CN116755391A - Cutter movement data processing method based on Bezier curve - Google Patents
Cutter movement data processing method based on Bezier curve Download PDFInfo
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- 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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
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Abstract
The invention relates to the technical field of laser numerical control machining, in particular to a cutter movement data processing method based on Bezier curves, which comprises the following steps: acquiring two adjacent machining program sections of the laser numerical control system in the cutting process, taking a first machining program section as a current program section and a second machining program section as a next program section; judging whether the current program section and the next program section accord with a first preset condition or not to obtain a first judging result; if the first judging result is that the current program section and the next program section meet the first preset condition, judging whether the current program section and the next program section meet the second preset condition or not, and obtaining a second judging result; if the second judging result is in accordance with the first judging result, the tool paths in the current program section and the next program section are transited through a Bezier curve, and the corresponding tool motion trail is obtained; and limiting the engagement speed of the endpoints of the Bezier curve based on the Bezier curve in the corresponding tool motion trail.
Description
Technical Field
The invention relates to the technical field of laser numerical control machining, in particular to a cutter movement data processing method based on Bezier curves.
Background
In numerical control laser cutting, a cutter path mainly consists of a straight line and an arc, and when the cutter paths corresponding to two adjacent processing program sections are respectively the straight line and the arc and the straight line is tangent to the arc, abrupt normal acceleration is generated when the cutting head is processed through the joint position of the sections; and the greater the tangential velocity, the greater the acceleration of the normal abrupt change. In the current speed planning algorithm, the connection speed between processing program sections is generally determined by the allowable maximum speed of the front program section and the rear program section and the geometric track included angle of the connection position, when the straight line is tangent to the circular arc, the geometric track included angle of the connection position is zero, and the connection speed is unlimited; the engagement speed between the machining program sections is completely determined by the maximum speed allowed by the machining program sections; after the speed planning is carried out on the joint speed obtained according to the situation, the processing speed of the position where the straight line is connected with the circular arc is generally larger, so that the normal abrupt change acceleration exceeds the bearing range of the machine tool, the machine tool is vibrated, and the chatter marks are generated when the straight line is processed at the tangent position of the circular arc.
In order to maintain the processing quality, the existing processing method increases the connection speed limiting condition of the tangent position of the straight line and the circular arc, so that the processing speed of the connection position is reduced, the abrupt normal acceleration is in the range of the load allowed to be born by the machine tool, but the processing efficiency is reduced. When a track of which the straight line is tangent to the circular arc is processed, the processing efficiency is ensured on the premise of ensuring the processing quality, and the technical problem to be solved is urgent at present.
Disclosure of Invention
In view of the above-mentioned shortcomings and disadvantages of the prior art, the present invention provides a method for processing cutter movement data based on a bezier curve, which solves the technical problem that in numerical control laser cutting, the processing speed of the position where a straight cutter path and an arc cutter path are connected is generally large, and the normal abrupt change acceleration exceeds the bearing range of a machine tool, thereby causing vibration of the machine tool.
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
a method of processing tool motion data based on bezier curves, the method performed by a laser numerical control system, comprising:
s1, acquiring two adjacent machining program sections of a laser numerical control system in a cutting process, taking a first machining program section as a current program section and a second machining program section as a next program section;
s2, judging whether the current program section and the next program section meet a first preset condition or not, and obtaining a first judgment result;
the first preset condition is that the current program section and the next program section are respectively a linear machining program section and an arc machining program section or the current program section and the next program section are respectively an arc machining program section and a linear machining program section;
the straight line machining program section is a machining program section with a cutter path being straight line;
the arc machining program section is a machining program section with a cutter path being an arc;
s3, if the first judging result is that the current program section and the next program section meet the first preset condition, judging whether the current program section and the next program section meet the second preset condition or not, and obtaining a second judging result;
the second preset condition is that the cutter path in the current program section is tangent to the cutter path in the next program section, and the arc angle of the cutter path of the arc is larger than a preset value;
s4, if the second judging result is in accordance, the cutter paths in the current program section and the next program section are transited through a Bezier curve, and the cutter movement tracks corresponding to the current program section and the next program section are obtained;
s5, limiting the engagement speed of the Bezier curve end points based on the Bezier curve in the tool motion trail corresponding to the current program section and the next program section.
Preferably, after S4, further comprising:
s6, judging whether the next program section is a processing program section of the last section in the numerical control laser cutting, and obtaining a third judging result;
and if the third judging result is that the next program segment is not the processing program segment of the last segment, taking the next program segment as a new current program segment, acquiring the next processing program segment adjacent to the new current program segment, taking the next processing program segment as a new next program segment, and returning to S1.
Preferably, the method comprises the steps of,
the linear machining program section comprises the length, the direction vector, the starting point and the ending point of a linear tool path;
the arc machining program section comprises the radius, central angle, starting point, end point, starting point direction vector and end point direction vector of the cutter path of the arc;
the starting point direction vector refers to a vector which is tangent to the tool path of the circular arc at the starting point of the tool path of the circular arc and points to the machining direction;
the end point direction vector is a vector which is tangential to the tool path of the circular arc at the end point of the tool path of the circular arc and points in the machining direction;
the machine direction is the direction along the tool path in the current program segment and the tool path in the next program segment.
Preferably, the S4 specifically includes:
if the current program section and the next program section are the linear machining program section and the circular arc machining program section respectively, the tool paths in the current program section and the next program section are transited through a first Bezier curve;
the control points of the first Bezier curve comprisep 1 、p 2 、p 3 、p 4 ；
；
；
；
；
wherein ,Othe circle center coordinates of the tool path of the arc in the arc machining program section;
r is the arc radius of the tool path of the arc in the arc machining program section;
Lis the fitting length;
the direction is the X-axis direction unit vector of a plane orthogonal coordinate system where the cutter path of the arc in the arc machining program section is located, and the circle center of the cutter path of the arc points to the tangential point;
is->The unit vector in the Y direction of the perpendicular plane orthogonal coordinate system is in agreement with the arc starting point direction vector of the tool path of the arc in the arc machining program section.
Preferably, the method comprises the steps of,
if the current program section and the next program section are the arc machining program section and the linear machining program section respectively, the tool paths in the current program section and the next program section are transited through a second Bezier curve;
the control points of the second Bezier curve comprisep 5 、p 6 、p 7 、p 8 ；
；
；
；
；
wherein ,Othe circle center coordinates of the tool path of the arc in the arc machining program section;
r is the arc radius of the tool path of the arc in the arc machining program section;
Lis the fitting length;
the direction is the X-axis direction unit vector of a plane orthogonal coordinate system where the cutter path of the arc in the arc machining program section is located, and the circle center of the cutter path of the arc points to the tangential point;
is->The unit vector in the Y direction of the orthogonal coordinate system of the vertical plane is opposite to the arc end point direction vector of the tool path of the arc in the arc machining program section.
Preferably, the method comprises the steps of,
wherein ,；
the length of the tool path being a straight line in the straight line machining program segment.
Preferably, the step S5 specifically includes:
determining a linking speed of the speed plan by adopting a formula (1) aiming at the curvature at a first end point of a first Bezier curve or a second Bezier curve in any cutter movement track;
the formula (1) is:
；
wherein ,the maximum acceleration is preset;
a curvature at a first end point that is either a first bezier curve or a second bezier curve;
the first end point is an end point connected with the cutter path of the circular arc in the first Bezier curve or the second Bezier curve;
is an interpolation period;
the bow height error is preset;
the maximum speed allowed for a bezier curve segment is less than its maximum speed allowed for the endpoint-joining program segment.
Preferably, after S5, further comprising:
and determining the speeds of two end points of the Bezier curve in the tool motion track corresponding to the current program section and the next program section through speed look-ahead and speed backtracking based on the engagement speed, performing interpolation through T-type acceleration and deceleration or S-type acceleration and deceleration, determining interpolation points corresponding to each interpolation period by adopting a numerical calculation method, and outputting the interpolation points to a servo controller connected with the laser numerical control system for position control.
Preferably, the method comprises the steps of,
the determining the interpolation point corresponding to each interpolation period by adopting a numerical calculation method specifically comprises the following steps:
solving the arc length of the Bezier curve in the cutter motion trail corresponding to the current program segment and the next program segment by using a Gao Sile integration method;
and calculating interpolation points on the Bezier curve in the cutter motion trail corresponding to the current program section and the next program section by using a Newton iteration method and a Decastetr algorithm.
Preferably, the method comprises the steps of,
the preset value is as follows: 2arcsin (3/5).
The beneficial effects of the invention are as follows: according to the tool motion data processing method based on the Bezier curve, the corresponding tool motion trail is obtained by the transition of the tool paths in the two adjacent processing program sections meeting the first preset condition and the second preset condition through the Bezier curve, and the curvature of the obtained tool motion trail is continuous due to the adoption of the Bezier curve transition, so that abrupt normal acceleration is not generated, and the problem of machine tool vibration caused by discontinuous curvature of the processed tool motion trail is solved. Finally, based on the Bezier curve in the motion trail of the cutter, the engagement speed of the end points of the Bezier curve is limited, so that the speed of the cutter motion is in a reasonable range.
Drawings
FIG. 1 is a flow chart of a method for processing cutter movement data based on Bezier curves;
fig. 2 is a schematic diagram of transition of a straight machining program segment and a circular arc machining program segment through a bezier curve, wherein the current program segment and the next program segment are respectively;
FIG. 3a is a schematic diagram of a curvature comb with straight line and circular arc tangent processing trajectory without Bezier curve transition in an embodiment;
FIG. 3b is a schematic view of a curvature comb with straight line and circular arc tangent processing trajectory transition using Bezier curves in another embodiment;
FIG. 4 is a schematic diagram of a processing trajectory during cutting by a laser numerical control system in one embodiment;
FIG. 5a is a schematic view of a Y-axis acceleration profile corresponding to the acceleration profile of FIG. 4 without the Bezier transition;
FIG. 5b is a schematic view of the Y-axis acceleration profile corresponding to the acceleration profile of FIG. 4 using a Bezier transition;
description of the reference numerals
M: a start point of a linear tool path in the linear machining program segment;
n: an end point of the linear tool path in the linear machining program segment;
q: end point of the arc tool path in the arc machining program segment.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
In order that the above-described aspects may be better understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Referring to fig. 1, the present embodiment provides a tool motion data processing method based on bezier curves, the method being performed by a laser numerical control system, including:
s1, acquiring two adjacent machining program sections of the laser numerical control system in the cutting process, taking a first machining program section as a current program section and a second machining program section as a next program section.
S2, judging whether the current program section and the next program section meet a first preset condition or not, and obtaining a first judging result.
The first preset condition is that the current program section and the next program section are respectively a linear machining program section and an arc machining program section or the current program section and the next program section are respectively an arc machining program section and a linear machining program section.
The straight line machining program section is a machining program section with a cutter path being straight line.
The arc machining program section is a machining program section with a cutter path being an arc.
The linear machining program segment includes a length, a direction vector, a start point, and an end point of a linear tool path.
The arc machining program section comprises the radius, central angle, starting point, ending point, starting point direction vector and ending point direction vector of the cutter path of the arc.
The start point direction vector means a vector that is tangential to the tool path of the circular arc at the start point of the tool path of the circular arc and directed in the machine direction.
The end point direction vector means a vector which is tangential to the tool path of the circular arc at the end point of the tool path of the circular arc and directed in the machine direction.
The machine direction is the direction along the tool path in the current program segment and the tool path in the next program segment.
And S3, if the first judging result is that the current program section and the next program section meet the first preset condition, judging whether the current program section and the next program section meet the second preset condition or not, and obtaining a second judging result.
The second preset condition is that the cutter path in the current program section is tangent to the cutter path in the next program section, and the arc angle of the cutter path of the arc is larger than a preset value; the preset value is as follows: 2arcsin (3/5).
And S4, if the second judging result is in accordance, the cutter paths in the current program section and the next program section are transited through a Bezier curve, and the cutter movement tracks corresponding to the current program section and the next program section are obtained.
The step S4 specifically comprises the following steps:
and if the current program section and the next program section are the linear machining program section and the circular arc machining program section respectively, the tool paths in the current program section and the next program section are transited through a first Bezier curve.
The control points of the first Bezier curve comprisep 1 、p 2 、p 3 、p 4 。
；
；
；
；
wherein ,Othe center coordinates of the tool path for the arc in the arc machining program segment.
R is the arc radius of the tool path of the arc in the arc machining program segment.
LIs the fit length.
The direction is the X-axis direction unit vector of a plane orthogonal coordinate system where the cutter path of the arc in the arc machining program section is located, and the direction is that the circle center of the cutter path of the arc points to the tangential point.
Is->The unit vector in the Y direction of the perpendicular plane orthogonal coordinate system is in agreement with the arc starting point direction vector of the tool path of the arc in the arc machining program section.
For example, referring to fig. 2, assume that the current program segment and the next program segment are a straight line machining program segment and an arc machining program, respectivelyA section, wherein the tool path in the linear machining program section is a straight line MN, and the tool path in the circular arc machining program section is a circular arcThe machining direction is from a straight line machining program section to an arc machining program section, at this time, an orthogonal coordinate system of a plane where an arc is located is established as shown in fig. 2, and a straight line MN and the arc are formed>Transition through a first Bezier curve, wherein the control points in the first Bezier curve arep 1 、p 2 、p 3 、p 4 The method comprises the steps of carrying out a first treatment on the surface of the The tool motion profile corresponding to the current program segment and the next program segment becomes +.>The straight line segment is formed by the two parts,p 1 、p 2 、p 3 、p 4 four control point constrained first Bessel curve segment (i.e. shown in dotted line part in FIG. 2)>Arc segments. After the transition of the first Bezier curve, the curvature of the tool motion trail becomes continuous, and abrupt normal acceleration is not generated.
And if the current program section and the next program section are the arc machining program section and the linear machining program section respectively, the tool paths in the current program section and the next program section are transited through a second Bezier curve.
The control points of the second Bezier curve comprisep 5 、p 6 、p 7 、p 8 。
；
；
；
；
wherein ,Othe center coordinates of the tool path for the arc in the arc machining program segment.
R is the arc radius of the tool path of the arc in the arc machining program segment.
LIs the fit length.
The direction is the X-axis direction unit vector of a plane orthogonal coordinate system where the cutter path of the arc in the arc machining program section is located, and the direction is that the circle center of the cutter path of the arc points to the tangential point.
Is->The unit vector in the Y direction of the orthogonal coordinate system of the vertical plane is opposite to the arc end point direction vector of the tool path of the arc in the arc machining program section.
wherein ,。
the length of the tool path being a straight line in the straight line machining program segment.
S5, limiting the engagement speed of the Bezier curve end points based on the Bezier curve in the tool motion trail corresponding to the current program section and the next program section.
The step S5 specifically comprises the following steps:
and determining the engagement speed of the speed plan by adopting a formula (1) aiming at the curvature at the first end point of the first Bezier curve or the second Bezier curve in any cutter movement track.
The formula (1) is:
；
wherein ,the maximum acceleration is preset; in this embodiment +.>Is set to 10000mm/s 2.
Is the curvature at the first end of the first or second bezier curve.
The first end point is an end point connected with the cutter path of the circular arc in the first Bezier curve or the second Bezier curve.
Is an interpolation period; interpolation period in this embodiment +.>Set to 0.001s.
The bow height error is preset; in this embodiment +.>0.05mm.
The maximum speed allowed for a bezier curve segment is less than its maximum speed allowed for the endpoint-joining program segment. In this embodiment +.>Set at 200mm/s.
In a practical application of the present embodiment, after S4, the method further includes:
and S6, judging whether the next program section is a processing program section of the last section in the numerical control laser cutting, and obtaining a third judging result.
And if the third judging result is that the next program segment is not the processing program segment of the last segment, taking the next program segment as a new current program segment, acquiring the next processing program segment adjacent to the new current program segment, taking the next processing program segment as a new next program segment, and returning to S1.
Specifically, if the third determination result is that the next program segment is the processing program segment of the last segment, the embodiment provides a tool motion data processing method based on a bezier curve until the end.
In a practical application of the present embodiment, after S5, the method further includes:
and determining the speeds of two end points of the Bezier curve in the tool motion track corresponding to the current program section and the next program section through speed look-ahead and speed backtracking based on the engagement speed, performing interpolation through T-type acceleration and deceleration or S-type acceleration and deceleration, determining interpolation points corresponding to each interpolation period by adopting a numerical calculation method, and outputting the interpolation points to a servo controller connected with the laser numerical control system for position control.
The determining the interpolation point corresponding to each interpolation period by adopting a numerical calculation method specifically comprises the following steps:
and solving the arc length of the Bezier curve in the tool motion trail corresponding to the current program segment and the next program segment by using a De integration method through Gao Sile.
And calculating interpolation points on the Bezier curve in the cutter motion trail corresponding to the current program section and the next program section by using a Newton iteration method and a Decastetr algorithm.
According to the tool motion data processing method based on the Bezier curve, the corresponding tool motion trail is obtained by transitioning the tool paths in two adjacent processing program sections meeting the first preset condition and the second preset condition through the Bezier curve, and the curvature of the obtained tool motion trail is continuous due to the Bezier curve transition, so that abrupt normal acceleration is not generated, and the problem of machine tool vibration caused by discontinuous curvature of the processed tool motion trail is solved. Finally, based on the Bezier curve in the motion trail of the cutter, the engagement speed of the end points of the Bezier curve is limited, so that the speed of the cutter motion is in a reasonable range.
For example, fig. 3a is a schematic diagram of a curvature comb in which no bezier curve is used for the straight line and arc tangent processing track in an embodiment, as shown in fig. 3a, no bezier curve is used for the straight line and arc tangent processing track, the curvature of the straight line (the tool path of the straight line processing program) is zero before the straight line and arc tangent processing track passes through the bezier curve transition, the curvature of the arc (the tool path of the arc processing program) is the inverse of the radius of the straight line and arc tangent point, curvature mutation exists, at the moment, the laser cutting head processing passes through the position of the straight line and arc tangent point, a larger abrupt normal acceleration is generated, when the processing speed is too high, the abrupt normal acceleration is larger, the machine tool vibration is caused, and the processing track generates the chatter marks.
Fig. 3b is a schematic diagram of a curvature comb in which a straight line and an arc are tangent to a processing track and a bezier curve is used for transition, as shown in fig. 3b, at the tangent position of the straight line and the arc, the transition is performed by a tool motion data processing method based on the bezier curve in the embodiment, and at this time, the curvature of the processing track becomes continuous, and no abrupt normal acceleration is generated, so that the problem of machine tool vibration caused by discontinuous curvature of the processing track is solved.
Fig. 4 is a schematic diagram of a processing track during a cutting process of the laser numerical control system in one embodiment, as shown in fig. 4, a corresponding processing start point coordinate (101.5090, 92.0990) and a processing end point coordinate (102.759, 133.887) during the cutting process of the laser numerical control system, and a straight line with multiple sections of processing tracks (i.e. movement tracks of a tool) is tangent to arcs with different radii. When the Bezier curve is not used for transition at the tangent position of the straight line segment and the circular arc segment, normal abrupt acceleration is generated at each tangent position of the straight line segment and the circular arc segment in the processing process, and the larger the speed is at the tangent point, the larger the normal abrupt acceleration is, and the acceleration is mapped to the X axis and the Y axis at the moment, so that the acceleration on the Y axis is abrupt. However, when the bezier curve is used for transition at the tangent position of the straight line segment and the circular arc segment, the curvature of the processing track becomes continuous, and the normal acceleration is slowly changed near the tangent position of the straight line segment and the circular arc segment, so that the machine tool is enabled to run stably, and the vibration of the machine tool is eliminated.
Fig. 5a is a schematic diagram of a Y-axis direction acceleration curve corresponding to the acceleration curve of fig. 4 without using the bezier curve transition, and fig. 5b is a schematic diagram of a Y-axis direction acceleration curve corresponding to the acceleration curve of fig. 4 with using the bezier curve transition. Comparing fig. 5a and fig. 5b, it can be seen that after the straight line segment and the arc segment are in tangent transition by using the bezier curve, the acceleration in the Y-axis direction becomes continuous, so that the possibility of vibration of the machine tool is eliminated, and the machining quality is ensured. Further analysis of FIG. 5a shows that the processing time is about 1.8s after the deceleration treatment to ensure that no processing buffeting occurs. In fig. 5b, after the bezier curve transition, abrupt acceleration is not generated, and the processing time is only about 1.3s, so that the processing efficiency is greatly improved. In summary, the method for processing cutter motion data based on the Bezier curve provided by the embodiment not only can ensure the processing quality, but also improves the processing efficiency, and is a better solution for the problem of chatter caused by processing at the tangent position of a straight line and an arc in laser cutting processing.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; may be a communication between two elements or an interaction between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature is "on" or "under" a second feature, which may be in direct contact with the first and second features, or in indirect contact with the first and second features via an intervening medium. Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is level lower than the second feature.
In the description of the present specification, the terms "one embodiment," "some embodiments," "examples," "particular examples," or "some examples," etc., refer to particular features, structures, materials, or characteristics described in connection with the embodiment or example as being included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that alterations, modifications, substitutions and variations may be made in the above embodiments by those skilled in the art within the scope of the invention.
Claims (10)
1. A method for processing tool motion data based on bezier curves, the method being performed by a laser numerical control system, comprising:
s1, acquiring two adjacent machining program sections of a laser numerical control system in a cutting process, taking a first machining program section as a current program section and a second machining program section as a next program section;
s2, judging whether the current program section and the next program section meet a first preset condition or not, and obtaining a first judgment result;
the first preset condition is that the current program section and the next program section are respectively a linear machining program section and an arc machining program section or the current program section and the next program section are respectively an arc machining program section and a linear machining program section;
the straight line machining program section is a machining program section with a cutter path being straight line;
the arc machining program section is a machining program section with a cutter path being an arc;
s3, if the first judging result is that the current program section and the next program section meet the first preset condition, judging whether the current program section and the next program section meet the second preset condition or not, and obtaining a second judging result;
the second preset condition is that the cutter path in the current program section is tangent to the cutter path in the next program section, and the arc angle of the cutter path of the arc is larger than a preset value;
s4, if the second judging result is in accordance, the cutter paths in the current program section and the next program section are transited through a Bezier curve, and the cutter movement tracks corresponding to the current program section and the next program section are obtained;
s5, limiting the engagement speed of the Bezier curve end points based on the Bezier curve in the tool motion trail corresponding to the current program section and the next program section.
2. The bezier curve-based tool motion data processing method according to claim 1, further comprising, after S4:
s6, judging whether the next program section is a processing program section of the last section in the numerical control laser cutting, and obtaining a third judging result;
and if the third judging result is that the next program segment is not the processing program segment of the last segment, taking the next program segment as a new current program segment, acquiring the next processing program segment adjacent to the new current program segment, taking the next processing program segment as a new next program segment, and returning to S1.
3. The method for processing tool motion data based on the bezier curve according to claim 1, wherein,
the linear machining program section comprises the length, the direction vector, the starting point and the ending point of a linear tool path;
the arc machining program section comprises the radius, central angle, starting point, end point, starting point direction vector and end point direction vector of the cutter path of the arc;
the starting point direction vector refers to a vector which is tangent to the tool path of the circular arc at the starting point of the tool path of the circular arc and points to the machining direction;
the end point direction vector is a vector which is tangential to the tool path of the circular arc at the end point of the tool path of the circular arc and points in the machining direction;
the machine direction is the direction along the tool path in the current program segment and the tool path in the next program segment.
4. The method for processing tool motion data based on bezier curve according to claim 3, wherein S4 specifically comprises:
if the current program section and the next program section are the linear machining program section and the circular arc machining program section respectively, the tool paths in the current program section and the next program section are transited through a first Bezier curve;
the control points of the first Bezier curve comprisep 1 、p 2 、p 3 、p 4 ；
；
；
；
；
wherein ,Othe circle center coordinates of the tool path of the arc in the arc machining program section;
r is the arc radius of the tool path of the arc in the arc machining program section;
Lis the fitting length;
the direction is the X-axis direction unit vector of a plane orthogonal coordinate system where the cutter path of the arc in the arc machining program section is located, and the circle center of the cutter path of the arc points to the tangential point;
is->The unit vector in the Y direction of the perpendicular plane orthogonal coordinate system is in agreement with the arc starting point direction vector of the tool path of the arc in the arc machining program section.
5. A method for processing tool motion data based on Bezier curve according to claim 3,
if the current program section and the next program section are the arc machining program section and the linear machining program section respectively, the tool paths in the current program section and the next program section are transited through a second Bezier curve;
the control points of the second Bezier curve comprisep 5 、p 6 、p 7 、p 8 ；
；
；
；
；
wherein ,Othe circle center coordinates of the tool path of the arc in the arc machining program section;
r is the arc radius of the tool path of the arc in the arc machining program section;
Lis the fitting length;
the direction is the X-axis direction unit vector of a plane orthogonal coordinate system where the cutter path of the arc in the arc machining program section is located, and the circle center of the cutter path of the arc points to the tangential point;
is->The unit vector in the Y direction of the orthogonal coordinate system of the vertical plane is opposite to the arc end point direction vector of the tool path of the arc in the arc machining program section.
6. The method for processing tool motion data based on a bezier curve according to claim 4 or 5, wherein,
wherein ,；
the length of the tool path being a straight line in the straight line machining program segment.
7. The method for processing tool motion data based on bezier curve according to claim 6, wherein S5 specifically comprises:
determining a linking speed of the speed plan by adopting a formula (1) aiming at the curvature at a first end point of a first Bezier curve or a second Bezier curve in any cutter movement track;
the formula (1) is:
；
wherein ,the maximum acceleration is preset;
a curvature at a first end point that is either a first bezier curve or a second bezier curve;
the first end point is an end point connected with the cutter path of the circular arc in the first Bezier curve or the second Bezier curve;
is an interpolation period;
the bow height error is preset;
the maximum speed allowed for a bezier curve segment is less than its maximum speed allowed for the endpoint-joining program segment.
8. The bezier curve-based tool motion data processing method according to claim 1, further comprising, after S5:
and determining the speeds of two end points of the Bezier curve in the tool motion track corresponding to the current program section and the next program section through speed look-ahead and speed backtracking based on the engagement speed, performing interpolation through T-type acceleration and deceleration or S-type acceleration and deceleration, determining interpolation points corresponding to each interpolation period by adopting a numerical calculation method, and outputting the interpolation points to a servo controller connected with the laser numerical control system for position control.
9. The method for processing tool motion data based on bezier curve according to claim 8, wherein,
the determining the interpolation point corresponding to each interpolation period by adopting a numerical calculation method specifically comprises the following steps:
solving the arc length of the Bezier curve in the cutter motion trail corresponding to the current program segment and the next program segment by using a Gao Sile integration method;
and calculating interpolation points on the Bezier curve in the cutter motion trail corresponding to the current program section and the next program section by using a Newton iteration method and a Decastetr algorithm.
10. The method for processing tool motion data based on the bezier curve according to claim 1, wherein,
the preset value is as follows: 2arcsin (3/5).
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