A laser cutting machine groove cutting compensation method, system and computing terminal

Abstract

The present invention provides a method, system and computing terminal for compensating the groove cutting of a laser cutting machine, which controls the cutting head to move to the center of the chuck along a first defined direction; performs follow-up calibration on the four faces of the pipe; executes a four-point centering process, and detects the follow-up heights of the four points in a second defined direction; calculates the compensation amount of the actual rotation center of the pipe according to the follow-up heights measured at the four points and the angle of rotation of the rotating shaft; detects the positive follow-up height and the negative follow-up height, calculates the inclination angle of the pipe, and corrects the cutting trajectory of the compensation cutting head with a preset compensation amount; detects the compensation value according to the difference between the compensated follow-up height and the follow-up height during actual cutting, and determines whether the compensation value is within the error range. The present invention performs compensation when cutting the groove, improves the accuracy of the cutting process, can monitor the cutting process in real time, and verifies the state of the rotation center and the swing head center, to ensure the accuracy of the cutting process.

Description

Background Art

[0002] The center coordinates of the rotating axis of the metal pipe cutting system are important parameters for cutting operations. There will be certain errors in the clamping center of the metal pipe during assembly and measurement, and due to the process conditions of the chuck clamping, the chuck center and the rotation center may not coincide, which will affect the cutting accuracy. Therefore, the pipe must be compensated to find the rotation center of the pipe and improve the cutting accuracy. In groove cutting, the angle of the swing head is an important parameter in the CNC system. If the pipe is deformed due to gravity and material reasons, the cutting head will swing to the opposite angle during the cutting process, reducing the cutting accuracy. Therefore, the cutting trajectory must be corrected according to different pipes to improve the cutting accuracy.

[0003] If manual measurement is used, certain errors will also occur, and the measurement time will be long; if special sensors are used for measurement, the cost is high, the measurement steps are more complicated, which affects the cutting efficiency, and it is impossible to monitor in real time to verify whether the rotation center and the swing head center are correct. Summary of the invention

[0004] In order to overcome the problem that manual measurement produces certain errors and cannot achieve real-time monitoring, the present invention hereby provides the following three aspects.

[0005] The first aspect involves a laser cutting machine groove cutting compensation method, which uses an efficient measurement method to make the measurement result more accurate and can perform real-time detection when cutting the groove.

[0006] Laser cutting machine groove cutting compensation methods include:

[0007] Step 1: Control the cutting head to move to the center of the chuck along a first defined direction;

[0008] Step 2: Perform follow-up calibration on the four surfaces of the pipe;

[0009] The control axis is rotated to 0, 90, 180 and 270 degrees in sequence to perform a four-point centering process, and the following heights of the four points in the second defined direction are detected;

[0010] Step 3: Calculate the compensation amount of the actual rotation center of the pipe according to the follow-up height measured by four-point centering and the rotation angle of the rotation axis;

[0011] Step 4: sequentially detect the positive follow-up height when the cutting head swings to the maximum positive angle and the negative follow-up height when the cutting head swings to the maximum negative angle, calculate the pipe inclination angle, and obtain the Z-axis compensation height difference generated when the cutting head swings;

[0012] Step 5: Correct the cutting trajectory of the compensation cutting head by the total Z-axis compensation height difference, and detect the compensation value according to the difference between the compensated follow-up height and the follow-up height during actual cutting to determine whether the compensation value is within the error range.

[0013] It should be further explained that a height sensor is installed on the cutting head to detect the distance between the cutting head and the surface of the pipe.

[0014] It should be further explained that in step 3, the 0 degree state is set as the first side of the pipe, the 90 degree state is set as the second side of the pipe, the 180 degree state is set as the second side of the pipe, and the 270 degree state is set as the fourth side of the pipe;

[0015] The offset of the tube rotation center relative to the chuck center is obtained through the follow-up height difference between the first surface and the third surface and the follow-up height difference between the second surface and the fourth surface;

[0016] Calculate the compensation value of the first defined direction based on the follow-up heights measured on the four surfaces and the compensation value of the second defined direction , then:

[0017] ; .

[0018] It should be further explained that, according to the compensation value of the first defined direction , compensation value of the second defined direction and the pipe rotation angle α, calculate the theoretical Z-axis compensation height difference before and after compensation :

[0019] ;

[0020] α is the tube rotation angle, k is a constant, and its value range is 55-60.

[0021] It should be further explained that, in step 4, the compensation amount generated when the cutting head swings is calculated based on the follow-up height difference obtained by swinging the cutting head twice.

[0022] It should be further explained that according to the maximum swing angle B of the cutting head max , the distance L3 from the cutting head rotation point to the cutting head and the follow-up height difference Z difference Get the pipe inclination angle :

[0023] ;

[0024] According to the distance L3 from the cutting head rotation point to the cutting head and the angle B of the cutting head swing tube and pipe inclination angle Get the swing Z axis to compensate for the height difference,

[0025] The calculation method is:

[0026] .

[0027] It should be further explained that in step 5,

[0028] The total Z-axis compensation height difference is calculated by the following formula

[0029] ;

[0030] Compensate the height difference of the total Z axis Compare the compensated follow-up height with the actual follow-up height during cutting to obtain a comparison difference, and determine whether the comparison difference is within the error range;

[0031] If the comparison difference is within the error range, the laser cutting groove compensation meets the requirements;

[0032] If the comparison difference exceeds the error range, steps 1 to 5 are repeated until the comparison difference is within the error range.

[0033] The second aspect relates to a bevel cutting compensation system for a laser cutting machine, the system comprising: a coordinate system setting module, a calibration module, a cutting head control module, a chuck control module and a data processing module;

[0034] A coordinate system setting module, used to obtain a cutting coordinate system set by a user, and set a first defined direction and a second defined direction in the cutting coordinate system;

[0035] A cutting head control module, used to receive a control instruction input by a user and control the cutting head to move to the center of the chuck along a first defined direction;

[0036] The calibration module is used to calibrate the four surfaces of the pipe according to the user's control instructions;

[0037] The chuck control module is used to control the rotation of the rotating shaft, and the calibration module sets the 0 degree state as the first side of the pipe, the 90 degree state as the second side of the pipe, the 180 degree state as the second side of the pipe, and the 270 degree state as the fourth side of the pipe;

[0038] The data processing module performs a four-point centering process based on 0 degrees, 90 degrees, 180 degrees and 270 degrees, and detects the following heights of the four points in the second defined direction;

[0039] The data processing module calculates the compensation amount of the actual rotation center of the pipe according to the follow-up height measured at four points and the rotation angle of the rotation axis;

[0040] The positive follow-up height when the cutting head swings to the maximum positive angle and the negative follow-up height when the cutting head swings to the maximum negative angle are detected in sequence, the inclination angle of the pipe is calculated, and the cutting trajectory of the cutting head is corrected and compensated by the preset compensation amount;

[0041] The compensation value is detected according to the difference between the compensated following height and the following height during actual cutting to determine whether the compensation value is within the error range.

[0042] The third aspect relates to a computing terminal with cutting compensation, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of a laser cutting machine bevel cutting compensation method when executing the program.

[0043] It can be seen from the above technical solutions that the present invention has the following advantages:

[0044] The laser cutting machine groove cutting compensation method involved in the present invention can be applied to the laser cutting groove process and procedure, for example, and can control the laser cutting head to calibrate the chuck center, rotate the rotating axis in four directions, and detect the follow-up height between the laser cutting head and the surface of the cut pipe. The position of the actual rotation center point of the pipe is calculated based on the follow-up height difference between the cutting head and the pipe surface on two opposite surfaces of the four faces; the actual inclination angle of the pipe is calculated based on the swing angle of the cutting head and the follow-up height of the cutting head relative to the pipe surface, and the swing angle of the cutting head is compensated. In actual cutting, the actual follow-up height is compared with the cutting angle to verify whether the compensated value is within the error range. In this way, the accuracy of the cutting process is improved, the cutting process can be monitored in real time, and the status of the rotation center and the swing head center can be verified to ensure the accuracy of the cutting process.

[0045] The present invention compensates for the cutting groove and improves the precision of the cutting process, and can also monitor the cutting process in real time and verify the status of the rotation center and the swing head center, thereby solving the problem that if manual measurement is used, certain errors will be generated and the measurement time will be long. The present invention does not need to use a special sensor for measurement, nor does it need to stop cutting during the measurement process, thereby improving the cutting efficiency and avoiding the inability to monitor and verify in real time whether the rotation center and the swing head center meet the error requirements in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0047] Figure 1It is a flow chart of the compensation method for bevel cutting of laser cutting machine;

[0048] Figure 2 Schematic diagram of the pipe cross section and coordinate system;

[0049] Figure 3 It is a schematic diagram of four-point calibration;

[0050] Figure 4 It is a schematic diagram of the pipe rotation angle;

[0051] Figure 5 Schematic diagram of the deviation between the rotation center and the chuck center in the Y and Z directions;

[0052] Figure 6 for Figure 5 The enlarged schematic diagram at A in the middle;

[0053] Figure 7 for Figure 5 The enlarged schematic diagram of point B in the middle;

[0054] Figure 8 Schematic diagram of the bevel cutting compensation system of the laser cutting machine. DETAILED DESCRIPTION

[0055] like Figure 1 As shown, the diagram provided in the laser cutting machine bevel cutting compensation method provided by the present invention only illustrates the basic concept of the present invention in a schematic manner, and thus the diagram only shows the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0056] The laser cutting machine groove cutting compensation method provided by the present invention can acquire and process the associated data based on artificial intelligence technology. Artificial Intelligence (AI) is the theory, method, technology and application device that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0057] like Figure 1The flowchart of the preferred embodiment of the laser cutting machine groove cutting compensation method of the present invention is shown. The laser cutting machine groove cutting compensation method is applied to one or more computing terminals, and the computing terminal is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), digital signal processors (DSP), embedded devices, etc.

[0058] The computing terminal can be any electronic product that can perform human-computer interaction with a user, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), an interactive network television (IPTV), etc.

[0059] The computing terminal may also include network equipment and / or user equipment, wherein the network equipment includes, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud consisting of a large number of hosts or network servers based on cloud computing.

[0060] The network where the computing terminal is located includes but is not limited to the Internet, wide area network, metropolitan area network, local area network, virtual private network (VPN), etc.

[0061] The following will be combined Figures 1 to 7 The laser cutting machine groove cutting compensation method of the present invention is described in detail, including:

[0062] S101: Control the cutting head to move to the center of the chuck along a first defined direction;

[0063] S102: performing follow-up calibration on four surfaces of the pipe; the pipe involved in the present invention is a metal pipe such as a square pipe or a rectangular pipe.

[0064] The control axis is rotated to 0, 90, 180 and 270 degrees in sequence to perform a four-point centering process, and the following heights of the four points in the second defined direction are detected;

[0065] S103: Calculate the compensation amount Z of the actual rotation center of the pipe according to the Z-axis follow-up height and the rotation angle of the rotation axis measured by the four-point centering. center ;

[0066] S104: sequentially detect the positive follow-up height when the cutting head swings to the maximum positive angle and the negative follow-up height when the cutting head swings to the maximum negative angle, calculate the pipe inclination angle relative to the plane formed by the X and Y axes, and obtain the Z-axis compensation height difference Z generated when the cutting head swings sway ;

[0067] It can be understood that the plane formed by the X and Y axes is the plane formed by the first defined direction and the second defined direction of the present invention.

[0068] S105: Correct the cutting trajectory Z of the cutting head by compensating the height difference of the total Z axis all , and detect the compensation value according to the difference between the compensated following height and the following height during actual cutting to determine whether the compensation value is within the error range.

[0069] The laser cutting machine groove cutting compensation method involved in the present invention can be applied to the laser cutting groove process and procedure, for example, and can control the laser cutting head to calibrate the chuck center, rotate the rotating axis in four directions, and detect the follow-up height between the laser cutting head and the surface of the cut pipe. The position of the actual rotation center point of the pipe is calculated based on the follow-up height difference between the cutting head and the pipe surface on two opposite sides of the four faces; the actual inclination angle of the pipe is calculated based on the swing angle of the cutting head and the follow-up height of the cutting head relative to the pipe surface, and the cutting head trajectory is compensated. In actual cutting, the difference between the follow-up height after compensation and the follow-up height during actual cutting is used to detect whether the compensation value is within the error range. In this way, the accuracy of the cutting process is improved, the cutting process can be monitored in real time, and the status of the rotation center and the swing head center can be verified to ensure the accuracy of the cutting process.

[0070] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0071] It should be understood that the order of execution of the steps in the following embodiments does not imply a precedence of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0072] The bevel cutting calibration method of the laser cutting equipment provided by the present invention adopts a right-handed Cartesian coordinate system, where the up and down directions are the Z-axis direction, the front and back directions are the Y-axis direction, and the left and right directions are the X-axis direction. Figure 2As shown, the first defined direction can be defined as the Y-axis direction in the right-handed Cartesian coordinate system, and the second defined direction can be defined as the Z-axis direction in the right-handed Cartesian coordinate system. The length and width of the pipe can be measured by the caliper, and the measurement output of the pipe is input into the control system to facilitate the subsequent control and calculation.

[0073] The present invention needs to obtain the distance between the cutting head and the pipe surface during execution. In this embodiment, a capacitive height adjustment sensor can be used to obtain distance information. During the descent of the cutting head, the sensor can sense the distance from the pipe surface in real time, and control the cutting head to stop descending when the preset distance is reached, and can display the distance from the pipe surface; or the distance to the pipe surface can be measured by a laser ranging sensor, and the cutting head can be controlled to stop descending when it descends to a certain distance, and can display the distance from the pipe surface.

[0074] Further speaking, if Figure 3 As shown, the specific process of the four-point search involved in the embodiment of the present invention is as follows:

[0075] A1. Set T to represent the chuck center and t to represent the actual rotation center of the pipe. Figure 4 The angle of the pipe rotation is the angle between the central axis of the pipe and the vertical direction, which is represented by α (0≤α≤45°), and the angle of the rotation axis is γ, with the clockwise direction as the positive direction. The actual rotation center of the pipe will be offset from the chuck center. Taking the chuck center as the origin, the offset of the rotation center is: the Y direction offset is , the Z-direction offset is .

[0076] In the embodiment provided by the present invention, the 0 degree state is set as the first side of the pipe, the 90 degree state is set as the second side of the pipe, the 180 degree state is set as the second side of the pipe, and the 270 degree state is set as the fourth side of the pipe;

[0077] A2. Rotate the rotation axis to 0 degrees, that is, the pipe is in the initial position and does not rotate. The cutting head moves to the Y-axis position of the chuck center and waits for the cutting head to descend.

[0078] A3. When the rotation axis is 0 degrees, it is the first side of the pipe, at this time α=0°, the cutting head descends, enters the follow-up state, stops descending after a preset distance from the pipe, collects the first value, and records the Z-axis follow-up height as Z1. The Z-axis follow-up height here is understood as the Z-axis coordinate value of the laser head.

[0079] A4. The rotation axis rotates to 90 degrees, which is the second side of the pipe. It can be understood that the pipe has been rotated 90 degrees. The rotation process can be clockwise or counterclockwise. The specific rotation direction is not limited.

[0080] After the rotation, α=90°, the cutting head descends, enters the follow-up state, stops descending after a certain distance from the pipe, collects the second value, and records the Z-axis follow-up height as Z2.

[0081] A5. The rotating axis rotates to 180 degrees, which is the third side of the pipe. At this time, α=180°. The cutting head descends and enters the follow-up state. It stops descending after a certain distance from the pipe. The third value is collected and the Z-axis follow-up height is recorded as Z3.

[0082] A6. The rotating axis rotates to 270 degrees, which is the fourth side of the pipe. At this time, α=270°. The cutting head descends and enters the follow-up state. It stops descending after a certain distance from the pipe. The fourth value is collected and the Z-axis follow-up height is recorded as Z4.

[0083] A7. According to the Z-axis coordinates of the four surfaces collected, the offset has a direction, and positive is the positive direction. According to the Z-axis coordinate difference between the first surface and the third surface of the pipe, the Z-direction deviation of the actual rotation center relative to the chuck center is obtained. ;According to the Z-axis coordinate difference between the second and fourth surfaces of the pipe, the Y-direction deviation of the actual rotation center relative to the chuck center is obtained .

[0084] The Z-axis offset is ;

[0085] The Y-axis offset is .

[0086] A8. If the tube has no tilt angle in the X-axis direction, the tube is perpendicular to the plane formed by the Y and Z axes. The cutting trajectory of the laser cutting head can be corrected after the rotation center offset compensation.

[0087] This embodiment also calculates the compensation amount of the Z-axis height corresponding to the measured rotation center offset and the pipe rotation angle, such as Figures 5 to 7 As shown, specifically including:

[0088] The compensation amount of the Z axis in the coordinate system includes: the rotation angle α of the tube, the distance d between the theoretical rotation and the actual rotation of the tube surface, the distance m between the chuck center and the rotation center at the angle of the tube inclination, the second rotation angle β that changes according to the change of the tube rotation angle, and the vertical height difference of the cutting point before and after compensation is the compensation amount. .

[0089] The distance between the theoretical rotation of the pipe and the actual rotation of the pipe surface is obtained by the angle of the pipe rotation and the measured rotation center offset:

[0090] ;

[0091] Then, the distance between the chuck center and the rotation center at the tilted angle of the tube is obtained by the rotation angle of the tube and the measured rotation center offset:

[0092] .

[0093] In this way, the Z-axis compensation height difference is calculated by the following formula:

[0094] ;

[0095] Further calculations yield

[0096] Among them, calculate the second rotation angle , The value range of k is 55~60.

[0097] Furthermore, the present invention also relates to a method for identifying the center angle of the swing head during the groove cutting process, that is, sequentially detecting the positive follow-up height when the swing head of the cutting head swings to the maximum positive angle and the negative follow-up height when the swing head of the cutting head swings to the maximum negative angle, calculating the inclination angle of the pipe, and correcting the cutting trajectory of the compensation cutting head with a preset compensation amount;

[0098] The specific steps are as follows:

[0099] B1. The rotation axis rotates to 0 degrees, and the swing head is controlled to swing to the maximum angle in the positive direction. The swing head swings to the positive direction of the X axis, which is B. max+ , control the cutting head to descend, enter the follow-up state, and then stop descending, and then follow up and descend. The relatively stable Z-axis coordinate value is Z B+ .

[0100] B2. Raise the cutting head again and swing it to the maximum negative angle. Swing the head to the negative direction of the X axis. This is B. max- , control the cutting head to descend, enter the follow-up state, until it stops descending, and continue to follow up and descend, and measure the relatively stable Z-axis coordinate value Z B- , the difference in the following heights of the two points can be obtained by measuring the following heights of the two points: .

[0101] B3, raise the cutting head, swing the head to 0 degrees, and calculate the angle of inclination of the pipe relative to the plane formed by the X and Y axes by measuring the height difference between the two points, the maximum angle of the swing head, and the distance from the swing point of the swing head to the cutting head. The angle can be obtained by the height difference between the two points and the maximum angle of the swing head of the cutting head. The method for obtaining the pipe inclination angle of the present invention is as follows:

[0102] .

[0103] in, is the inclination angle of the pipe relative to the plane formed by the X and Y axes. The length of L3 is the distance from the swing point of the swing head to the cutting head, which can be measured by standard parts. max is the maximum angle that the swing head can swing. When it is a positive value, the front of the pipe is warped. At this time, the swing head compensation value is positive, and the pipe swings in the positive direction for a certain angle. When it is a negative value, the back of the pipe is warped. At this time, the swing head compensation value is negative, and it swings in the negative direction for a certain angle.

[0104] B4, line segment 201 is the cutting trajectory after compensation. tube , B tilt Get the swing Z axis to compensate for height differences.

[0105] Swing Z axis to compensate for height differences Get the following formula:

[0106] .

[0107] in, Compensate for the Z-axis height difference caused by the swing of the cutting head. It is the swing angle of the cutting head.

[0108] B5. Correct the cutting trajectory of the cutting head by compensating the height difference of the total Z axis.

[0109] In an embodiment of the present invention, the total Z-axis compensation height difference is obtained by the following formula:

[0110]

[0111] Right now

[0112] .

[0113] B6. Make compensation correction according to the total Z-axis compensation height difference before and after compensation, and correct the cutting track of the cutting head with the compensation amount. Compare the compensated follow-up height with the actual follow-up height during cutting to obtain a comparison difference, and determine whether the comparison difference is within the error range;

[0114] If the comparison difference is within the error range, the laser cutting groove compensation meets the requirements;

[0115] If the comparison difference exceeds the error range, A2-A8 and B1-B5 can be repeated to compensate for the groove cutting until the comparison difference is within the error range. If the comparison difference still exceeds the error range after the preset number of compensations, an alarm will be issued.

[0116] Based on the above method, the present invention also provides a laser cutting machine groove cutting compensation system, such as Figure 8 As shown, the system includes: a coordinate system setting module, a calibration module, a cutting head control module, a chuck control module and a data processing module;

[0117] A coordinate system setting module, used to obtain a cutting coordinate system set by a user, and set a first defined direction and a second defined direction in the cutting coordinate system;

[0118] A cutting head control module, used to receive a control instruction input by a user and control the cutting head to move to the center of the chuck along a first defined direction;

[0119] The calibration module is used to calibrate the four surfaces of the pipe according to the user's control instructions;

[0120] The chuck control module is used to control the rotation of the rotating shaft, and the calibration module sets the 0 degree state as the first side of the pipe, the 90 degree state as the second side of the pipe, the 180 degree state as the second side of the pipe, and the 270 degree state as the fourth side of the pipe;

[0121] The data processing module performs a four-point centering process based on 0 degrees, 90 degrees, 180 degrees and 270 degrees, and detects the following heights of the four points in the second defined direction;

[0122] The data processing module calculates the compensation amount of the actual rotation center of the pipe according to the follow-up height measured at four points and the rotation angle of the rotation axis;

[0123] The positive follow-up height when the cutting head swings to the maximum positive angle and the negative follow-up height when the cutting head swings to the maximum negative angle are detected in sequence, the inclination angle of the pipe is calculated, and the cutting trajectory of the cutting head is corrected and compensated by the preset compensation amount;

[0124] The compensation value is detected according to the difference between the compensated following height and the following height during actual cutting to determine whether the compensation value is within the error range.

[0125] The present invention relates to a method for compensating when cutting a bevel, improving the accuracy of the cutting process, being able to monitor the cutting process in real time, and verifying the states of the rotation center and the swing head center, thereby ensuring the accuracy of the cutting process. This solves the problem that if manual measurement is used, certain errors will be generated, and the measurement time will be long. The laser cutting machine bevel cutting compensation method of the present invention can perform real-time detection during the cutting process to improve the accuracy. The present invention does not require the use of a special sensor for measurement, nor does it require the cutting to be stopped during the measurement process, thereby improving the cutting efficiency and avoiding the inability to monitor and verify in real time whether the rotation center and the swing head center meet the error requirements in the prior art.

[0126] The laser cutting machine groove cutting compensation method provided by the present invention is a combination of the units and algorithm steps of each example described in the embodiments disclosed herein, and can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0127] Those skilled in the art will appreciate that the various aspects of the laser cutting machine groove cutting compensation method provided by the present invention can be implemented as a system, method or program product. Therefore, various aspects of the present disclosure can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which can be collectively referred to as "circuit", "module" or "system" here.

[0128] The laser cutting machine groove cutting compensation method provided by the present invention can be written in any combination of one or more programming languages ​​to write program codes for performing the operations disclosed herein, and the programming languages ​​include object-oriented programming languages—such as Java, C++, etc., and also include conventional procedural programming languages—such as "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0129] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A laser cutting machine groove cutting compensation method, characterized in that: Methods include: Step 1: Control the cutting head to move to the center of the chuck along a first defined direction; Step 2: Perform follow-up calibration on the four surfaces of the pipe; The control axis is rotated to 0, 90, 180 and 270 degrees in sequence to perform a four-point centering process, and the following heights of the four points in the second defined direction are detected; Step 3: Calculate the compensation amount of the actual rotation center of the pipe according to the follow-up height measured by four-point centering and the rotation angle of the rotation axis; Set the 0 degree state to the first side of the pipe, the 90 degree state to the second side of the pipe, the 180 degree state to the third side of the pipe, and the 270 degree state to the fourth side of the pipe; The offset of the tube rotation center relative to the chuck center is obtained through the follow-up height difference between the first surface and the third surface and the follow-up height difference between the second surface and the fourth surface; Calculate the compensation value of the first defined direction based on the follow-up heights measured on the four surfaces and the compensation value of the second defined direction , then: ； ； Compensation value according to the first defined direction , compensation value of the second defined direction and the pipe rotation angle α, calculate the theoretical Z-axis compensation height difference before and after compensation : ； α is the pipe rotation angle, k is a constant with a value range of 55-60; Step 4: sequentially detect the positive follow-up height when the cutting head swings to the maximum positive angle and the negative follow-up height when the cutting head swings to the maximum negative angle, calculate the pipe inclination angle, and obtain the Z-axis compensation height difference generated when the cutting head swings; The compensation amount generated when the cutting head swings is calculated based on the follow-up height difference obtained by the two swing angles of the cutting head; According to the maximum angle B that the cutting head can swing max , the distance L3 from the cutting head rotation point to the cutting head and the follow-up height difference Z difference Get the pipe inclination angle : ； According to the distance L3 from the cutting head rotation point to the cutting head and the angle B of the cutting head swing tube and pipe inclination angle Get the swing Z axis to compensate for the height difference, The calculation method is: ； Step 5: Correct the cutting trajectory of the compensation cutting head by the total Z-axis compensation height difference, and detect the compensation value according to the difference between the compensated follow-up height and the follow-up height during actual cutting to determine whether the compensation value is within the error range.

2. The laser cutting machine groove cutting compensation method according to claim 1, characterized in that: A height sensor is installed on the cutting head to detect the distance between the cutting head and the pipe surface.

3. The laser cutting machine groove cutting compensation method according to claim 1, characterized in that: In step 5, the total Z-axis compensation height difference is calculated by the following formula: ； Compensate the height difference of the total Z axis Compare the compensated follow-up height with the actual follow-up height during cutting to obtain a comparison difference, and determine whether the comparison difference is within the error range; If the comparison difference is within the error range, the laser cutting groove compensation meets the requirements; If the comparison difference exceeds the error range, steps 1 to 5 are repeated until the comparison difference is within the error range.

4. A laser cutting machine groove cutting compensation system, characterized in that: The system adopts the laser cutting machine groove cutting compensation method as described in any one of claims 1 to 3; The system includes: a coordinate system setting module, a calibration module, a cutting head control module, a chuck control module and a data processing module; A coordinate system setting module, used to obtain a cutting coordinate system set by a user, and set a first defined direction and a second defined direction in the cutting coordinate system; A cutting head control module, used to receive a control instruction input by a user and control the cutting head to move to the center of the chuck along a first defined direction; The calibration module is used to calibrate the four surfaces of the pipe according to the user's control instructions; The chuck control module is used to control the rotation of the rotating shaft, and the calibration module sets the 0 degree state to the first side of the pipe, the 90 degree state to the second side of the pipe, the 180 degree state to the third side of the pipe, and the 270 degree state to the fourth side of the pipe; The data processing module performs a four-point centering process based on 0 degrees, 90 degrees, 180 degrees and 270 degrees, and detects the following heights of the four points in the second defined direction; The data processing module calculates the compensation amount of the actual rotation center of the pipe according to the follow-up height measured at four points and the rotation angle of the rotation axis; The positive follow-up height when the cutting head swings to the maximum positive angle and the negative follow-up height when the cutting head swings to the maximum negative angle are detected in sequence, the inclination angle of the pipe is calculated, and the cutting trajectory of the cutting head is corrected and compensated by the preset compensation amount; The compensation value is detected according to the difference between the compensated following height and the following height during actual cutting to determine whether the compensation value is within the error range.

5. A computing terminal with cutting compensation, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the laser cutting machine groove cutting compensation method as described in any one of claims 1 to 3 are implemented.

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