Water jet attitude detection and calibration device and method

Abstract

The invention relates to a water jet attitude detection and calibration device and method, and relates to the technical field of water-guided laser processing and high-pressure water jet cutting. The water jet attitude detection and calibration device comprises an angle adjusting device for adjusting the angle of a processing head; the detection module comprises two groups of correlation type photoelectric sensors, two correlation type photoelectric sensors are longitudinally distributed in each group, one group emits linear light along the X axis of the machine tool, and the other group emits linear light along the Y axis of the machine tool; when the correlation type photoelectric sensor detects that the light intensity reaches a preset light intensity threshold value, a signal is sent out; the value range of the light intensity threshold value is 60%-90% of the initial light intensity; the position adjusting device enables the water jet to pass through two machine tool Y-axis light along the machine tool X-axis and enables the water jet to pass through two machine tool X-axis linear light along the machine tool Y-axis. The correlation type photoelectric sensor is used for replacing the combination of a CCD camera and a sharp mechanical structure, the reaction is more sensitive, the detection efficiency and the detection precision are higher, and the water jet attitude calibration device is suitable for multiple times of rapid water jet attitude calibration under the long-time operation scene of the water-guided laser machine tool.

Description

Technical Field

[0001] The present invention relates to the technical field of water-guided laser and high-pressure water jet cutting, and in particular to a water jet posture detection and calibration device and method. Background Art

[0002] The water-guided laser machine tool is a new type of processing equipment that combines laser and high-speed water jet. Its principle is to use the water jet as a guiding medium for the laser, guiding the laser to the surface of the processing material through the water jet for cutting. At the same time, the water jet can also continuously cool the cutting area and effectively remove debris.

[0003] The intersection of the water jet and the machining surface in this machine tool must be precisely calibrated to avoid affecting machining accuracy. Calibration includes attitude calibration and position calibration. Attitude calibration involves adjusting the water jet as parallel as possible to the Z axis of the machine tool's spatial rectangular coordinate system. Position calibration involves calibrating the intersection of the water jet and the XY plane in the machine tool's spatial rectangular coordinate system as machine tool coordinates. The water jet is generated by the machining head, and the shape and position of the machining head may change due to factors such as vibration, water pressure fluctuations, and temperature. This can cause the water jet's attitude to change and affect the positional accuracy of the intersection between the water jet and the machining surface. The direction and degree of this attitude change are uncertain. Therefore, after the machine tool is put into use, regular water jet calibration is required, with attitude calibration being the basis.

[0004] Chinese patent CN107073502A provides a method for determining the position of a liquid jet, which requires a laser and a coaxial CCD camera. The method uses a sharp mechanical structure to contact the water jet, destroying the surface of the water jet, thereby causing changes in the laser in the water jet. A CCD camera coaxial with the laser is used to detect changes in laser light intensity to determine whether the water jet has contacted the sharp mechanical structure, and the position data is recorded when contact is determined. It requires two or more sharp mechanical structures in different positions and measures them separately to obtain position data. The spatial angle of the water jet is calculated using trigonometric functions so that the water jet posture can be calibrated based on the calculated spatial angle. This method is limited by the image processing speed of the CCD and the speed at which the water jet contacts the sharp mechanical structure. Each measurement and calibration process takes several minutes to more than ten minutes, which is inefficient. Summary of the Invention

[0005] In response to the shortcomings in the relevant technologies, the present invention provides a water jet posture detection and calibration device and method, which uses a through-beam photoelectric sensor instead of the combination of a CCD camera and a sharp mechanical structure to solve the technical problem of low efficiency of water jet posture calibration.

[0006] The present invention provides a water jet posture detection and calibration device, comprising:

[0007] Angle adjustment device, used to adjust the water outlet angle of the processing head;

[0008] The detection module includes two groups of through-beam photoelectric sensors, with two through-beam photoelectric sensors distributed longitudinally in each group. The through-beam photoelectric sensors include a transmitter and a receiver. The receiver sends a signal when it detects that the light intensity reaches a preset light intensity threshold. When there is no obstruction between the receiver and the transmitter, the light intensity detected by the receiver is the initial light intensity, and the light intensity threshold value range is 60%-90% of the initial light intensity. One group of through-beam photoelectric sensors emits line light along the X-axis of the machine tool, and the other group of through-beam photoelectric sensors emits line light along the Y-axis of the machine tool.

[0009] The position adjustment device drives the machining head or the detection module to move horizontally, so that the water jet passes through the two machine tool Y axis lines along the machine tool X axis, and the water jet passes through the two machine tool X axis lines along the machine tool Y axis.

[0010] In some embodiments, two through-beam photoelectric sensors emitting linear light along the X-axis of the machine tool are of the same model, and the other two through-beam photoelectric sensors are of the same model.

[0011] In some embodiments, two transmitters emitting linear light along the X-axis of the machine tool are located at a first height and a second height, respectively, and another two transmitters are located at a first height and a second height, respectively.

[0012] In some embodiments, the diameter of the line light emitted by the transmitter is 0.1-1 mm, and the distance between the first height and the second height is 8-16 mm.

[0013] In some embodiments, the angle adjustment device has two driving directions, one driving the machining head to rotate around the Y-axis of the machine tool, and the other driving the machining head to rotate around the X-axis of the machine tool.

[0014] In some embodiments, the angle adjustment device comprises:

[0015] Universal joints, two provided;

[0016] The first telescopic motor has a telescopic direction parallel to the X-axis of the machine tool, and its output end is connected to the machining head via a universal joint;

[0017] The second telescopic motor has a telescopic direction parallel to the Y-axis of the machine tool, and its output end is connected to the processing head through another universal joint.

[0018] In some embodiments, the position adjustment device is a multi-axis linkage system of a machine tool.

[0019] The present invention also provides a water jet posture detection and calibration method, using the above-mentioned water jet posture detection and calibration device, the steps are as follows:

[0020] S1. Direct the water jet along the machine tool Y axis through two machine tool X axis lines, and record the machine tool Y axis coordinates of the machining head when the two corresponding light lines send signals. Based on the longitudinal spacing between the two receivers and the two recorded machine tool Y axis coordinates, calculate the angle β between the water jet in the machine tool YOZ plane and the machine tool Z axis. Direct the water jet along the machine tool X axis through two machine tool Y axis lines, and record the machine tool X axis coordinates of the machining head when the two corresponding light lines send signals. Based on the longitudinal spacing between the two receivers and the two recorded machine tool X axis coordinates, calculate the angle α between the water jet in the machine tool XOZ plane and the machine tool Z axis.

[0021] S2, adjusting the water outlet angle of the processing head based on α and β;

[0022] S3. Repeat S1-S2 until the distance between the Y-axis coordinates of the two machine tools and the distance between the X-axis coordinates of the two machine tools are both less than or equal to a preset distance threshold.

[0023] In some embodiments, the moving path of the water jet is rectangular, and the water jet intersects each line light twice in each circle.

[0024] In some embodiments, steps S1-S3 are stored in a controller in the form of a program. The controller is electrically connected to the angle adjustment device, the position adjustment device, and the detection module, and the controller executes steps S1-S3 based on the stored program.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention uses a through-beam photoelectric sensor instead of the combination of a CCD camera and a sharp mechanical structure, which has a more sensitive response, higher detection efficiency and accuracy, and is suitable for multiple rapid water jet posture calibrations in long-term operation scenarios of water-guided laser machine tools.

[0027] 2. The present invention decomposes the deflection angle of the water jet into components on the machine tool YOZ plane and the machine tool XOZ plane, and measures and calibrates them separately. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0029] Figure 1 Schematic diagram of the structure of the water jet posture detection and calibration device in the present invention;

[0030] Figure 2 is a schematic diagram of the detection module of the present invention;

[0031] Figure 3Schematic diagram of the projection of the water jet on the YOZ plane and XOZ plane of the machine tool;

[0032] Figure 4 Schematic diagram of the positive and negative states of α in the present invention;

[0033] Figure 5 Schematic diagram of the positive and negative states of β in the present invention;

[0034] Figure 6 Schematic diagram of water jet detection state when α is a positive number;

[0035] Figure 7 Schematic diagram of water jet detection state when α is negative;

[0036] Figure 8 Schematic diagram of the water jet movement path.

[0037] In the figure: 11. Transmitter; 12. Receiver; 13. Machine tool X-axis light; 14. Machine tool Y-axis light; 2. Processing head; 3. Multi-axis linkage system; 41. First telescopic motor; 42. Second telescopic motor; 5. Controller; 6. Water jet. DETAILED DESCRIPTION

[0038] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be understood that the terms "center", "transverse", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0040] The terms "first," "second," and "third" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly specify the quantity of the technical features indicated. Therefore, a feature specified as "first," "second," or "third" may explicitly or implicitly include one or more of such features.

[0041] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0042] The term "machine tool" refers to a machine tool that cuts using a high-pressure water jet or a water-guided laser.

[0043] The term "processing head" refers to a device that generates a water jet in high-pressure water jet cutting technology or a device that couples a water jet and a laser in water-guided laser cutting technology.

[0044] like Figure 1 As shown, in an embodiment of the water jet posture detection and calibration device of the present invention, the water jet posture detection and calibration device at least includes:

[0045] The angle adjustment device is used to adjust the water outlet angle of the processing head 2.

[0046] The detection module includes two groups of through-beam photoelectric sensors, with two through-beam photoelectric sensors distributed longitudinally in each group; the through-beam photoelectric sensors include a transmitter 11 and a receiver 12, and the receiver 12 sends a signal when it detects that the light intensity reaches a preset light intensity threshold; one group of through-beam photoelectric sensors emits line light along the X-axis of the machine tool, and the other group of through-beam photoelectric sensors emits line light along the Y-axis of the machine tool.

[0047] The position adjustment device is used to drive the processing head 2 or the detection module to move horizontally, so that the water jet passes through two machine tool Y axis lines 14 along the machine tool X axis, and the water jet passes through two machine tool X axis lines 13 along the machine tool Y axis.

[0048] The machine tool origin is O. The basic method used by the above-mentioned device includes: using a position adjustment device to make the water jet 6 pass through two machine tool X-axis lines 13 along the machine tool Y axis, and respectively record the machine tool Y-axis coordinates of the processing head 2 when the two light lines corresponding to the receivers 12 send signals. The longitudinal spacing between the two receivers 12 is a, the machine tool Y-axis coordinate corresponding to the upper machine tool X-axis line light 13 is Y1, and the machine tool Y-axis coordinate corresponding to the lower machine tool X-axis line light 13 is Y2; the angle β between the water jet 6 in the machine tool YOZ plane and the machine tool Z axis is calculated by inverse trigonometric functions, β = arctan[(Y2-Y1) / a]. The position adjustment device is used to make the water jet 6 pass through two machine tool Y-axis lines 14 along the machine tool X-axis, and the machine tool X-axis coordinates of the processing head 2 when the two light lines corresponding to the receivers 12 send signals are recorded respectively. The longitudinal spacing between the two receivers 12 is c, the machine tool X-axis coordinate corresponding to the upper machine tool Y-axis line light 14 is X1, and the machine tool X-axis coordinate corresponding to the lower machine tool Y-axis line light 14 is X2; the angle α between the water jet 6 in the machine tool XOZ plane and the machine tool Z axis is calculated by inverse trigonometric functions, α=arctan[(X2-X1) / c].

[0049] By adjusting the water outlet angle of the machining head 2 based on α and β, the posture calibration of the water jet 6 can be completed.

[0050] The through-beam photoelectric sensor in the above-mentioned device is an existing product, and the specific structure and principle of its transmitter 11 and receiver 12 are not described in detail here. The position adjustment device is a multi-axis linkage system 3 of the machine tool, a cross slide, or a drive device with the same effect as a cross slide. The multi-axis linkage system 3 here enables relative motion between the workpiece and the water jet along the machine tool's X-axis and Y-axis. The multi-axis linkage system 3 is a common structure in machine tools in the field of cutting processing, and its structural principle is not further described.

[0051] The above device uses a through-beam photoelectric sensor instead of the combination of a CCD camera and a sharp mechanical structure. It has a more sensitive response and higher detection efficiency and accuracy. It is suitable for performing multiple rapid water jet 6-posture calibrations in long-term operation scenarios of water-guided laser machine tools.

[0052] Furthermore, the position adjustment device only drives the machining head 2 to move.

[0053] Furthermore, the position adjustment device is a multi-axis linkage system 3 of a machine tool.

[0054] Furthermore, the light intensity detected by the receiver 12 when there is no obstruction between the receiver 12 and the corresponding transmitter 11 is the initial light intensity, and the value range of the light intensity threshold is 60%-90% of the initial light intensity.

[0055] In some embodiments, the two beam-type photoelectric sensors emitting linear light along the X-axis of the machine tool are of the same model, and the other two opposite-beam photoelectric sensors are of the same model, so as to reduce the calculation complexity of α and β.

[0056] In some embodiments, two transmitters 11 along the X-ray beam are located at a first height and a second height, respectively, and another two transmitters 11 are located at a first height and a second height, respectively, so that a and c are the same and there is no need to measure a and c separately.

[0057] The diameter of the water jet 6 in current water-guided laser machine tools is typically 40-120 μm. Based on this parameter, in some embodiments, the diameter of the line beam emitted by transmitter 11 is 0.1-1 mm to ensure high detection sensitivity for receiver 12. Among existing through-beam photoelectric sensors, fiber optic sensors such as the FU-58 fiber optic sensor from Keyence can meet this line beam diameter requirement.

[0058] Furthermore, the length of the water jet 6 in current water-guided laser machine tools is generally 40-120 mm. Based on this parameter, the distance between the first height and the second height is 8-16 mm to achieve optimal measurement accuracy, enabling the adjustment accuracy of the posture calibration to ultimately limit b and d to less than 10 μm.

[0059] For example, when the through-beam photoelectric sensor is an FU-58 optical fiber sensor and the distance between the first height and the second height is 10 mm, the adjustment accuracy of the posture calibration can ultimately limit b and d to less than 4 μm.

[0060] During detection, the driving speed of the first driving device 31 and the second driving device 32 is as fast as possible without affecting the detection accuracy. For example, when the through-beam photoelectric sensor is a FU-58 optical fiber sensor, the driving speed of the first driving device 31 and the second driving device 32 is 1 mm / s.

[0061] In some embodiments, the angle adjustment device has two driving directions, one driving direction is to drive the machining head 2 to rotate around the Y axis of the machine tool, and the other driving direction is to drive the machining head 2 to rotate around the X axis of the machine tool.

[0062] In some embodiments, the angle adjustment device comprises:

[0063] Two universal joints are provided. Universal joints are common parts in this field and will not be described in detail here. The universal joints are not shown in the figure.

[0064] The first telescopic motor 41 has a telescopic direction parallel to the X-axis of the machine tool, and its output end is connected to the machining head via a universal joint.

[0065] The second telescopic motor 42 has a telescopic direction parallel to the Y-axis of the machine tool, and its output end is connected to the machining head via another universal joint.

[0066] The first telescopic motor 41 and the second telescopic motor 42 are common motors in the art, and their structures are not described in detail here.

[0067] Furthermore, the angle adjustment device further comprises: a mounting seat 43 for mounting the processing head 2. The two universal joints are connected to the processing head 2 via the mounting seat 43.

[0068] In some other embodiments, the angle adjustment device includes:

[0069] The first rotary motor is used to drive the machining head to rotate around the X-axis or Y-axis of the machine tool.

[0070] The second rotary motor is used to drive the first rotary motor to rotate around the Y axis or the X axis of the machine tool.

[0071] The first rotating motor and the second rotating motor are common motors in the art, and their structures are not described in detail here. The first rotating motor and the second rotating motor are not shown in the figure.

[0072] In some embodiments, the device further includes: a controller 5 electrically connected to the angle adjustment device, the position adjustment device and the detection module.

[0073] In an embodiment of a water jet posture detection and calibration method of the present invention, the method uses the above-mentioned water jet posture detection and calibration device, and the basic steps of the method are as follows:

[0074] S1. Direct the water jet 6 along the machine tool's Y axis through two machine tool X-axis lines of light 13. Record the machine tool Y axis coordinates of the machining head 2 when the two corresponding light line receivers 12 send signals. Based on the longitudinal spacing between the two receivers 12 and the two recorded machine tool Y axis coordinates, calculate the angle β between the water jet 6 in the machine tool's YOZ plane and the machine tool's Z axis.

[0075] The water jet 6 is made to pass through two machine tool Y-axis lines of light 14 along the machine tool X-axis, and the machine tool X-axis coordinates of the processing head 2 when the two corresponding light lines of the receiver 12 send signals are recorded respectively. Based on the longitudinal spacing between the two receivers 12 and the two recorded machine tool X-axis coordinates, the angle α between the water jet 6 in the machine tool XOZ plane and the machine tool Z-axis is calculated.

[0076] S2. Adjust the water outlet angle of the processing head 2 based on α and β.

[0077] S3. Repeat S1-S2 until the distance between the Y-axis coordinates of the two machine tools and the distance between the X-axis coordinates of the two machine tools are both less than or equal to a preset distance threshold.

[0078] The S1 step is as follows:

[0079] The position adjustment device is used to make the water jet 6 pass through two machine tool X-axis lines 13 along the machine tool Y axis, and the machine tool Y axis coordinates of the processing head 2 when the two light lines corresponding to the receivers 12 send signals are recorded respectively. The longitudinal spacing between the two receivers 12 is a, the machine tool Y axis coordinate corresponding to the upper machine tool X axis line 13 is Y1, and the machine tool Y axis coordinate corresponding to the lower machine tool X axis line 13 is Y2; the angle β between the water jet 6 in the machine tool YOZ plane and the machine tool Z axis is calculated by inverse trigonometric functions, β = arctan [(Y2-Y1) / a]. The position adjustment device is used to make the water jet 6 pass through two machine tool Y-axis lines 14 along the machine tool X-axis, and the machine tool X-axis coordinates of the processing head 2 when the two light lines corresponding to the receivers 12 send signals are recorded respectively. The longitudinal spacing between the two receivers 12 is c, the machine tool X-axis coordinate corresponding to the upper machine tool Y-axis line light 14 is X1, and the machine tool X-axis coordinate corresponding to the lower machine tool Y-axis line light 14 is X2; the angle α between the water jet 6 in the machine tool XOZ plane and the machine tool Z axis is calculated by inverse trigonometric functions, α=arctan[(X2-X1) / c].

[0080] For example Figure 3 In the figure, AB is water jet 6, which is decomposed into its projection EF on the machine tool's YOZ plane and its projection CD on the machine tool's XOZ plane. α is the angle between the projection CD of water jet 6 on the machine tool's XOZ plane and the machine tool's Z axis, and β is the angle between the projection EF of water jet 6 on the machine tool's YOZ plane and the machine tool's Z axis.

[0081] Further, such as Figure 4 、 5 As shown, α has a positive or negative sign to confirm whether the deflection direction of the water jet 6 is in the positive or negative direction of the machine tool X axis. β has a positive or negative sign to confirm whether the deflection direction of the water jet 6 is in the positive or negative direction of the machine tool Y axis.

[0082] like Figure 4 and Figure 6 As shown, when X2>X1, α takes a positive value, and the deflection direction of the water jet 6 is in the positive direction of the machine tool X axis. Figure 4 and Figure 7 As shown in the figure, when X2<X1, α takes a negative value, and the deflection direction of the water jet 6 is in the negative direction of the X axis of the machine tool. Figure 5 As shown, when Y2>Y1, β takes a positive value, and the deflection direction of the water jet 6 is in the positive direction of the Y axis of the machine tool. Figure 5 As shown, when Y2<Y1, β takes a negative number, and the deflection direction of the water jet 6 is in the negative direction of the Y axis of the machine tool. Figure 6 、 Figure 7 The symbol v represents the direction of travel of the water jet 6 .

[0083] When α is a positive value, the first telescopic motor 41 drives the angle adjustment device, and further drives the machining head 2 to rotate counterclockwise by |α| in the XOZ plane of the machine tool.

[0084] When α is a negative value, the first telescopic motor 41 drives the angle adjustment device, and further drives the machining head 2 to rotate clockwise by |α| in the XOZ plane of the machine tool.

[0085] When β is a positive value, the second telescopic motor 42 drives the angle adjustment device, and further drives the machining head 2 to rotate counterclockwise by |β| in the YOZ plane of the machine tool.

[0086] When β is a negative value, the second telescopic motor 42 drives the angle adjustment device, and further drives the machining head 2 to rotate clockwise by |β| in the YOZ plane of the machine tool.

[0087] When the attitude calibration is completed, the position calibration can be completed synchronously. The method is:

[0088] The machine tool coordinates (X0, Y0) of the line-light intersection point in the water jet posture detection and calibration device in the XOY plane are determined in advance by mechanical or optical methods.

[0089] Record the coordinates (Xa, Ya) of the last time the water jet intersected the machine tool's X-axis light. Record the coordinates (Xb, Yb) of the last time the water jet intersected the machine tool's Y-axis light. Obtain the coordinates (Xb, Ya) of the intersection of the two vertical beams at the same horizontal position in the XOY plane. Transform (Xb, Ya) with (X0, Y0) as a reference to complete position correction. Either the first or second height intersection coordinates can be used, and the error is within a controllable range.

[0090] In some embodiments, such as Figure 6 As shown, since the light intensity of the water jet 6 will first weaken and then increase when passing through the line light, the water jet 6 may send out two signals when passing through a line light once. Of these two signals, the coordinates of the machining head 2 when the first signal is sent are taken as the Y-axis coordinate or X-axis coordinate of the machine tool collected in S1.

[0091] For example, the preset light intensity threshold in a through-beam photoelectric sensor is 75% of the initial light intensity. For example, when a water jet 6 passes through a machine tool X-axis light 13, the light intensity detected by receiver 12 first decreases from 100% of the initial light intensity to below 75% of the initial light intensity. During this period, receiver 12 emits a signal. Subsequently, the light intensity detected by receiver 12 gradually recovers from below 75% to 100% of the initial light intensity. During this recovery process, receiver 12 emits another signal. The corresponding machine tool Y-axis coordinate of machining head 2 is collected based on the signal emitted by receiver 12 during the period of light intensity decrease.

[0092] In some embodiments, the moving path of the water jet 6 is rectangular, and the water jet 6 intersects each line light twice for each circle, so as to fully utilize the detection space of the through-beam photoelectric sensor, shorten the time interval between two adjacent S1 steps, and further improve the efficiency of detection and calibration. Figure 8 shown.

[0093] When the water jet 6 moves between P1 and P2 or between P3 and P4, α can be measured. When the water jet 6 moves between P2 and P3 or between P4 and P1, β can be measured.

[0094] Furthermore, it is preferred that the moving path of the water jet 6 is a square.

[0095] Furthermore, the moving path of the water jet 6 can also reciprocate between any two adjacent sides of the square, for example, between P1 and P2 and between P2 and P3.

[0096] In some embodiments, steps S1-S3 are stored in the controller 5 as a program. The controller 5 is electrically connected to the angle adjustment device, the position adjustment device, and the detection module, and executes steps S1-S3 based on the stored program. This program control further improves the accuracy and efficiency of detection and calibration.

[0097] Furthermore, steps S1 - S3 are stored in the controller 5 in the form of a PLC program.

[0098] The controller 5 reads the coordinates of the machining head 2 from the control system CNC of the machine tool.

[0099] Figure 8 The moving path of the middle water jet 6 is a square.

[0100] Furthermore, the through-beam photoelectric sensor is an FU-58 optical fiber sensor, and the side length of the square is 20 mm.

[0101] Through the description of multiple embodiments of the water jet posture detection and calibration device and method of the present invention, it can be seen that the embodiments of the water jet posture detection and calibration device and method of the present invention have at least one or more of the following advantages:

[0102] 1. The present invention uses a through-beam photoelectric sensor instead of the combination of a CCD camera and a sharp mechanical structure, which has a more sensitive response, higher detection efficiency and accuracy, and is suitable for multiple rapid water jet 6 posture calibrations in long-term operation scenarios of water-guided laser machine tools.

[0103] 2. The present invention decomposes the deflection angle of the water jet 6 into two components, the machine tool YOZ plane and the machine tool XOZ plane, and measures and calibrates them separately.

[0104] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0105] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to preferred embodiments, persons skilled in the art should understand that the specific implementation methods of the present invention may still be modified or some technical features may be replaced by equivalents without departing from the spirit of the technical solutions of the present invention, and all of these should fall within the scope of the technical solutions claimed for protection by the present invention.

Claims

1. A water jet posture detection and calibration device, characterized in that: include: Angle adjustment device, used to adjust the water outlet angle of the processing head; The detection module includes two groups of through-beam photoelectric sensors, with two through-beam photoelectric sensors distributed longitudinally in each group; Through-beam photoelectric sensors include a transmitter and a receiver. The receiver sends a signal when it detects that the light intensity reaches a preset light intensity threshold. When there is no obstruction between the receiver and the transmitter, the light intensity detected by the receiver is the initial light intensity. The light intensity threshold range is 60%-90% of the initial light intensity. One group of through-beam photoelectric sensors emits line light along the X-axis of the machine tool, and the other group of through-beam photoelectric sensors emits line light along the Y-axis of the machine tool. The position adjustment device drives the machining head or the detection module to move horizontally, so that the water jet passes through the two machine tool Y axis lines along the machine tool X axis, and the water jet passes through the two machine tool X axis lines along the machine tool Y axis.

2. The water jet posture detection and calibration device according to claim 1, characterized in that: The two through-beam photoelectric sensors that emit linear light along the X-axis of the machine tool are of the same model, and the other two through-beam photoelectric sensors are of the same model.

3. The water jet posture detection and calibration device according to claim 2, characterized in that: The two transmitters emitting linear light along the X-axis of the machine tool are located at a first height and a second height respectively, and the other two transmitters are located at a first height and a second height respectively.

4. The water jet posture detection and calibration device according to claim 3, characterized in that: The diameter of the line light emitted by the transmitter is 0.1-1 mm; the distance between the first height and the second height is 8-16 mm.

5. The water jet posture detection and calibration device according to claim 1, characterized in that: The angle adjustment device has two driving directions, one driving the processing head to rotate around the Y axis of the machine tool, and the other driving the processing head to rotate around the X axis of the machine tool.

6. The water jet posture detection and calibration device according to claim 5, characterized in that: The angle adjustment device includes: two universal joints; a first telescopic motor, whose telescopic direction is parallel to the X-axis of the machine tool, and whose output end is connected to the processing head through a universal joint; a second telescopic motor, whose telescopic direction is parallel to the Y-axis of the machine tool, and whose output end is connected to the processing head through another universal joint.

7. The water jet posture detection and calibration device according to claim 1, characterized in that: The position adjustment device is a multi-axis linkage system of the machine tool.

8. A water jet posture detection and calibration method, characterized in that: The following steps are performed using the water jet posture detection and calibration device according to any one of claims 1 to 7: S1. Direct the water jet along the machine tool Y axis through two machine tool X axis lines, and record the machine tool Y axis coordinates of the machining head when the two corresponding light lines send signals. Based on the longitudinal spacing between the two receivers and the two recorded machine tool Y axis coordinates, calculate the angle β between the water jet in the machine tool YOZ plane and the machine tool Z axis. Direct the water jet along the machine tool X axis through two machine tool Y axis lines, and record the machine tool X axis coordinates of the machining head when the two corresponding light lines send signals. Based on the longitudinal spacing between the two receivers and the two recorded machine tool X axis coordinates, calculate the angle α between the water jet in the machine tool XOZ plane and the machine tool Z axis. S2, adjusting the water outlet angle of the processing head based on α and β; S3. Repeat S1-S2 until the distance between the Y-axis coordinates of the two machine tools and the distance between the X-axis coordinates of the two machine tools are both less than or equal to a preset distance threshold.

9. The water jet posture detection and calibration method according to claim 8, characterized in that: The moving path of the water jet is rectangular, and the water jet intersects each line light twice in each circle.

10. The water jet posture detection and calibration method according to claim 8, characterized in that: Steps S1-S3 are stored in the controller in the form of a program; the controller is electrically connected to the angle adjustment device, the position adjustment device and the detection module, and the controller executes steps S1-S3 based on the stored program.

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