CN109732219B - Laser cutting rounding method and system - Google Patents
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Abstract
The invention belongs to the field of automatic control, and particularly relates to a laser cutting rounding method and system. The rounding method for laser cutting comprises the steps of sorting track data of laser cutting, selecting track data of two continuous straight lines, and judging whether a corner can be formed for rounding according to whether the vector product of the two straight lines is zero or not; and when the edges and corners can be formed as required, calculating the start point coordinates, the end point coordinates, the radius and the arc direction of the arc when the edges and corners are rounded according to the acquired corresponding linear track data, thereby determining the arc data of the rounded corners at the edges and corners. Through two straight line track data that acquire in the system kernel, can calculate, modify and add the circular arc data of radius angle, the mode of carrying out the radius angle in numerical control system lets the realization of radius angle function become simple reliable, and calculation accuracy is higher to satisfy laser processing customer and tester to performance and the technological requirement that the radius angle is relevant.
Description
Technical Field
The invention belongs to the field of automatic control, and particularly relates to a laser cutting rounding method and system.
Background
In laser cutting processing, the edges and corners of work piece often can be not sharp because of the vibrations that the lathe produced at high-speed circumstances motion, the condition that the edges and corners limit is not straight, and simultaneously, there is the technological demand of radius angle to the edges and corners of work piece in some user's use and operation, and see from the effect of actual processing, use the radius angle than not using the radius angle and the direct processing edges and corners are good a lot, the radius angle not only can improve the machining precision to the edges and corners, reduce the loss that the lathe motion vibrations lead to, can also satisfy customer's technological demand.
Because the motion control system of laser cutting basically does not have the function of rounding, at present, the rounding is to be realized, basically, only CAM software is used for selecting edges and corners to carry out rounding treatment and then generating NC codes, and then the NC codes are processed by a laser cutting controller, the actual use and comparison of workpieces are complex, in addition, the performances of the CAM software are different, the precision of the rounding is also inconsistent, the problem of overlarge coordinate deviation of the NC codes can also occur in some CAM software, and the cost can be increased by high-performance CAM.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a rounding method and system for laser cutting, aiming at the above-mentioned defects in the prior art, and solve the problems of difficult compatibility, complicated use, high cost, etc. of the existing CAM software and motion control system in rounding function.
In order to solve the technical problem, the invention provides a rounding method for laser cutting, which comprises the following steps:
step A, sorting track data of laser cutting, selecting two continuous straight line track data, and judging whether a corner can be formed for rounding according to whether the vector product of the two straight lines is zero; and
and step B, when the edges can be formed, calculating the start point coordinate, the end point coordinate, the radius and the arc direction of the arc when the edges are chamfered according to the acquired corresponding linear track data, thereby determining the arc data of the chamfered corners at the edges.
Further, the rounding method for laser cutting further comprises the following steps:
and step C, determining the fillet joining speed of the direct joining position of the starting point end point of the fillet and the front and rear sections of the edge angle by comparing the maximum speed of linear acceleration, the maximum speed of linear deceleration, the maximum interpolation speed of circular interpolation and the maximum speed limited by the machine tool.
Further, the rounding method for laser cutting further comprises the following steps:
and D, performing interpolation motion by the interpolator according to the circular arc data of the fillets at the edges and corners and the fillet joining speed.
Further, the step a comprises the steps of:
a1, acquiring track data of an NC compiler;
step A2, selecting two continuous straight-line tracks;
step A3, calculating the vector product of the straight line tracks selected in the step A2; if the vector product is not zero, jumping to the step B; if the vector product is zero, go to step A2.
Further, the calculating of the coordinates of the start point and the coordinates of the end point of the circular arc in the step B includes the steps of:
step B11: acquiring the lengths of the two straight-line tracks forming the edges and corners selected in the step A2, and presetting the length from the intersection point of the two straight-line tracks to the starting point of the circular arc and the length from the intersection point of the two straight-line tracks to the end point of the circular arc;
step B12: respectively acquiring the starting point coordinates and the end point coordinates of the two straight line tracks forming the edge angles in the step A3;
step B13: and calculating the coordinates of the starting point and the ending point of the circular arc according to the relationship that the parallel vector coordinates and the length are in the same proportion.
Further, the step of calculating the coordinates of the center of the circular arc in the step B includes the steps of:
step B21: acquiring the start point coordinates and the end point coordinates of the circular arc in the step B13;
step B22: acquiring intersection point coordinates of the two straight line tracks forming the edges and corners in the step A3;
step B23: according to the characteristic that the circular arc is tangent to the straight line, a connecting line from the circular arc starting point to the intersection point of the two straight line tracks is vertical to a connecting line from the circle center to the circular arc starting point, and a connecting line from the circular arc terminal point to the intersection point of the two straight lines is vertical to a connecting line from the circle center to the circular arc terminal point; the circle center coordinate can be calculated by the number product of the two vertical vectors being zero.
Further, the step of calculating the radius of the circular arc in the step B includes the steps of:
step B31: acquiring the coordinates of the starting point of the arc and the center of the arc in the steps B13 and B23, and calculating the radius of the arc according to the coordinates of the starting point and the center of the arc;
or step B32: and C, acquiring the end point coordinates of the circular arc and the center coordinates of the circular arc in the step B13 and the step B23, and calculating the radius of the circular arc according to the end point coordinates and the center coordinates of the circular arc.
Further, the arc direction in step B includes the steps of:
step B41: defining ret as the vector product of two straight-line tracks forming the edge angle, and defining ret upwards as positive in a plane formed by the two straight-line tracks; determining the direction of the arc according to the right-hand spiral rule and the vector product ret of the two straight-line tracks in the step A3;
step B42: when ret > 0, the arc direction is counterclockwise; when ret < 0, the arc direction is clockwise.
Further, the step C includes:
step C1: acquiring the maximum speed of linear acceleration, the maximum speed of linear deceleration, the maximum interpolation speed of circular interpolation and the maximum speed limited by a machine tool;
step C2: comparing the speeds in the step C1, and taking the minimum value as the speed of rounding the joint.
The invention also provides a laser cutting rounding system, which comprises:
the edge angle selection module is used for sorting the linear track data and acquiring two continuous linear tracks with vector products not equal to zero to form an edge angle;
the circular arc calculating module is used for calculating the start point coordinate, the end point coordinate, the circle center coordinate, the radius and the circular arc direction of a circular arc when the edges and the corners are rounded so as to determine circular arc data of the rounded corners at the edges and the corners;
the joining speed calculation module is used for comparing the maximum speed of linear acceleration, the maximum speed of linear deceleration, the maximum interpolation speed of circular interpolation and the maximum speed limited by a machine tool and determining the joining speed of the fillet at the joint of the starting and ending point of the fillet and the front and rear sections of the edge angle;
and the interpolator module is used for performing interpolation motion according to the circular arc data of the fillet at the edge and the fillet joining speed.
The invention has the advantages that compared with the prior art, the invention can calculate, modify and add the arc data of the fillet by acquiring the two straight line track data of the fillet from the system kernel, the realization of the fillet function becomes simple and reliable by directly rounding the selected edge in the numerical control system, and the calculation precision is higher than the fillet realized by generating NC codes through CAM processing, thereby meeting the related performance and process requirements of laser processing clients and testers on the fillet.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a laser cutting round method of the present invention;
FIG. 2 is a flow chart of step S100 of the present invention;
FIG. 3 is a flow chart of the steps of the present invention for calculating the start and end coordinates of an arc;
FIG. 4 is a schematic view of the present invention with rounded corners;
FIG. 5 is a flowchart of the steps of calculating the coordinates of the center of the arc according to the present invention;
FIG. 6 is a flow chart of the step of calculating the arc direction of the present invention;
FIG. 7 is a schematic of the vector product of the present invention;
FIG. 8 is a flowchart of step S300 of the present invention;
FIG. 9 is a detailed flow chart of an embodiment of the present invention.
Detailed Description
The invention provides a rounding method and a rounding system for laser cutting, and in order to make the purpose, the technical scheme and the effect of the invention clearer and clearer, the invention is further described in detail below with reference to the attached drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a flowchart of a rounding method for laser cutting according to a preferred embodiment of the invention. A method of laser cutting fillet as shown in fig. 1, comprising the steps of:
s100, sorting track data of laser cutting, selecting two continuous straight line track data, and judging whether a corner can be formed for rounding according to whether the vector product of the two straight lines is zero; and
and S200, when the edges can be formed, calculating the start point coordinate, the end point coordinate, the radius and the arc direction of the arc when the edges are rounded according to the acquired corresponding linear track data, thereby determining the arc data of the rounded corners at the edges.
According to the invention, two straight line track data capable of being rounded are obtained in the system kernel, and the circular arc data of the rounded corner can be calculated, modified and added, so that the realization of the function of rounding is simple and reliable by directly rounding the selected corner in the numerical control system, and the calculation accuracy is higher than that of rounding realized by generating NC codes through CAM processing, thereby meeting the related performance and process requirements of laser processing customers and testers on the rounded corner.
Further, referring to fig. 1, the laser-cutting rounding method further includes the steps of:
and step S300, determining the fillet joining speed of the direct joining position of the fillet starting point end point and the front and rear sections of the edge angle by comparing the maximum linear acceleration speed, the maximum linear deceleration speed, the maximum interpolation speed of the circular interpolation and the maximum machine tool limited speed.
According to the invention, the maximum speed of linear acceleration, the maximum speed of linear deceleration, the maximum interpolation speed of circular interpolation and the maximum speed limited by the machine tool are compared to determine the fillet joining speed of the direct joining position of the starting point end point of the fillet and the front and rear sections of the edge angle, so that the stability of the machine tool can be effectively improved, the smoothness of the whole machining process can be ensured, the machine tool vibration caused by speed switching can be reduced, and the working efficiency can be improved.
Further, referring to fig. 1, the laser-cutting rounding method further includes the steps of:
and S400, performing interpolation motion by the interpolator according to the circular arc data of the filleted corners at the edges and the fillet joining speed.
In this embodiment, after the interpolator acquires circular arc data and radius angle joining speed, the interpolation motion of the radius angle can be carried out, the whole interpolation process is stable, the working efficiency is high, and the processing effect is good.
Further, referring to fig. 2, the step S100 includes the steps of:
step S110, obtaining track data of an NC compiler;
step S120, selecting two continuous straight-line tracks;
step S130, calculating the vector product of the straight track selected in the step S120; if the vector product is not zero, jumping to step S200; if the vector product is zero, go to step S120.
In this embodiment, step S100 is a step of screening edges and corners, and by calculating a vector product of two straight line trajectories, it can be determined whether two straight lines can form an edge and perform a motion of rounding; if the corner can not be formed, the process returns to step S120 to pick the straight-line trajectory again until the proper straight-line trajectory data is selected to form the corner. This step can carry out the screening of edges and corners through the machine, need not the manual work and screens, can effectual improvement work efficiency.
Further, referring to fig. 3, the step of calculating the start point coordinate and the end point coordinate of the circular arc in step S200 includes the steps of:
step S211: acquiring the lengths of the two straight-line tracks forming the edges and corners selected in the step S120, and presetting the length from the intersection point of the two straight-line tracks to the arc starting point and the length from the intersection point of the two straight-line tracks to the arc ending point;
step S212: respectively acquiring the start point coordinates and the end point coordinates of the two linear tracks forming the edge angles in the step S130;
step S213: and calculating the coordinates of the starting point and the ending point of the circular arc according to the relationship that the parallel vector coordinates and the length are in the same proportion.
As shown in fig. 4, in this embodiment, two line segments forming a corner are defined as P1P2And P2P3The point of intersection is P2The circular shape of the arc at the edge is C0Starting point is P4End point is P5. Starting point P of said arc4Arc end point P5Are respectively line segment P1P2And P2P3A point of (a). According to the geometric symmetry of the circular arc, P4P2And P2P5Is equal, in this embodiment, the known line segment is P1P2And P2P3Starting point and end point of, simultaneously P4P2When the length of (b) is set by an external user, P can be calculated by the relationship that the parallel vector coordinate and the length are in the same proportion4And P5The coordinates of (a). The calculation formula is as follows:
Where λ is set by the user, line segment P1P2Is a known number, i.e. the starting point P can be calculated4The coordinates of (a); similarly, P can also be calculated5The coordinates of (a). In this embodiment, the user can set the size of the parameter λ according to the actual production requirement, i.e. set the line segment P4P2And P2P5The length of (a) is adjusted, and the radius of the arc is adjusted, wherein the larger the lambda is (lambda is)2Must not be greater than 1), segment P4P2And P2P5The longer the length of (a), the larger the radius of the arc.
It should be noted that in this embodiment, P is not shown1P2And P2P3Is limited by the length of (A), P in the figure1P2And P2P3Is equal but not limited to, in real production, P1P2And P2P3The lengths of the two parts can be the same or different, and the rounding operation is not influenced.
Further, referring to fig. 5, the step of calculating the center coordinates of the circular arc in step S200 includes the steps of:
step S221: acquiring the start point coordinates and the end point coordinates of the arc in the step S213;
step S222: acquiring the coordinates of the intersection point of the two straight line tracks forming the edge angle in the step S130;
step S223: according to the characteristic that the circular arc is tangent to the straight line, a connecting line from the circular arc starting point to the intersection point of the two straight line tracks is vertical to a connecting line from the circle center to the circular arc starting point, and a connecting line from the circular arc terminal point to the intersection point of the two straight lines is vertical to a connecting line from the circle center to the circular arc terminal point; and calculating the coordinates of the circle center by taking the number product of the two vertical vectors as zero.
The calculation formula is as follows:
the step of calculating the radius of the arc in step S200 includes the steps of:
step S231: acquiring the start point coordinate of the arc and the center point coordinate of the arc in the steps S213 and S223, and calculating the radius of the arc according to the start point coordinate and the center point coordinate of the arc;
or step S232: and acquiring the end point coordinates of the circular arc and the center coordinates of the circular arc in the steps S213 and S223, and calculating the radius of the circular arc according to the end point coordinates and the center coordinates of the circular arc.
In this embodiment, the radius of the arc may be calculated from the start point coordinates and the center coordinates of the arc calculated in steps S213 and S223, or may be calculated from the end point coordinates and the center coordinates of the arc.
Further, referring to fig. 6, the step of calculating the arc direction in step S200 includes the steps of:
step S241: defining ret as the vector product of two straight-line tracks forming the edge angle, and defining ret upwards as positive in a plane formed by the two straight-line tracks; determining the direction of the arc according to the right-hand spiral rule and the vector product ret of the two straight-line tracks in the step A3;
step S242: when ret > 0, the arc direction is counterclockwise; when ret < 0, the arc direction is clockwise.
In this embodiment, what the standard rounded arc needs to determine finally is the direction of the arc, clockwise or counterclockwise. In the invention, the method for determining the arc direction is a vector product method, the vector product is mainly used, the moment which is the physical meaning of the vector product is used when the vector product is applied, and the arc direction is determined according to the magnitude of the vector product and the right-hand spiral rule, which is also the important difficulty of the invention.
As shown in FIG. 7, ret is defined as a vector P4P2And P2P5Is defined in plane P4P2P5In the middle, ret is positive upwards, so when the value of ret is greater than 0, P can be obtained according to the right-hand screw rule4P2Is according to a counterclockwise direction P2P5Rotate so if at P4P2P5The inserted circular arc is counterclockwise G03 (G02 represents clockwise, G03 represents counterclockwise in NC codes); when ret is less than 0, the arc is clockwise G02; the formula is as follows:
further, referring to fig. 8, the step S300 includes:
step S310: acquiring the maximum speed of linear acceleration, the maximum speed of linear deceleration, the maximum interpolation speed of circular interpolation and the maximum speed limited by a machine tool;
step S320: comparing the speeds in step S310, and taking the minimum value as the rounding speed.
In this embodiment, the calculation formula of the fillet joining speed is as follows:
wherein TurningVel is the junction velocity, VaccMaximum speed, V, for linear accelerationdecMaximum speed for linear deceleration;
the maximum interpolation speed of the circular interpolation is obtained, R is the circular radius, e is the height error (set by machine tool parameters) in the circular interpolation, and the maximum speed which can be reached in the circular interpolation can be calculated according to the height error (namely the interpolation precision of the circular arc); vmaxThe maximum speed limited by the machine tool. And selecting the minimum value from the maximum speed of linear acceleration, the maximum speed of linear deceleration, the maximum interpolation speed of circular interpolation and the maximum speed limited by the machine tool as the fillet joining speed by comparing. In the actual interpolation movement, if the speed of the joint is not limited, the speed of the joint is 0, so that the machine tool vibrates when moving at a high speed, the whole movement process is not smooth, and the efficiency is reduced. The stability of the machine tool can be effectively improved by increasing the speed of the joint, so that the machining process is smooth, and the working efficiency is improved.
The invention also provides a laser cutting rounding system, which comprises:
the edge angle selection module is used for sorting the linear track data and acquiring two continuous linear tracks with vector products not equal to zero to form an edge angle;
the circular arc calculating module is used for calculating the start point coordinate, the end point coordinate, the circle center coordinate, the radius and the circular arc direction of a circular arc when the edges and the corners are rounded so as to determine circular arc data of the rounded corners at the edges and the corners;
the joining speed calculation module is used for comparing the maximum speed of linear acceleration, the maximum speed of linear deceleration, the maximum interpolation speed of circular interpolation and the maximum speed limited by a machine tool and determining the joining speed of the fillet at the joint of the starting and ending point of the fillet and the front and rear sections of the edge angle;
and the interpolator module is used for performing interpolation motion according to the circular arc data of the fillet at the edge and the fillet joining speed.
According to the laser cutting rounding system, the rounding function can be realized in a numerical control system kernel without using a CAM (computer-aided manufacturing), after the edge angle selection module selects a proper straight line track to form the edge angle of the edge angle, the circular arc calculation module and the connection speed calculation module calculate circular arc data and connection speed, and then the interpolator module performs rounding.
Further, referring to fig. 9, a specific process of the embodiment of the present invention is as follows:
firstly, downloading track data to a look-ahead cache queue by an NC compiler;
judging whether the track data can be received or not, if so, judging whether the track data exceeds the look-ahead cache storage limit or not, otherwise, traversing the track data, screening the corner track, and inserting a rounded arc into the track aiming at the corner;
judging whether the track data exceeds the look-ahead cache storage limit, if so, continuously downloading the track data to a look-ahead cache queue by an NC compiler; if so, traversing the track data, screening the edge angle track, and inserting a fillet arc into the track aiming at the edge angle;
judging whether to traverse the track data, if so, traversing the track data after rounding, and comparing, calculating and filling the joining speed; if not, continuously traversing the track data, screening the edge angle track, and inserting a fillet arc into the track aiming at the edge angle;
judging whether traversal is completed or not, and if yes, outputting a new track queue to the interpolator; if not, continuously traversing the track data after the rounding off, and comparing, calculating and filling the connection speed.
The rounding system for laser cutting can directly realize the rounding function in a laser cutting numerical control system, thereby simplifying the operation of using a CAM and having higher rounding precision; it also becomes very convenient to modify the fillet size, only need change the size of lambda value, alright modify, furthermore, can draw the invisible radius angle of naked eye in the scope that the precision allows after setting up the fillet very little, but can promote the stability and the smoothness nature of lathe motion to a great extent, even higher precision also can be guaranteed to cutting workpiece edges and corners, the cutting efficiency is greatly improved, also make things convenient for the customer to simply modify the radius angle size in real time simultaneously, realize the radius angle function, customer's demand has been satisfied, kill two birds with one stone.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A laser cutting rounding method is characterized by comprising the following steps:
step A, sorting track data of laser cutting, selecting two continuous straight line track data, and judging whether a corner can be formed for rounding according to whether the vector product of the two straight lines is zero; and
b, when the edges and corners can be formed, calculating the starting point coordinates, the end point coordinates, the radius and the arc direction of the arc when the edges and corners are rounded according to the acquired corresponding linear track data, and accordingly determining the arc data of the rounded corners at the edges and corners;
step C, determining the fillet joining speed of the direct joining position of the starting point end point of the fillet and the front and rear sections of the edge angle by comparing the maximum speed of linear acceleration, the maximum speed of linear deceleration, the maximum interpolation speed of circular interpolation and the maximum speed limited by the machine tool;
d, performing interpolation motion by the interpolator according to the circular arc data of the fillets at the edges and corners and the fillet joining speed;
the step A comprises the following steps:
a1, acquiring track data of an NC compiler;
step A2, selecting two continuous straight-line tracks;
step A3, calculating the vector product of the straight line tracks selected by the step A2; if the vector product is not zero, jumping to the step B; if the vector product is zero, jumping to step A2;
the step B of calculating the start point coordinates and the end point coordinates of the circular arc comprises the following steps:
step B11: acquiring the lengths of the two straight-line tracks forming the edges and corners selected in the step A2, and presetting the length from the intersection point of the two straight-line tracks to the starting point of the circular arc and the length from the intersection point of the two straight-line tracks to the end point of the circular arc;
step B12: respectively acquiring the starting point coordinates and the end point coordinates of the two straight line tracks forming the edge angles in the step A3;
step B13: and calculating the coordinates of the starting point and the ending point of the circular arc according to the relationship that the parallel vector coordinates and the length are in the same proportion.
2. The laser-cut rounding method of claim 1, wherein said step B of calculating circular arc center coordinates comprises the steps of:
step B21: acquiring the start point coordinates and the end point coordinates of the circular arc in the step B13;
step B22: acquiring intersection point coordinates of the two straight line tracks forming the edges and corners in the step A3;
step B23: according to the characteristic that the circular arc is tangent to the straight line, a connecting line from the circular arc starting point to the intersection point of the two straight line tracks is vertical to a connecting line from the circle center to the circular arc starting point, and a connecting line from the circular arc terminal point to the intersection point of the two straight lines is vertical to a connecting line from the circle center to the circular arc terminal point; the circle center coordinate can be calculated by the number product of the two vertical vectors being zero.
3. The laser-cut rounding method of claim 2, wherein said step B of calculating the radius of the circular arc comprises the steps of:
step B31: acquiring the coordinates of the starting point of the arc and the center of the arc in the steps B13 and B23, and calculating the radius of the arc according to the coordinates of the starting point and the center of the arc;
or step B32: and C, acquiring the end point coordinates of the circular arc and the center coordinates of the circular arc in the step B13 and the step B23, and calculating the radius of the circular arc according to the end point coordinates and the center coordinates of the circular arc.
4. The laser-cut rounding method of claim 1, wherein said step B wherein the direction of the arc comprises the steps of:
step B41: defining ret as the vector product of two straight-line tracks forming the edge angle, and defining ret upwards as positive in a plane formed by the two straight-line tracks; determining the direction of the arc according to the right-hand spiral rule and the vector product ret of the two straight-line tracks in the step A3;
step B42: when ret > 0, the arc direction is counterclockwise; when ret < 0, the arc direction is clockwise.
5. The laser-cut rounding method of claim 1, wherein said step C comprises:
step C1: acquiring the maximum speed of linear acceleration, the maximum speed of linear deceleration, the maximum interpolation speed of circular interpolation and the maximum speed limited by a machine tool;
step C2: comparing the speeds in the step C1, and taking the minimum value as the rounding joining speed.
6. A laser-cut rounding system for carrying out the rounding method of any of claims 1 to 5, characterized in that it comprises:
the edge angle selection module is used for sorting the linear track data and acquiring two continuous linear tracks with vector products not equal to zero to form an edge angle;
the circular arc calculating module is used for calculating the start point coordinate, the end point coordinate, the circle center coordinate, the radius and the circular arc direction of a circular arc when the edges and the corners are rounded so as to determine circular arc data of the rounded corners at the edges and the corners;
the joining speed calculation module is used for comparing the maximum speed of linear acceleration, the maximum speed of linear deceleration, the maximum interpolation speed of circular interpolation and the maximum speed limited by a machine tool and determining the joining speed of the fillet at the joint of the starting and ending point of the fillet and the front and rear sections of the edge angle;
and the interpolator module is used for performing interpolation motion according to the circular arc data of the fillet at the edge and the fillet joining speed.
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| CN114063556B (en) * | 2020-08-06 | 2024-01-19 | 大族激光科技产业集团股份有限公司 | Self-adaptive corner rounding method for laser cutting |
| CN113268067B (en) * | 2021-07-20 | 2022-07-05 | 苏州大学 | Tracking method and device of self-moving equipment |
| CN115958306A (en) * | 2021-10-09 | 2023-04-14 | 大族激光科技产业集团股份有限公司 | Laser cutting transition arc processing method and device thereof |
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