulation speed of the plate surface of the workpiece to be processed in the z-axis direction in the current cycle based on the curved surface shape and the interpolation positions and speeds of the x-axis and the y-axis comprises:
And calculating to obtain the fluctuation speed of the plate surface of the workpiece to be processed in the z-axis direction under the current period according to the following formula:
Wherein, And/>Can be obtained by direct partial differentiation of f (x, y)/>And/>Interpolation speeds of an X axis and a Y axis of the previous period are respectively; /(I)And the rolling speed of the plate surface of the workpiece to be processed in the z-axis direction in the current period is set.
4. The cutting follow-up control method according to claim 1, wherein the step of determining the follow-up speed of the cutting head in the Z-axis direction at the current cycle based on the heave speed and the planning speed comprises:
integrating the planning speed in time to obtain a command position to be moved by the cutting head in the z-axis direction in the current period;
Integrating the fluctuation speed in time to obtain the fluctuation distance of the workpiece to be processed in the z-axis direction in the current period;
the undulating distance is overlapped to the command position, and the actual position of the cutting head to be moved in the z-axis direction in the current period is obtained;
and obtaining the displacement of the cutting head in the z-axis direction in the current period according to the actual position, and differentiating the displacement in time to obtain the follow-up speed.
5. The method of claim 4, wherein prior to the step of controlling the movement of the cutting head at the follow-up speed, further comprising:
and when the follow-up speed is less than or equal to a preset maximum speed, executing the step of controlling the cutting head to move according to the follow-up speed.
6. The method of claim 4, wherein prior to the step of controlling the movement of the cutting head at the follow-up speed, further comprising:
And when the follow-up speed is greater than a preset maximum speed, correcting the actual position so that the follow-up speed is equal to or less than the preset maximum speed.
7. The cutting-follow-up control method according to claim 6, wherein the step of adjusting the actual position so that the follow-up speed is equal to or less than a preset maximum speed when the follow-up speed is greater than the preset maximum speed further comprises:
determining the acceleration of the cutting head in the Z-axis direction in the current period according to the corrected actual position;
And when the acceleration is larger than the preset maximum acceleration, correcting the actual position again so that the acceleration is equal to or smaller than the preset maximum acceleration.
8. A cutting device, characterized in that it comprises:
the first determining module is used for determining the curved surface shape of the workpiece to be processed according to the historical follow-up control data;
the first acquisition module is used for acquiring interpolation positions and speeds of an x axis and a y axis of the last periodic cutting head in the horizontal direction;
The second determining module is used for determining the fluctuation speed of the plate surface of the workpiece to be processed in the z-axis direction in the current period according to the curved surface shape, the interpolation positions and the interpolation speeds of the x-axis and the y-axis;
The second acquisition module is used for acquiring the follow-up instruction height of the cutting head and the planned target position of the cutting head in the Z-axis direction in the current period;
The third determining module is used for planning the speed of the cutting head in the Z-axis direction according to the height of the follow-up instruction and the planning target position, and obtaining the planning speed of the cutting head in the Z-axis direction in the current period;
a fourth determining module, configured to determine a follow-up speed of the cutting head in the Z-axis direction in the current period according to the heave speed and the planning speed;
and the control module is used for controlling the cutting head to move according to the follow-up speed.
9. A cutting device, characterized in that it comprises: memory, a processor and a cutting-follow-up control program stored in the memory and executable on the processor, which cutting-follow-up control program, when executed by the processor, implements the steps of the cutting-follow-up control method according to any one of claims 1-7.
10. A computer readable storage medium, wherein a cutting follow-up control program is stored on the computer readable storage medium, which cutting follow-up control program, when executed by a processor, implements the steps of the cutting follow-up control method according to any one of claims 1-7.
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