A water jet positioning device and method based on multi-contact points

Abstract

The present invention relates to the field of water-conducting laser processing, and more specifically, to a water jet positioning device and method based on multiple contacts, comprising a motion base, a fine-tuning element, a motion base driving mechanism, a retractable base, a force sensor and a sensing sheet, wherein the motion base is mounted on the motion base driving mechanism and has the freedom of movement in three directions, namely, X, Y and Z. The water-conducting laser processing module is supported and mounted on the motion base by a plurality of fine-tuning elements. A jet hole is provided at the front end of the retractable base, and the water jet emitted by the water-conducting laser processing module passes through the jet hole. Force sensors are provided on both sides of the jet hole in the X direction and both sides of the Y direction, and each force sensor is provided with a sensing sheet. When the water jet contacts the sensing sheet, the corresponding force sensor is triggered to send a signal to a detection control system. The motion base driving mechanism and the fine-tuning element are controlled by the detection control system. The present invention can automatically detect the change of the position and angle of the water jet and realize automatic position compensation.

Description

Technical Field

[0001] The invention relates to the field of water-guided laser processing, in particular to a water jet positioning device and method based on multiple contact points. Background Art

[0002] Water-guided laser processing technology is a new type of laser processing technology that uses a stable water jet carrying a high-energy laser to achieve material removal. Due to the harsh working conditions of water jet nozzles, they are parts that need to be replaced regularly. However, due to certain processing errors in different water jet nozzles, there are slight differences in the position and axis direction of the water jet produced after replacing the water jet nozzle. In order to ensure the consistency of the water jet position and the axis direction, the existing technology usually requires manual recalibration of the water jet position, but this method is inefficient and the calibration accuracy is greatly affected by the technical level of the operator. Summary of the invention

[0003] The object of the present invention is to provide a water jet positioning device and method based on multiple contacts, which can automatically detect the change of the water jet position and angle and automatically realize the position compensation after replacing some components in the water-conducting laser processing module.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] A multi-contact-based water jet positioning device comprises a motion base, a fine-tuning element, a motion base driving mechanism, a retractable base, a force sensor and a sensing sheet, wherein the motion base is mounted on the motion base driving mechanism, and the motion base has three degrees of freedom of movement in the X, Y and Z directions; a water-guided laser processing module is supported and mounted on the motion base through a plurality of fine-tuning elements; a jet hole is provided at the front end of the retractable base, and a water jet emitted by the water-guided laser processing module passes through the jet hole; force sensors are provided on both sides of the X direction and both sides of the Y direction of the jet hole, and each force sensor is provided with a sensing sheet; when the water jet contacts the sensing sheet, the corresponding force sensor is triggered to send a signal to the detection control system; the motion base driving mechanism and the fine-tuning element are both controlled by the detection control system.

[0006] A module flange is arranged at the upper end of the water-conducting laser processing module, and the upper end of the fine-tuning element is hinged to the outer edge of the module flange.

[0007] A limiting hole is provided on the motion base, and the lower end of the water-conducting laser processing module passes through the limiting hole.

[0008] The deflection movement range of the water-conducting laser processing module is ±10°.

[0009] The first sensing plate and the second sensing plate are respectively disposed on both sides of the jet hole in the X direction, and the third sensing plate and the fourth sensing plate are respectively disposed on both sides of the jet hole in the Y direction.

[0010] A positioning method according to the multi-contact-based water jet positioning device comprises the following steps:

[0011] Step 1: Preliminary positioning of the water-guided laser processing module and the sensor sheet;

[0012] Step 2: Determine the tilt angle of the water jet along the X direction;

[0013] Step 3: The detection control system controls the corresponding fine-tuning components to lift and lower the water-guided laser processing module to deflect and eliminate the tilt angle of the water jet along the X direction;

[0014] Step 4: Determine the compensation difference of the water jet along the X direction, and then move the motion base along the X direction to compensate the water jet position coordinates in the X direction;

[0015] Step 5: Determine the tilt angle of the water jet along the Y direction;

[0016] Step 6: The detection control system controls the corresponding fine-tuning components to adjust the lifting and lowering to deflect the water-guided laser processing module and eliminate the tilting angle of the water jet along the Y direction;

[0017] Step 7: Determine the compensation difference of the water jet along the Y direction, and then move the motion base along the Y direction to compensate the water jet position coordinates in the Y direction.

[0018] Step 8: The relative position between the water-guided laser processing module and the motion base is locked, and the retractable base is retracted.

[0019] In step 2, the moving base first moves along the X direction to make the water jet contact with the first sensing sheet and make the corresponding force sensor send a signal, and the detection control system records the position coordinate X1 of the moving base at this time, and then the moving base moves upward along the Z direction by a distance Z1, and then the moving base moves along the X direction again to make the water jet intersect with the first sensing sheet again and make the corresponding force sensor send a signal, and the detection control system records the position coordinate X2 of the moving base at this time, and then the detection control system calculates the tilt angle of the water jet along the X direction according to the position coordinates X1, X2 and the distance Z1.

[0020] In step 4, the moving base moves along the X direction so that the water jet first contacts the first sensing plate and causes the corresponding force sensor to send a signal. The detection and control system records the position coordinate X3 of the moving base at this time. Then the moving base moves in the opposite direction along the X direction so that the water jet contacts the second sensing plate on the other side and causes the corresponding force sensor to send a signal. The detection and control system records the position coordinate X4 of the moving base at this time. Then the detection and control system compares the position difference between X3 and X4 with the theoretical distance between the first sensing plate and the second sensing plate and calibrates the diameter D of the water jet along the X direction, and calculates the difference between (X3+X4) / 2 and the center coordinate of the jet hole along the X direction. Then the moving base moves along the X direction to compensate for the position coordinate of the water jet.

[0021] In step five, the moving base first moves along the Y direction to make the water jet contact with the third sensing plate and make the corresponding force sensor send a signal, and the detection control system records the position coordinate Y1 of the moving base at this time, and then the moving base moves upward along the Z direction by a distance Z2, and then the moving base moves along the Y direction again to make the water jet intersect with the third sensing plate again and make the corresponding force sensor send a signal, and the detection control system records the position coordinate Y2 of the moving base at this time, and then the detection control system calculates the tilt angle of the water jet along the Y direction according to the position coordinates Y1, Y2 and the distance Z2.

[0022] In step seven, the moving base moves along the Y direction so that the water jet first contacts the third sensor plate and causes the corresponding force sensor to send a signal, and the detection and control system records the position coordinate Y3 of the moving base at this time, and then the moving base moves in the opposite direction along the Y direction so that the water jet contacts the fourth sensor plate on the other side and causes the corresponding force sensor to send a signal, and the detection and control system records the position coordinate Y4 of the moving base at this time, and then the detection and control system compares the position difference between Y3 and Y4 and the theoretical distance between the third sensor plate and the fourth sensor plate and calibrates the diameter D of the water jet along the Y direction, and calculates the difference between (Y3+Y4) / 2 and the center coordinate of the jet hole along the Y direction, and then the moving base moves along the Y direction to compensate for the water jet position coordinate.

[0023] The advantages and positive effects of the present invention are:

[0024] 1. The present invention can automatically measure the changes in the position and angle of the water jet and realize automatic position compensation after replacing some components in the water-guided laser processing module, thereby ensuring that the position relationship of the water jet in the coordinate system of the processing equipment remains unchanged after the replacement.

[0025] 2. The present invention can automatically realize calibration without manual intervention, which greatly improves the calibration efficiency and calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention,

[0027] Figure 2This is a schematic diagram of the water jet deflection angle correction of the present invention.

[0028] Figure 3 for Figure 2 Schematic diagram of the calculation principle of the water jet deflection angle.

[0029] Figure 4 It is a schematic diagram of the water jet translation position correction of the present invention.

[0030] Among them, 101 is the first sensing plate, 102 is the second sensing plate, 103 is the third sensing plate, 104 is the fourth sensing plate, 2 is a force sensor, 3 is a retractable base, 4 is a water-conducting laser processing module, 401 is a module flange, 5 is a fine-tuning element, 6 is a limit hole, 7 is a moving base, 8 is a water jet, and 9 is a jet hole. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] like Figures 1 to 4 As shown, the present invention includes a motion base 7, a fine-tuning element 5, a motion base driving mechanism, a retractable base 3, a force sensor 2, a sensing sheet and a detection control system, wherein the motion base 7 is installed on the motion base driving mechanism, and the motion base 7 has three degrees of freedom of movement in the X, Y and Z directions, the water-conducting laser processing module 4 is supported and installed on the motion base 7 through a plurality of fine-tuning elements 5, a jet hole 9 is provided at the front end of the retractable base 3, and a water jet 8 emitted by the water-conducting laser processing module 4 passes through the jet hole 9, force sensors 2 are provided on both sides of the X direction and both sides of the Y direction of the jet hole 9, and each force sensor 2 is provided with a sensing sheet, when the water jet 8 contacts the sensing sheet, the corresponding force sensor 2 is triggered to send a signal to the detection control system, and the motion base driving mechanism and the fine-tuning element 5 are controlled by the detection control system.

[0033] In this embodiment, the motion base driving mechanism is a truss manipulator with X, Y, and Z degrees of freedom. The motion base 7 is installed on the manipulator to achieve position adjustment. The truss manipulator is a well-known technology in the art and is a commercially available product. In this embodiment, the truss manipulator is purchased from Siasun Robot Automation Co., Ltd.

[0034] In this embodiment, the retractable base 3 is installed at the end of a cylinder rod, and the retractable base 3 is driven by the cylinder to achieve telescopic movement.

[0035] In this embodiment, the fine-tuning element 5 can be a micro electric push rod with a self-locking function or a self-locking mechanism, such as Figure 1As shown, the upper end of the water-conducting laser processing module 4 is provided with a module flange 401, and the upper end of the micro-electric push rod is hinged to the outer edge of the module flange 401, so that each micro-electric push rod can cooperate with the lifting to adjust the deflection angle of the water-conducting laser processing module 4. When the position of the water-conducting laser processing module 4 is determined, the self-locking function of the micro-electric push rod or the built-in locking mechanism ensures that the position between the water-conducting laser processing module 4 and the motion base 7 does not change. The micro-electric push rod is a well-known technology in the art and is a commercially available product.

[0036] like Figure 1 As shown, in this embodiment, three fine-tuning elements 5 are provided along the circumferential direction of the water-conducting laser processing module 4, wherein two fine-tuning elements 5 cooperate to rise and fall to adjust the X-direction deflection of the water-conducting laser processing module 4, and then the two fine-tuning elements 5 remain stationary (i.e., no deflection occurs in the X direction), and the other fine-tuning element 5 rises and falls to adjust the Y-direction deflection of the water-conducting laser processing module 4. The number and position of the fine-tuning elements 5 can be specifically set according to actual needs.

[0037] like Figure 1 As shown, a limiting hole 6 is provided on the motion base 7 for the lower end of the water-conducting laser processing module 4 to pass through, and the limiting hole 6 can limit the deflection range of the water-conducting laser processing module 4. In this embodiment, the deflection range of the water-conducting laser processing module 4 is ±10°.

[0038] The force sensor 2 is equipped with a sensing sheet and can output the force of the sensing sheet 1 via an electrical signal. When the force on the force sensor 2 is greater than a certain threshold, a high-level electrical signal can be output. The force threshold range of the force sensor 2 in this embodiment is 0.1N to 10N, and the distance between the ends of the sensing sheets on the two opposite force sensors 2 is 0.1mm to 5mm. The force sensor 2 is a well-known technology in the art and is a commercially available product.

[0039] The working principle of the present invention is:

[0040] like Figure 1 As shown, the first sensing sheet 101 and the second sensing sheet 102 are respectively disposed on both sides of the jet hole 9 in the X direction, and the third sensing sheet 103 and the fourth sensing sheet 104 are respectively disposed on both sides of the jet hole 9 in the Y direction. The water jet positioning method of the present invention comprises the following steps:

[0041] Step 1: The water-conducting laser processing module 4 and the sensing sheet are initially positioned. First, the retractable base 3 is extended, and then the moving base 7 drives the water-conducting laser processing module 4 to move until the water jet 8 enters the jet hole 9 at the front end of the retractable base 3. Then the moving base 7 moves downward along the negative direction of the Z axis until the distance between the bottom of the water-conducting laser processing module 4 and the sensing sheet is less than 10 mm.

[0042] Step 2: After the initial positioning is completed, Figure 2 As shown, the motion base 7 first moves at a low speed in the positive direction of the X-axis until the water jet 8 contacts the first sensing sheet 101, and the force sensor 2 corresponding to the first sensing sheet 101 outputs a high level. The detection control system records the position coordinate X1 of the motion base 7 at this time, and then the motion base 7 moves upward along the positive direction of the Z-axis by a distance Z1, and then the motion base 7 moves in the negative direction of the X-axis until the output of the force sensor 2 corresponding to the first sensing sheet 101 becomes a low level, and then the motion base 7 moves again in the positive direction of the X-axis at a low speed until the water jet 8 contacts the first sensing sheet 101 again, and the force sensor 2 corresponding to the first sensing sheet 101 outputs a high level again, and the detection control system records the position coordinate X2 of the motion base at this time, and then as shown Figure 3 As shown, the detection control system calculates the tilt angle α of the water jet 8 along the X direction through a trigonometric relationship based on the determined position coordinates X1, X2 and the distance Z1.

[0043] Step 3: The detection control system controls the corresponding fine-tuning element 5 to adjust the lifting and lowering so that the water-conducting laser processing module 4 deflects and compensates for the tilt angle α determined in step 2, so as to eliminate the tilt of the water jet 8 along the X direction and make it vertical.

[0044] Step 4: If Figure 4 As shown, after eliminating the inclination of the water jet 8 along the X direction, the moving base 7 moves in the negative direction of the X axis until the output of the force sensor 2 corresponding to the first sensing sheet 101 becomes a low level, and then the moving base 7 moves again in the positive direction of the X axis at a low speed until the force sensor 2 corresponding to the first sensing sheet 101 outputs a high level, and the detection control system records the position coordinate X3 of the moving base 7 at this time, and then the moving base 7 moves in the opposite direction of the negative direction of the X axis at a low speed until the force sensor 2 corresponding to the second sensing sheet 102 outputs a high level, and the detection control system records the position coordinate X4 of the moving base 7 at this time, and then the detection control system compares the position difference of X3 and X4 with the difference in the theoretical distance between the first sensing sheet 101 and the second sensing sheet 102, which is the diameter D of the water jet 8, calibrates the diameter D of the water jet 8 along the X direction, and calculates the difference between (X3+X4) / 2 and the center coordinate of the jet hole 9 along the X direction, and then the moving base 7 moves along the X direction to compensate for the position coordinate of the water jet 8, so that the water jet 8 is located at the X-direction center of the jet hole 9.

[0045] Step 5: Then the moving base 7 moves at a low speed in the positive direction of the Y axis until the water jet 8 contacts the third sensor sheet 103, and the force sensor 2 corresponding to the third sensor sheet 103 outputs a high level. The detection and control system records the position coordinate Y1 of the moving base 7 at this time, and then the moving base 7 moves upward by Z2 along the positive direction of the Z axis, and the moving base 7 moves in the negative direction of the Y axis until the output of the force sensor 2 corresponding to the third sensor sheet 103 becomes a low level, and then the moving base 7 moves again in the positive direction of the Y axis at a low speed until the water jet 8 contacts the third sensor sheet 103 again, and the force sensor 2 corresponding to the third sensor sheet 103 outputs a high level again, and the detection and control system records the position coordinate Y2 of the moving base 7 at this time, and then the detection and control system calculates the tilt angle of the water jet 8 along the Y direction according to the triangular relationship between the position coordinates Y1, Y2 and the distance Z2, and the calculation principle is the same as that in step 2.

[0046] Step 6: The detection control system controls the corresponding fine-tuning element 5 to adjust the lifting and lowering so that the water-conducting laser processing module 4 deflects the tilt angle in the Y direction determined in step 5, so as to eliminate the tilt of the water jet 8 along the Y direction and make it vertical.

[0047] Step 7: After eliminating the inclination of the water jet 8 along the Y direction, the motion base 7 moves in the negative direction of the Y axis until the output of the force sensor 2 corresponding to the third sensor sheet 103 becomes a low level, and then the motion base 7 moves again in the positive direction of the Y axis at a low speed until the force sensor 2 corresponding to the third sensor sheet 103 outputs a high level, and the detection and control system records the position coordinate Y3 of the motion base 7 at this time, and then the motion base 7 moves in the opposite direction of the negative direction of the Y axis at a low speed until the force sensor 2 corresponding to the fourth sensor sheet 104 outputs a high level, and the detection and control system records the position coordinate Y4 of the motion base 7 at this time, and then the detection and control system compares the position difference of Y3 and Y4 with the difference in the theoretical distance between the third sensor sheet 103 and the fourth sensor sheet 104, which is the diameter D of the water jet 8, calibrates the diameter D of the water jet 8 along the Y direction, and calculates the difference between (Y3+Y4) / 2 and the center coordinate of the jet hole 9 along the Y direction, and then the motion base 7 moves along the Y direction to compensate for the position coordinate of the water jet 8, so that the water jet 8 is located at the Y center of the jet hole 9.

[0048] Step 8: After the above adjustment is completed, the detection and control system controls the fine-tuning element 5 to lock, thereby locking the relative position between the water-guided laser processing module 4 and the moving base 7, and the retractable base 3 is retracted, thereby completing the positioning process of the water jet 8.

Claims

1. A water jet positioning device based on multiple contacts, characterized in that: The invention comprises a motion base (7), a fine-tuning element (5), a motion base driving mechanism, a retractable base (3), a force sensor (2) and a sensing sheet, wherein the motion base (7) is mounted on the motion base driving mechanism, and the motion base (7) has three degrees of freedom of movement in the X, Y and Z directions; a water-conducting laser processing module (4) is supported and mounted on the motion base (7) through a plurality of fine-tuning elements (5); a jet hole (9) is provided at the front end of the retractable base (3), and a water jet (8) emitted by the water-conducting laser processing module (4) passes through the jet hole (9); force sensors (2) are provided on both sides of the jet hole (9) in the X direction and both sides of the Y direction, and each force sensor (2) is provided with a sensing sheet; when the water jet (8) contacts the sensing sheet, the corresponding force sensor (2) is triggered to send a signal to a detection control system; the motion base driving mechanism and the fine-tuning element (5) are both controlled by the detection control system.

2. The multi-contact water jet positioning device according to claim 1, characterized in that: The upper end of the water-conducting laser processing module (4) is provided with a module flange (401), and the upper end of the fine-tuning element (5) is hinged to the outer edge of the module flange (401).

3. The multi-contact water jet positioning device according to claim 1, characterized in that: A limiting hole (6) is provided on the moving base (7), and the lower end of the water-conducting laser processing module (4) passes through the limiting hole (6).

4. The multi-contact water jet positioning device according to claim 3, characterized in that: The deflection movement range of the water-conducting laser processing module (4) is ±10°.

5. The multi-contact water jet positioning device according to claim 1, characterized in that: A first sensing plate (101) and a second sensing plate (102) are respectively arranged on both sides of the jet hole (9) in the X direction, and a third sensing plate (103) and a fourth sensing plate (104) are respectively arranged on both sides of the jet hole (9) in the Y direction.

6. A positioning method of a water jet positioning device based on multiple contacts according to claim 5, characterized in that: The steps include: Step 1: Preliminary positioning of the water-conducting laser processing module (4) and the sensor sheet; Step 2: Determine the tilt angle of the water jet (8) along the X direction; Step 3: The detection control system controls the corresponding fine-tuning element (5) to adjust the lifting and lowering so that the water-conducting laser processing module (4) is deflected and the tilting angle of the water jet (8) along the X direction is eliminated; Step 4: Determine the compensation difference of the water jet (8) along the X direction, and then move the motion base (7) along the X direction to perform X-direction compensation on the position coordinates of the water jet (8); Step 5: Determine the tilt angle of the water jet (8) along the Y direction; Step 6: The detection control system controls the corresponding fine-tuning element (5) to adjust the lifting and lowering so that the water-conducting laser processing module (4) is deflected and the tilting angle of the water jet (8) along the Y direction is eliminated; Step 7: Determine the compensation difference of the water jet (8) along the Y direction, and then move the motion base (7) along the Y direction to compensate the position coordinates of the water jet (8) in the Y direction; Step 8: The relative position between the water-conducting laser processing module (4) and the moving base (7) is locked, and the retractable base (3) is retracted.

7. The positioning method of the water jet positioning device based on multiple contacts according to claim 6, characterized in that: In step 2, the moving base (7) first moves along the X direction so that the water jet (8) contacts the first sensing sheet (101) and causes the corresponding force sensor (2) to send a signal, and the detection control system records the position coordinate X1 of the moving base (7) at this time, and then the moving base (7) moves upward along the Z direction by a distance Z1, and then the moving base (7) moves along the X direction again so that the water jet (8) intersects the first sensing sheet (101) again and causes the corresponding force sensor (2) to send a signal, and the detection control system records the position coordinate X2 of the moving base (7) at this time, and then the detection control system calculates the tilt angle of the water jet (8) along the X direction according to the position coordinates X1, X2 and the distance Z1.

8. The positioning method of the water jet positioning device based on multiple contacts according to claim 6, characterized in that: In step 4, the moving base (7) moves along the X direction so that the water jet (8) first contacts the first sensing sheet (101) and causes the corresponding force sensor (2) to send a signal, and the detection control system records the position coordinate X3 of the moving base (7) at this time, and then the moving base (7) moves in the opposite direction along the X direction so that the water jet (8) contacts the second sensing sheet (102) on the other side and causes the corresponding force sensor (2) to send a signal, and the detection control system records the position coordinate X4 of the moving base (7) at this time, and then the detection control system compares the position difference of X3 and X4 with the theoretical distance between the first sensing sheet (101) and the second sensing sheet (102) and calibrates the diameter D of the water jet (8) along the X direction, and calculates the difference between (X3+X4) / 2 and the center coordinate of the jet hole (9) along the X direction, and then the moving base (7) moves along the X direction to compensate for the position coordinate of the water jet (8).

9. The positioning method of the water jet positioning device based on multiple contacts according to claim 6, characterized in that: In step five, the moving base (7) first moves along the Y direction so that the water jet (8) contacts the third sensing sheet (103) and causes the corresponding force sensor (2) to send a signal, and the detection control system records the position coordinate Y1 of the moving base (7) at this time, and then the moving base (7) moves upward along the Z direction by a distance Z2, and then the moving base (7) moves along the Y direction again so that the water jet (8) intersects the third sensing sheet (103) again and causes the corresponding force sensor (2) to send a signal, and the detection control system records the position coordinate Y2 of the moving base (7) at this time, and then the detection control system calculates the tilt angle of the water jet (8) along the Y direction according to the position coordinates Y1, Y2 and the distance Z2.

10. The positioning method of the water jet positioning device based on multiple contacts according to claim 6, characterized in that: In step seven, the moving base (7) moves along the Y direction so that the water jet (8) first contacts the third sensing sheet (103) and causes the corresponding force sensor (2) to send a signal, and the detection control system records the position coordinate Y3 of the moving base (7) at this time, and then the moving base (7) moves in the opposite direction along the Y direction so that the water jet (8) contacts the fourth sensing sheet (104) on the other side and causes the corresponding force sensor (2) to send a signal, and the detection control system records the position coordinate Y4 of the moving base (7) at this time, and then the detection control system compares the position difference between Y3 and Y4 and the theoretical distance between the third sensing sheet (103) and the fourth sensing sheet (104) and calibrates the diameter D of the water jet (8) along the Y direction, and calculates the difference between (Y3+Y4) / 2 and the center coordinate of the jet hole (9) along the Y direction, and then the moving base (7) moves along the Y direction to compensate for the position coordinate of the water jet (8).

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