Three-dimensional five-axis cutting head and control method thereof

Abstract

The present application relates to the field of laser processing, and specifically provides a three-dimensional five-axis cutting head and a control method thereof, comprising a nozzle, characterized in that a left height sensor is arranged on the left side of the nozzle, a right height sensor is arranged on the right side of the nozzle, a middle height sensor is arranged between the left and right sides, a follow-up assembly is arranged on the nozzle, the follow-up assembly is connected with a swing shaft, the swing shaft is connected with a rotating shaft, and the rotating shaft is connected with a power assembly. Compared with the prior art, the height distance between the nozzle and the non-metal workpiece is detected in real time by using the height sensor, the perpendicular distance is calculated, and then the follow-up shaft of the three-dimensional five-axis cutting head is adjusted according to the perpendicular distance and the set height distance, so that the height of the nozzle and the non-metal workpiece is always kept at the set height.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser processing, and specifically provides a three-dimensional five-axis cutting head and a control method thereof. BACKGROUND

[0002] The application scenarios of the existing three-dimensional five-axis cutting head and control method are all for cutting, punching and trimming processes of metal plates, pipes and three-dimensional parts with complex curved surface structures. Since the workpiece may be deformed, or other problems may occur due to the placement of the workpiece, there may be deviations between the actual work and the theoretical workpiece. Such deviations in the already set cutting path may affect the cutting effect and may also cause the cutting head to collide with the part.

[0003] When the three-dimensional five-axis cutting head cuts non-metal three-dimensional parts or special-shaped pipes, the height distance between the nozzle and the workpiece cannot be obtained through the capacitive height sensor, so the function of the follow-up system cannot be realized. How to solve the problem that the capacitive height sensor and its system cannot handle the cutting of non-metal three-dimensional parts is a problem that needs to be solved by those skilled in the art. SUMMARY

[0004] The present application is aimed at the deficiencies of the prior art, and provides a three-dimensional five-axis cutting head which is reasonable in design and safe and suitable for use.

[0005] The further technical task of the present application is to provide a three-dimensional five-axis cutting head control method which is highly practical.

[0006] The technical solution adopted by the present application to solve the technical problems is as follows:

[0007] A three-dimensional five-axis cutting head, comprising a nozzle, a left height sensor arranged on the left side of the nozzle, a right height sensor arranged on the right side of the nozzle, a middle height sensor arranged between the left and right sides, a follow-up assembly arranged on the nozzle, a swing shaft connected to the follow-up assembly, a rotating shaft connected to the swing shaft, and a power assembly connected to the rotating shaft.

[0008] Further, based on the three-dimensional five-axis cutting head, first, the left height sensor, the middle height sensor and the right height sensor form a height detection system, the height detection system detects the height of the workpiece surface, and then calculates the height of the nozzle end plane from the workpiece surface according to the detected height, the height being the height of the laser from the nozzle end plane to the workpiece surface;

[0009] The height detection system transmits the height information to the control system, and the control system calculates the distance of the swing shaft movement according to the currently set follow-up height, the distance of the movement of the follow-up assembly being the distance that the follow-up assembly of the three-dimensional head actuator needs to move;

[0010] The three-dimensional head actuator moves through the transmission of the servo assembly to make the height distance between the nozzle end plane and the workpiece surface approach the set height.

[0011] Further, the servo assembly is operated to attach the nozzle to the workpiece surface, and the position values of the left, middle and right height sensors are all cleared to zero, i.e. the nozzle end plane is at the distance detection zero point;

[0012] Then the cutting head is gradually moved away from the workpiece surface, and when the laser red light and the height sensor spot to the workpiece surface coincide, this is the maximum height position of the servo adjustment;

[0013] The distance between the nozzle end plane and the workpiece surface is measured, the installation angle between the height sensor and the nozzle end plane is calculated, and the angle information is input to the height detection system.

[0014] Further, when cutting occurs, the height detection system calculates the current height from the workpiece surface according to the data collected by the height sensor;

[0015] The height information is transmitted to the control system, the control system calculates with the set height, and the calculation result drives the servo mechanism to move, and the servo assembly moves to the target position.

[0016] Further, when calculating the current height from the workpiece surface, h is the height of the nozzle end plane from the workpiece surface, d1 is the distance value of the left height sensor from the nozzle end plane to the workpiece surface;

[0017] d2 is the distance value of the middle height sensor from the nozzle end plane to the workpiece surface;

[0018] d3 is the distance value of the right height sensor from the nozzle end plane to the workpiece surface;

[0019] α is the angle between the detection direction of the left height sensor and the direction of the nozzle end plane;

[0020] β is the angle between the detection direction of the middle height sensor and the direction of the nozzle end plane;

[0021] γ is the angle between the detection direction of the right height sensor and the direction of the nozzle end plane;

[0022] The installation angle between the left height sensor and the middle height sensor is The installation angle between the left height sensor and the right height sensor is

[0023] Further, A is the intersection point of the left height sensor from the nozzle end plane, and the workpiece surface, B is the intersection point of the middle height sensor from the nozzle end plane, and the workpiece surface, C is the intersection point of the right height sensor from the nozzle end plane, and the workpiece surface;

[0024] 0 According to the height calibration, when the height sensor beam coincides with the laser red light beam, the distance d of the height sensor, and the angle a of the height sensor, Z o = sin a * d;

[0025] In addition, the radius AO of the nozzle end plane is cos a * d.

[0026] Further, the coordinates of the a point are X a = cos a * (d - d1), Y a = 0, Z a = sin a * (d - d1);

[0027] The coordinates of the b point are Z b = sin a * d - sin b * d2;

[0028] The coordinates of the c point are Z c = sin a * d - sin c * d3.

[0029] Further, according to and The cross product of the two is the normal vector of the workpiece plane

[0030] Where,

[0031] a = (Y b - Y a ) * (Z c - Z a ) - (Y c - Y a ) * (Z b - Z a ) = Y b (Z c - Z a ) - Y c (Z b - Z a );

[0032] b = (Z b - Z a ) * (X c - X a)-(Z c -Z a )*(X b -X a );

[0033] c=(X b -X a )*(Y c -Y a )-(X c -X a )*(Y b -Y a )=Y c (X b -X a )-Y b (X c -X a );

[0034] The equation of the plane is a*X+b*Y+c*Z=K, where K=a*X a +c*Z a ;

[0035] The intersection of the plane and the Z axis is

[0036] Finally, the height between the nozzle end plane and the workpiece surface is

[0037] Compared with the prior art, the three-dimensional five-axis cutting head and control method thereof of the present invention have the following outstanding beneficial effects:

[0038] The present invention uses a height sensor to detect the height distance between the nozzle and the non-metallic workpiece in real time, calculates the vertical distance, and then adjusts the follower axis of the three-dimensional five-axis cutting head according to the vertical distance and the set height distance, so that the height between the nozzle and the non-metallic workpiece always maintains the set height. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Attachment Figure 1 It is a structural diagram of a three-dimensional five-axis cutting head;

[0041] Attachment Figure 2 It is a schematic diagram of a three-dimensional five-axis cutting head control method;

[0042] AttachmentFigure 3 It is a control flow diagram of a three-dimensional five-axis cutting head control method.

[0043] The Figure 4 It is a structure diagram of a three-dimensional five-axis cutting head control method (one).

[0044] The Figure 5 It is a structure diagram of a three-dimensional five-axis cutting head control method (two).

[0045] The marks in the drawings respectively represent:

[0046] 31, workpiece surface, 32, nozzle, 33, right height sensor, 34, middle height sensor, 35, left height sensor, 36, follow-up assembly, 37, swing shaft, 38, rotating shaft, 41, nozzle end plane. DETAILED DESCRIPTION

[0047] In order for those skilled in the art to better understand the scheme of the present application, the present application will be further described in detail below in combination with specific embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0048] A preferred embodiment is given below:

[0049] As Figure 1 shown, the three-dimensional five-axis cutting head in the embodiment includes a nozzle 32, the left side of the nozzle 32 is provided with a left height sensor 35, the right side is provided with a right height sensor 33, the left and right sides are provided with a middle height sensor 34, the nozzle 32 is provided with a follow-up assembly 36, the follow-up assembly 36 is connected to a swing shaft 37, the swing shaft 37 is connected to a rotating shaft 38, and the rotating shaft 38 is connected to a power assembly.

[0050] As Figure 2 shown, a three-dimensional five-axis cutting head control method is based on the above-mentioned three-dimensional five-axis cutting head. First, the left height sensor 35, the middle height sensor 34, and the right height sensor 33 form a height detection system, the height detection system performs distance detection to detect the height of the workpiece surface 31, and then calculates the height of the nozzle end plane 41 from the workpiece surface 31 according to the detected height, which is the height of the laser from the nozzle end plane 41 to the workpiece surface 31.

[0051] The height detection system transmits the height information to the control system, and the control system calculates the distance of the follow-up assembly 36 movement according to the currently set follow-up height, which is the distance that the follow-up assembly 36 of the three-dimensional head actuator needs to move.

[0052] The three-dimensional head actuator moves through the transmission of the follower assembly 36, so that the height distance between the nozzle end plane 41 and the workpiece surface 31 approaches the set height.

[0053] like Figure 3 As shown, the follower assembly 36 is marked, the nozzle 32 is fitted to the workpiece surface 31, and then the position values ​​of the left 35, middle 34 and right height sensors 33 are all cleared, that is, the nozzle end plane 41 is the distance detection zero point;

[0054] Then gradually move the cutting head away from the workpiece surface 31. When the laser red light coincides with the light spot from the height sensor to the workpiece surface 31, this is the maximum height position for follow-up adjustment.

[0055] The distance between the nozzle end plane 41 and the workpiece surface 31 is measured, the installation angle between the height sensor and the nozzle end plane 41 is calculated, and the angle information is input into the height detection system.

[0056] When cutting occurs, the height detection system calculates the current height 31 from the workpiece surface based on the data collected by the height sensor;

[0057] The height information is transmitted to the control system, and the control system performs calculations based on the set height. The calculation results drive the follower mechanism to move, and the follower assembly 36 moves to the target position.

[0058] like Figure 4 As shown, when calculating the current height from the workpiece surface 31, h is the height from the nozzle end plane 41 to the workpiece surface 31, and d1 is the distance value between the left height sensor 35 at the nozzle end plane 41 and the workpiece surface 31;

[0059] d2 is the distance between the middle height sensor 34 at the nozzle end plane 41 and the workpiece surface 31;

[0060] d3 is the distance between the right height sensor 33 at the nozzle end plane 41 and the workpiece surface 31;

[0061] α is the angle between the detection direction of the left height sensor 35 and the direction of the nozzle end plane 41;

[0062] β is the angle between the detection direction of the middle height sensor 34 and the direction of the nozzle end plane 41;

[0063] γ is the angle between the detection direction of the right height sensor 33 and the direction of the nozzle end plane 41;

[0064] The installation angle between the left height sensor 35 and the middle height sensor 34 is The installation angle between the left height sensor 35 and the right height sensor 33 is

[0065] Assume A is the intersection of left height sensor 35 from the nozzle end plane 41, and the workpiece surface 31 as a, B is the intersection of middle height sensor 34 from the nozzle end plane 41, and the workpiece surface 31 as b, C is the intersection of right height sensor 33 from the nozzle end plane 41, and the workpiece surface 31 as c.

[0066] 0 According to the height calibration, when the height sensor beam coincides with the laser red light beam, the distance d of the height sensor, and the angle a of the height sensor, Z o = sin a * d;

[0067] In addition, the radius AO of the nozzle end plane 41 is cos a * d.

[0068] The coordinates of the a point are X a = cos a * (d-d1), Y a = 0, Z a = sin a * (d-d1);

[0069] The coordinates of the b point are Z b = sin a * d-sin b * d2;

[0070] The coordinates of the c point are Z c = sin a * d-sin Y * d3.

[0071] Again according to and The cross product of the two is the normal vector of the workpiece plane

[0072] Where,

[0073] a = (Y b -Y a ) * (Z c -Z a ) - (Y c -Y a ) * (Z b -Z a ) = Y b (Z c -Z a ) - Y c (Z b -Z a );

[0074] b = (Z b -Za )*(X c -X a )-(Z c -Z a )*(X b -X a );

[0075] c=(X b -X a )*(Y c -Y a )-(X c -X a )*(Y b -Y a )=Y c (X b -X a )-Y b (X c -X a );

[0076] The equation of the plane is a*X+b*Y+c*Z=K, wherein K=a*X a +c*Z a ;

[0077] The intersection point of the plane and the Z axis is

[0078] Finally, the height of the nozzle end plane 41 and the workpiece surface 31 is

[0079] As shown in Figure 5 , to simplify the calculation scheme, when and are 90° and 180° respectively, X b =0, Y c =0.

[0080] When α and β and Y are equal;

[0081]

[0082] When the nozzle end plane 31 is parallel to the workpiece surface 42, d1=d2=d3;

[0083] It can be concluded that the height of the nozzle 32 from the workpiece surface is h=sinα*d1.

[0084] The above specific embodiments are only specific cases of the present application, the patent protection scope of the present application includes but is not limited to the above specific embodiments, any appropriate changes or replacements made by any person skilled in the art to the three-dimensional five-axis cutting head and its control method according to the claims of the present application and any of the above technical fields shall fall within the patent protection scope of the present application.

[0085] Although embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method of controlling a three-dimensional five-axis cutting head, characterized by, The three-dimensional five-axis cutting head includes a nozzle, a left height sensor is provided on the left side of the nozzle, a right height sensor is provided on the right side of the nozzle, and a middle height sensor is provided between the left and right sides. A follower assembly is provided on the nozzle, the follower assembly is connected to the swing shaft, the swing shaft is connected to the rotating shaft, and the rotating shaft is connected to the power assembly; First, the left height sensor, the middle height sensor, and the right height sensor constitute a height detection system. The height detection system performs distance detection to detect the height of the workpiece surface, and then calculates the height of the nozzle end plane from the workpiece surface based on the detected height. The heights of the left height sensor, the middle height sensor, and the right height sensor are the heights of the laser from the nozzle end plane to the workpiece surface. The height detection system transmits the height information to the control system, and the control system calculates the distance the follower shaft moves according to the currently set follower height. The distance the follower assembly moves is the distance the follower assembly of the three-dimensional head actuator needs to move. The three-dimensional head actuator moves through the transmission of the follower assembly, so that the height distance between the nozzle end plane and the workpiece surface approaches the set height.

2. The method of claim 1, wherein, Mark the follower assembly, fit the nozzle to the workpiece surface, and then clear the position values ​​of the left, middle, and right height sensors to zero, that is, the nozzle end plane is the distance detection zero point; Then gradually move the cutting head away from the workpiece surface. When the laser red light coincides with the light spot from the height sensor to the workpiece surface, this is the maximum height position for follow-up adjustment. Measure the distance between the nozzle end plane and the workpiece surface, calculate the installation angle between the height sensor and the nozzle end plane, and input the angle information into the height detection system.

3. The method of claim 2, wherein, When cutting occurs, the height detection system calculates the current height from the workpiece surface based on the data collected by the height sensor; The height information is transmitted to the control system, and the control system calculates with the set height. The calculation result drives the follower mechanism to move, and the follower component moves to the target position.

4. The method of claim 3, wherein, When calculating the current height from the workpiece surface, h is the height from the nozzle end plane to the workpiece surface, and d1 is the distance between the left height sensor at the nozzle end plane and the workpiece surface; d2 is the distance between the middle height sensor at the nozzle end plane and the workpiece surface; d3 is the distance between the right height sensor at the nozzle end plane and the workpiece surface; α is the angle between the detection direction of the left height sensor and the plane direction of the nozzle end; β is the angle between the detection direction of the middle height sensor and the plane direction of the nozzle end; γ is the angle between the detection direction of the right height sensor and the plane direction of the nozzle end; The left height sensor and the middle height sensor are installed at an angle of The left height sensor and the right height sensor are installed at an angle of 5. The method of claim 4, wherein ,A is the emission point of the left height sensor starting from the nozzle end plane, and the intersection with the workpiece surface is a, B is the emission point of the middle height sensor starting from the nozzle end plane, and the intersection with the workpiece surface is b, C is the emission point of the right height sensor starting from the nozzle end plane, and the intersection with the workpiece surface is c; O According to the height calibration, when the height sensor beam coincides with the laser red light beam, the distance d of the height sensor and the angle a of the height sensor are obtained Z O = sin a * d; In addition, the radius AO of the nozzle tip plane is cosα*d.

6. The method of claim 5, wherein , the coordinates of the point a are X a = cos a (d - d1), Y a = 0, Z a = sin a (d - d1); The coordinates of point b are Z b = sin a * d - sin b * d2; The coordinates of point c are Z c = sin a * d - sin g * d3.

7. The method of claim 6, wherein , again according to and the cross product of which is the normal vector of the workpiece plane wherein a = (Y b -Y a )*(Z c -Z a )-(Y c -Y a )*(Z b -Z a ) = Y b (Z c -Z a )-Y c (Z b -Z a ); b = (Z b - Z a )*(X c - X a ) - (Z c - Z a )*(X b - X a ); c = (X b - X a )*(Y c - Y a ) = Y c (X a - X b )*(Y a - Y c ) = Y b (X a - X b )*(Y c - Y a ) The equation of the plane is a*X + b*Y + c*Z = K, where K = a*X a + b*Y + c*Z a ; The intersection of the plane with the Z-axis is The height of the nozzle tip plane from the workpiece surface is ultimately

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