Laser beveling machine calibration method, computer-readable storage medium and laser beveling machine

Abstract

The application provides a laser beveling machine correction method, a computer readable storage medium and a laser beveling machine. The laser beveling machine correction method comprises the following steps: moving the gun head from a starting position to a horizontal plane below the gun head to reach a reference zero point; rotating the gun head to each detection point of a detection group in turn according to a preset bevel angle and a preset direction angle, wherein the bevel angles of the detection points are equal and the direction angles are different; reading the height values of the reference zero point and the detection points; calculating the offset values of an A-axis, a B-axis and the length of the gun head according to the height values, the bevel angle and the direction angle; and correcting the original point coordinates of the cutting head according to the offset values. The laser beveling machine correction method can quickly and automatically complete measurement correction, ensure machining precision and reduce safety hazards.

Description

Technical Field

[0001] This application belongs to the field of laser processing technology, and more specifically, relates to a laser beveling machine correction method, a computer-readable storage medium, and a laser beveling machine. Background Technology

[0002] With the development of fiber laser cutting applications, the scope of laser cutting processing is expanding, and processing capabilities are constantly improving. Fiber laser cutting is being used more and more widely in beveling sheet metal.

[0003] Among various beveling mechanisms, the AB-axis beveling mechanism is widely used due to its simple mechanical structure. The AB-axis beveling mechanism relies on interpolation control of each axis for its motion. To achieve high-precision beveling posture control, especially to improve the roundness of small-hole beveling cuts, precise mechanical correction parameters, i.e., TCP correction (including obtaining the distances of the A-axis and B-axis from the rotation center, and the equivalent rotation length of the cutting torch), are required. However, traditional TCP correction relies on manual visual observation, repeatedly modifying offset parameters, visually confirming the position, modifying parameters, and confirming again. This process is often time-consuming, lacks accuracy, and poses safety hazards. Summary of the Invention

[0004] This application provides a laser beveling machine calibration method that can quickly and automatically complete measurement and calibration, ensuring processing accuracy and reducing safety hazards.

[0005] The technical solution adopted in this application embodiment is: to provide a laser beveling machine correction method, wherein the laser beveling machine includes a B-axis mounted on an A-axis and a gun head mounted on the B-axis, wherein both the A-axis and the B-axis are rotary axes, and the method includes the following steps:

[0006] The gun head is moved from its initial position to the horizontal plane below it, reaching the reference zero point;

[0007] The gun head is controlled to rotate and follow the preset bevel angle and preset direction angle to each detection point of a detection group. The bevel angle of each detection point is equal and the direction angle is different.

[0008] Read the height values ​​of the reference zero point and each of the detection points;

[0009] The offset values ​​of the A-axis, B-axis, and cutting torch length are calculated based on the height, bevel angle, and direction angle.

[0010] The origin coordinates of the gun head are corrected according to the aforementioned offset values.

[0011] Furthermore, the detection group includes a first detection point, a second detection point, and a third detection point;

[0012] The sum of the direction angles of the first detection point and the second detection point is 360°, and the difference between the direction angles of the first detection point and the third detection point is 180°.

[0013] Further, the step of calculating the offset values ​​of the A-axis, B-axis, and cutting torch length based on the height, bevel angle, and direction angle includes the following steps:

[0014] Based on the corresponding bevel angle and the corresponding direction angle, the A-axis rotation angle and B-axis rotation angle of the first detection point, the A-axis rotation angle and B-axis rotation angle of the second detection point, and the A-axis rotation angle and B-axis rotation angle of the third detection point are calculated respectively.

[0015] The offset value of the A-axis is calculated based on the height values ​​of the first and third detection points, the rotation angle of the A-axis, and the rotation angle of the B-axis.

[0016] The offset value of the B-axis is calculated based on the height values ​​of the first and second detection points, the rotation angle of the A-axis, and the rotation angle of the B-axis.

[0017] The offset value of the cutting torch length is calculated based on the height values ​​of the first detection point and the reference zero point, the rotation angle of the A-axis, and the rotation angle of the B-axis.

[0018] Furthermore, the A-axis rotation angles of the first detection point, the second detection point, and the third detection point are calculated using the following formulas:

[0019] A = -atan(tanV*sinD)

[0020] In the formula, V is the bevel angle, D is the direction angle, and A is the rotation angle of axis A.

[0021] Furthermore, the B-axis rotation angles of the first detection point, the second detection point, and the third detection point are calculated using the following formulas:

[0022] B = asin(sinV*cosD)

[0023] In the formula, V is the bevel angle, D is the direction angle, and B is the rotation angle of the B-axis.

[0024] Furthermore, the offset value of the A-axis is calculated based on the height values ​​of the first and third detection points, the rotation angle of the A-axis, and the rotation angle of the B-axis, using the following formula:

[0025]

[0026] In the formula, lenA is the A-axis offset value, Z1 is the height value of the first detection point, Z3 is the height value of the third detection point, and A3 is the A-axis rotation angle of the third detection point.

[0027] Furthermore, the offset value of the B-axis is calculated based on the height values ​​of the first and second detection points, the rotation angle of the A-axis, and the rotation angle of the B-axis, using the following formula:

[0028]

[0029] In the formula, lenB is the B-axis offset value, Z1 is the height value of the first detection point, Z2 is the height value of the second detection point, B2 is the B-axis rotation angle of the second detection point, and A2 is the A-axis rotation angle of the second detection point.

[0030] Furthermore, the offset value of the cutting torch length is calculated based on the height values ​​of the first detection point and the reference zero point, the rotation angle of the A-axis, and the rotation angle of the B-axis, using the following formula:

[0031]

[0032] In the formula, lenT is the offset value of the cutting torch length, Z1 is the height value of the first detection point, Z0 is the height value of the reference zero point, R is the radius of the cutting torch nozzle, V1 is the bevel angle of the first detection point, lenA is the A-axis offset value, A1 is the A-axis rotation angle of the first detection point, lenB is the B-axis offset value, and B1 is the B-axis rotation angle of the first detection point.

[0033] Furthermore, in the step of controlling the gun head to rotate and follow each detection point of a detection group according to a preset bevel angle and a preset direction angle, wherein the bevel angle of each detection point is equal and the direction angle is different, the detection group has multiple groups;

[0034] In the step of calculating the offset values ​​of the A-axis, B-axis, and cutting torch length based on the height value, bevel angle, and direction angle, the average offset value of the A-axis, the average offset value of the B-axis, and the average offset value of the cutting torch length of each set of calculated offset values ​​of the A-axis, B-axis, and cutting torch length are also calculated to obtain the average offset value of the A-axis, the average offset value of the B-axis, and the average offset value of the cutting torch length.

[0035] In the step of correcting the origin coordinates of the gun head according to each of the offset values, the origin coordinates of the gun head are corrected according to each of the average offset values.

[0036] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the laser beveling machine correction method as described above.

[0037] This application embodiment also provides a laser beveling machine, including a B-axis mounted on an A-axis and a gun head mounted on the B-axis, wherein both the A-axis and the B-axis are rotary axes. The machine is characterized by further including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the laser beveling machine correction method described above.

[0038] The beneficial effects of the laser beveling machine calibration method provided in this application embodiment are as follows: By moving the gun head to various detection points, the offset values ​​of the A-axis, B-axis, and gun head cutting length can be directly calculated based on the height, beveling angle, and direction angle of the detection points. Then, the origin coordinates of the gun head are corrected according to these offset values, thereby achieving calibration of the laser beveling machine. This eliminates the need for repeated modifications, making it convenient and quick, and significantly reducing safety risks. Compared to manual visual inspection and adjustment in related technologies, this method is more time-efficient and convenient, greatly improving work efficiency. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A flowchart of the laser beveling machine correction method provided in the embodiments of this application;

[0041] Figure 2 A schematic diagram of the laser beveling machine head descending from its initial position, as provided in an embodiment of this application.

[0042] Figure 3 A schematic diagram showing the laser beveling machine head rotating to the detection point, as provided in an embodiment of this application.

[0043] Figure 4 A schematic diagram showing the spatial positions of the reference zero point and the detection point in the laser beveling machine calibration method provided in the embodiments of this application;

[0044] Figure 5 This is a schematic diagram showing the zero point and the detection point projected onto the same horizontal plane.

[0045] Figure 6 This is a schematic diagram of the spatial position model of the laser beveling machine cutter provided in the embodiments of this application.

[0046] The following are the labeling elements in the figure:

[0047] 1st, first detection point; 2nd, second detection point; 3rd, third detection point; 0th, reference zero point. Detailed Implementation

[0048] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0049] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0050] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0052] Please see Figure 1 The laser beveling machine correction method provided in the embodiments of this application will now be described.

[0053] The laser beveling machine includes a B-axis mounted on the A-axis and a cutting head mounted on the B-axis, both of which are rotary axes. It can be understood that the cutting head and the B-axis rotate together around the A-axis, and the cutting head can also rotate around the B-axis; that is, this laser beveling machine is an LLLRR type AB-axis beveling mechanism. Furthermore, this laser beveling machine also has conventional X, Y, and Z axes. It reaches the corresponding position by translating along the X, Y, and Z axes, and then the cutting head is aligned with the point to be processed by rotating the A and B axes.

[0054] In actual production, the gun head may deviate after installation depending on the actual situation. Therefore, it needs to be calibrated before processing can begin.

[0055] Conventional calibration requires manual observation of the actual deviation and manual adjustment of controller parameters, which is very tedious. It involves repeatedly confirming the position, modifying the controller parameters, confirming the position again, and modifying the controller parameters again until the error value is small enough, often taking about an hour, which is inefficient. However, the laser beveling machine calibration method of the present application can greatly shorten the time.

[0056] The method includes the following steps:

[0057] S10: Move the gun head from its initial position to the horizontal plane below the gun head, reaching the reference zero point. Figure 2 .

[0058] The initial position is the mechanical origin or standby position of the nozzle. By controlling the nozzle to descend, only the Z-axis changes. The initial position coordinates can be represented as (0, 0, 0, 0, 0) in the form (X, Y, Z, A, B), meaning the X, Y, and Z coordinates are all 0, and the rotation angles of the A and B axes are both 0°. This horizontal plane can be a flat plate placed on the machine tool, leveled, and used as a height reference for the nozzle's subsequent movement. Laser beveling machines are equipped with highly sensitive capacitive sensors. By controlling the nozzle to move to the horizontal plane below it, the Z-axis coordinate can be read. Furthermore, by controlling the nozzle to swing around the A and B axes, the Z-axis coordinate will also change.

[0059] Reference Figure 2 The reference zero point is reached only by moving downwards without rotation or swinging. It can be used in conjunction with subsequent detection points for calculation. The coordinates of the reference point can be represented as (0, 0, Z0, 0, 0).

[0060] S20: Control the gun head to rotate and follow each detection point of a detection group according to the preset bevel angle and preset direction angle. The bevel angle of each detection point is equal and the direction angle is different.

[0061] Reference Figure 3 , Figure 4 and Figure 5 A detection group contains multiple detection points. The probe reaches each detection point by rotating and following the movement, that is, by rotating only the A-axis and B-axis.

[0062] However, since it has not yet been calibrated, there are still deviations between the A-axis and B-axis. If the rotation angles of the A-axis and B-axis are directly input to move to the detection point, the actual arrival of the probe will inevitably be off-target. Therefore, the bevel angle and direction angle are used to control the movement of the probe to the detection point.

[0063] Among them, reference Figure 3 The bevel angle is V, which is the angle between the centerline of the gun head and the vertical line of the horizontal plane. The direction angle is D, which is the angle between the projection of the centerline of the gun head onto the horizontal plane and the positive X-axis of the machine tool, with counterclockwise being positive.

[0064] Specifically, by enabling the 5-axis interpolation command G01THETA[D]PHA[V] on the machine tool, the gun head is controlled to move to each detection point according to the preset direction angle D and the preset bevel angle V.

[0065] Understandably, since the bevel angles of all detection points are equal but the direction angles are different, all detection points are located on a circle on the same horizontal plane, and the direction angle controls their position on that circle. The reference zero point is the first point of calibration detection. Since it is only moved by following the descent, its direction angle and bevel angle are both 0, and its projection on the horizontal plane is exactly at the center of the circle.

[0066] S30: Read the height values ​​of the reference zero point and each of the detection points. Laser beveling machines are equipped with highly sensitive capacitive sensors that can acquire specific height values.

[0067] S40: Calculate the offset values ​​of the A-axis, B-axis, and cutting torch length based on the height, bevel angle, and direction angle.

[0068] In theory, the height values ​​of the gun head should be equal after reaching each detection point. However, due to the installation offset, there is a height difference between each detection point. Therefore, the specific offset value can be calculated by the bevel angle, direction angle, and height difference.

[0069] S50: Correct the origin coordinates of the gun head according to each of the aforementioned offset values.

[0070] The obtained offset value is used to correct the origin coordinates of the gun head, eliminating the deviation. Subsequent drives are calculated on the corrected origin coordinates, thereby ensuring the accuracy of the machining.

[0071] In the laser beveling machine calibration method of this application embodiment, the gun head is moved to various detection points. Based on the height value, beveling angle, and direction angle of the detection points, the offset values ​​of the A-axis, B-axis, and gun head cutting length can be directly calculated. Then, the origin coordinates of the gun head are corrected according to the aforementioned offset values, thereby achieving calibration of the laser beveling machine. This eliminates the need for repeated modifications, making it convenient and quick, and significantly reducing safety risks. Compared to manual visual inspection and adjustment in related technologies, this method is more time-consuming, more convenient, and greatly improves work efficiency.

[0072] Practical verification has shown that the laser beveling machine calibration method of this application can complete the calibration in just 2 minutes. Compared with the approximately 1 hour required for manual visual calibration in related technologies, this greatly improves work efficiency.

[0073] Specifically, in S20, the detection group includes a first detection point 1st, a second detection point 2nd, and a third detection point 3rd. The sum of the direction angles of the first detection point 1st and the second detection point 2nd is 360°, and the difference between the direction angles of the first detection point 1st and the third detection point 3rd is 180°.

[0074] If the direction angle D3 of the third detection point 3rd is θ, then the direction angle D1 of the first detection point 1st is 180°+θ, and the direction angle D2 of the second detection point 2nd is 180°-θ. It can be understood that by setting these direction angle relationships, a reference coordinate system is established on the circle formed by the various detection points and the reference zero point, with the projection of the reference origin onto the horizontal plane as the origin. Then, the first detection point 1st and the second detection point 2nd are symmetrical about the x-axis, and the first detection point 1st and the third detection point 3rd are symmetrical about this origin. Of course, the second detection point 2nd and the third detection point 3rd are symmetrical about the y-axis.

[0075] On the other hand, initially, the gun head is at the reference zero point, and its height is measured as Z0. The gun head reaches the first detection point 1st, and its height is measured as Z1. The gun head reaches the second detection point 2nd, and its height is measured as Z2. The gun head reaches the third detection point 3rd, and its height is measured as Z3.

[0076] Specifically, the first detection point 1st could be D1 = 225, V = 40; the second detection point 2nd could be D2 = 135, V = 40; and the third detection point 3rd could be D3 = 45, V = 40. Alternatively, the first detection point 1st could be D1 = 315, V = 40; the second detection point 2nd could be D2 = 45, V = 40; and the third detection point 3rd could be D3 = 225, V = 40. Another possibility is that the first detection point 1st could be D1 = 180, V = 40; the second detection point 2nd could be D2 = 0, V = 40; and the third detection point 3rd could be D3 = 180, V = 40 (i.e., the third detection point 3rd is equivalent to the first detection point 1st rotated 360°). Alternatively, the first detection point 1st can be set to D1 = 270, V = 40; the second detection point 2nd to D2 = 90, V = 40; and the third detection point 3rd to D3 = 90, V = 40 (i.e., the third detection point 3rd is equivalent to the first detection point 1st rotated by 360°). This allows for the setting of four detection groups. In practical applications, one detection group can be selected, or two, three, or four groups can be used together. After calculating the bias values ​​separately, the average of each bias value is taken to reduce measurement errors and random errors.

[0077] In S40, the step of calculating the offset values ​​of the A-axis, the B-axis, and the cutting torch length based on the height, bevel angle, and direction angle includes the following steps:

[0078] S401: Based on the corresponding bevel angle and the corresponding direction angle, calculate the A-axis rotation angle and B-axis rotation angle of the first detection point 1st, the A-axis rotation angle and B-axis rotation angle of the second detection point 2nd, and the A-axis rotation angle and B-axis rotation angle of the third detection point 3rd.

[0079] The probe head reaches each detection point by rotating along the A-axis and B-axis. When referencing the zero point, the rotation angle of the A-axis is A0, and the rotation angle of the B-axis is B0. Both A0 and B0 are 0.

[0080] When the nozzle reaches the first detection point 1st, it is equivalent to moving from the reference zero point to the first detection point 1st, with the A-axis rotation angle being A1 and the B-axis rotation angle being B1.

[0081] When the nozzle reaches the second detection point 2nd, it is equivalent to moving from the reference zero point to the second detection point 2nd, with an A-axis rotation angle of A2 and a B-axis rotation angle of B2. Since the first detection point 1st and the second detection point 2nd are symmetrical about the x-axis, the A-axis rotation direction is the same, and the B-axis rotation direction is opposite. Therefore, A1 = A2 and B1 = -B2.

[0082] When the nozzle is at the third detection point 3rd, it is equivalent to moving from the reference zero point to the third detection point 3rd. The rotation angle of the A-axis is A3, and the rotation angle of the B-axis is B3. Since the first detection point 1st and the third detection point 3rd are symmetrical about the origin, the rotation directions of the A-axis are opposite, and the rotation directions of the B-axis are the same. Therefore, A1 = -A3, B1 = B3.

[0083] Of course, the A-axis rotation angle and B-axis rotation of each detection point mentioned above are not directly read and need to be calculated further.

[0084] First, we model and analyze the cutting torch of the AB-axis beveling mechanism. The AB-axis mechanical mechanism generally involves the entire AB axis rotating around axis A, with the rotation angle denoted as A. Axis B rotates on the plane formed by the rotation of axis A, with the rotation angle denoted as B. Due to mechanical installation issues, the rotation center of axis A will be offset, denoted as lenA, and the rotation center of axis B will be offset, denoted as lenB. The angle between the cutting torch and the vertical line is denoted as V (i.e., the beveling angle), and the position angle of the cutting horizontal projection is denoted as D (i.e., the direction angle).

[0085] Since the mechanical position offsets lenA and lenB do not affect the relationship between the AB axis angle and DV, when analyzing their relationship, we take lenA = 0, lenB = 0, and the cutting torch length lenT = 1.

[0086] For any azimuth angle D and bevel angle V, the cutting torch position oc is as follows: Figure 6 As shown.

[0087] Let the coordinates of the position c of the spear tip be c(X, Y), then X = sinV*cosD; Y = -sinV*sinD.

[0088] If the length of the cutting torch is lenT = 1, then oc = 1 and oa = cosV.

[0089] Then tanA=ab / oa=Y / oa=-sinV*sinD / cosV=-tanV*sinD,

[0090] We get A = -atan(tanV*sinD).

[0091] And sinB=bc / oc=X / oc=sinV*cosD, we get B=asin(sinV*cosD).

[0092] For a spatial vector P1(lenB, lenA, lenT) rotated around the Y-axis by an angle B (i.e., when the B-axis moves to angle B), the rotated spatial vector can be obtained using the vector rotation formula:

[0093] P1=(-ledT*sinB-lenB*cosB, lenA, lenT*cosB-ledB*sinB)

[0094] After rotating around the X-axis by an angle A (i.e., when the A-axis moves to angle A), the rotated spatial vector P2 is:

[0095] P2=(-lenT0*sinB-lenB0*cosB,

[0096] -lenA0*cosA+lenT0*cosB*sinA-lenB0*sinB*sinA,

[0097] -lenA0*sinA+lenT0-lenT0*cosB*cosA+lenB0*sinB*cosA)

[0098] get:

[0099] X=lenB0-lenT0*sinB-lenB0*cosB

[0100] Y=lenA0-lenA0*cosA+lenT0*cosB*sinA-lenB0*sinB*sinA

[0101] Z=-lenA0*sinA+lenT0-lenT0*cosB*cosA+lenB0*sinB*cosA

[0102] Using the mathematical model above, the relationships between various coordinates, rotation angles, orientation angles, bevel angles, height values, and offset values ​​can be obtained, thereby calculating the offset value.

[0103] Specifically, the A-axis rotation angles of the first detection point 1st, the second detection point 2nd, and the third detection point 3rd are calculated using the following formulas:

[0104] A = -atan(tanV*sinD)

[0105] In the formula, V is the bevel angle, D is the direction angle, and A is the rotation angle of axis A.

[0106] Since the bevel angle V and direction angle D of each detection point are preset and are known values, A1, A2 and A3 can be calculated using this formula.

[0107] Specifically, the B-axis rotation angles of the first detection point 1st, the second detection point 2nd, and the third detection point 3rd are calculated using the following formulas:

[0108] B = asin(sinV*cosD)

[0109] In the formula, V is the bevel angle, D is the direction angle, and B is the rotation angle of the B-axis.

[0110] Since the bevel angle V and direction angle D at each detection point are preset and are known values, B1, B2 and B3 can be calculated using this formula.

[0111] S402: Calculate the offset value of the A-axis based on the height values ​​of the first detection point 1st and the third detection point 3rd, the rotation angle of the A-axis, and the rotation angle of the B-axis;

[0112] The offset value of the B-axis is calculated based on the height values ​​of the first detection point 1st and the second detection point 2nd, the rotation angle of the A-axis, and the rotation angle of the B-axis.

[0113] The offset value of the cutting torch length is calculated based on the height value of the first detection point 1st and the reference zero point, the rotation angle of the A-axis, and the rotation angle of the B-axis.

[0114] Since A1 = -A3 and B1 = B3 at the first detection point 1st and the third detection point 3rd, the A-axis offset value can be calculated from the Z-axis coordinate difference through these two points.

[0115] Since A1 = A2 and B1 = -B2 at the first detection point 1st and the second detection point 2nd, the B-axis offset value can be calculated from the Z-axis coordinate difference between these two points.

[0116] Since the reference zero point is V=0, A=0, B=0, and the first detection point 1st is V1, A1, B1, the cutting torch length offset value can be obtained from the difference of the Z-axis coordinates between these two points.

[0117] Specifically, the offset value of the A-axis is calculated based on the height values ​​of the first detection point 1st and the third detection point 3rd, the rotation angle of the A-axis, and the rotation angle of the B-axis, using the following formula:

[0118]

[0119] In the formula, lenA is the A-axis offset value, Z1 is the height value of the first detection point 1st, Z3 is the height value of the third detection point 3rd, and A3 is the A-axis rotation angle of the third detection point 3rd.

[0120] The height value can be obtained directly as it is a known value. A3 can be calculated using the formula for the rotation angle mentioned earlier. By substituting the calculated value into the above formula, the A-axis offset value can be calculated.

[0121] Similarly, the offset value of the B-axis is calculated based on the height values ​​of the first detection point 1st and the second detection point 2nd, the rotation angle of the A-axis, and the rotation angle of the B-axis, using the following formula:

[0122]

[0123] In the formula, lenB is the B-axis offset value, Z1 is the height value of the first detection point 1st, Z2 is the height value of the second detection point 2nd, B2 is the B-axis rotation angle of the second detection point 2nd, and A2 is the A-axis rotation angle of the second detection point 2nd.

[0124] The height value can be obtained directly as it is a known value. B2 and A2 can be calculated using the formula for the rotation angle mentioned earlier. By substituting the calculated values ​​into the above formula, the B-axis offset value can be calculated.

[0125] Similarly, the offset value of the cutting torch length is calculated based on the height value of the first detection point 1st and the reference zero point, the rotation angle of the A-axis, and the rotation angle of the B-axis, using the following formula:

[0126]

[0127] In the formula, lenT is the offset value of the cutting torch length, Z1 is the height value of the first detection point 1st, Z0 is the height value of the reference zero point, R is the radius of the cutting torch nozzle, V1 is the bevel angle of the first detection point 1st, lenA is the A-axis offset value, A1 is the A-axis rotation angle of the first detection point 1st, lenB is the B-axis offset value, and B1 is the B-axis rotation angle of the first detection point 1st. ABS(V1) represents taking the absolute value of V1.

[0128] The height value is measurable, and the A-axis and B-axis offset values ​​can be calculated from the aforementioned arrangement. The nozzle radius of the cutting torch is a basic parameter of the equipment itself and is a known value. The rotation angle and direction angle are given preset values ​​and are also known values. Therefore, by substituting these values ​​into the above formula, the offset value of the cutting torch length can be calculated.

[0129] Furthermore, in step S20: controlling the gun head to rotate and follow each detection point of a detection group according to a preset bevel angle and a preset direction angle, wherein the bevel angle of each detection point is equal and the direction angle is different, the detection group has multiple groups;

[0130] In the step of calculating the offset values ​​of the A-axis, B-axis, and cutting torch length based on the height value, bevel angle, and direction angle, the average offset value of the A-axis, the average offset value of the B-axis, and the average offset value of the cutting torch length of each set of calculated offset values ​​of the A-axis, B-axis, and cutting torch length are also calculated to obtain the average offset value of the A-axis, the average offset value of the B-axis, and the average offset value of the cutting torch length.

[0131] In the step of correcting the origin coordinates of the gun head according to each of the offset values, the origin coordinates of the gun head are corrected according to each of the average offset values.

[0132] Multiple detection groups can be preset, each with a first detection point 1st, a second detection point 2nd, and a third detection point 3rd. The offset values ​​for the A-axis, B-axis, and cutting torch length are calculated based on the bevel angle and direction angle of each group. Then, the average offset values ​​for the A-axis, B-axis, and cutting torch length are obtained by averaging the multiple A-axis offset values, the average offset values ​​for the B-axis, and the average offset values ​​for the cutting torch length. Finally, the origin coordinates of the cutting torch head are corrected using these three average offset values ​​to reduce measurement errors and random errors.

[0133] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform the steps of the laser beveling machine correction method as described above. The specific steps of this laser beveling machine correction method are as described in the above embodiments. Since this laser beveling machine correction method adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be repeated here.

[0134] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0135] This application also provides a laser beveling machine, including a B-axis mounted on an A-axis and a nozzle mounted on the B-axis. Both the A-axis and the B-axis are rotary axes. The machine is characterized by further including a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the laser beveling machine calibration method described above. The specific steps of this laser beveling machine calibration method are as described in the above embodiments. Since this laser beveling machine calibration method adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be elaborated upon here.

[0136] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A laser beveling machine correction method, the laser beveling machine including a B-axis mounted on an A-axis and a gun head mounted on the B-axis, the A-axis and the B-axis each being a rotation axis, characterized by, The method comprises the following steps: The gun head is followed from the starting position to the horizontal plane below the gun head to reach the reference zero point; The included angle of the bevel angle is defined as the included angle of the center line of the gun head and the vertical line of the horizontal plane, and the direction angle is the included angle of the projection of the center line of the gun head on the horizontal plane and the positive direction of the machine tool X axis; The gun head is controlled to rotate and follow in sequence to each detection point of a detection group according to the preset bevel angle and the preset direction angle, and the bevel angles of each detection point are equal and the direction angles are different; The height values of the reference zero point and each detection point are read; The offset values of the A axis, the offset values of the B axis and the offset value of the cutting gun length of the gun head are calculated and obtained according to the height values, the bevel angle and the direction angle; The original point coordinates of the gun head are corrected according to the offset values.

2. The laser beveler calibration method of claim 1, wherein, The detection group comprises a first detection point, a second detection point and a third detection point; The sum of the direction angles of the first detection point and the second detection point is 360°, and the difference between the direction angles of the first detection point and the third detection point is 180°.

3. The laser beveler calibration method of claim 2, wherein, The offset values of the A axis, the offset values of the B axis and the offset value of the cutting gun length of the gun head are calculated and obtained according to the height values, the bevel angle and the direction angle, comprising the following steps: The A axis rotation angle and the B axis rotation angle of the first detection point, the A axis rotation angle and the B axis rotation angle of the second detection point and the A axis rotation angle and the B axis rotation angle of the third detection point are respectively obtained according to the corresponding bevel angle and the corresponding direction angle calculation; The offset value of the A axis is calculated and obtained according to the height values, the A axis rotation angle and the B axis rotation angle of the first detection point and the third detection point; The offset value of the B axis is calculated and obtained according to the height values, the A axis rotation angle and the B axis rotation angle of the first detection point and the second detection point; The offset value of the cutting gun length is calculated and obtained according to the height values, the A axis rotation angle and the B axis rotation angle of the first detection point and the reference zero point.

4. The laser beveler calibration method of claim 3, wherein, The A axis rotation angles of the first detection point, the second detection point and the third detection point are respectively calculated by the following formula: A=-atan(tanV*sinD) In the formula, V is the bevel angle, D is the direction angle, and A is the A axis rotation angle.

5. The laser beveler calibration method of claim 3, wherein, The B axis rotation angles of the first detection point, the second detection point and the third detection point are respectively calculated by the following formula: B=asin(sinV*cosD) In the formula, V is the bevel angle, D is the direction angle, and B is the B axis rotation angle.

6. The laser beveler calibration method of claim 3, wherein, The offset value of the A axis is calculated and obtained according to the height values, the A axis rotation angle and the B axis rotation angle of the first detection point and the third detection point, which is realized by the following formula: In the formula, lenA is the offset value of the A axis, Z1 is the height value of the first detection point, Z3 is the height value of the third detection point, and A3 is the A axis rotation angle of the third detection point.

7. The laser beveler calibration method of claim 3, wherein, The offset value of the B axis is calculated and obtained according to the height values, the A axis rotation angle and the B axis rotation angle of the first detection point and the second detection point, which is realized by the following formula: In the formula, lenB is the offset value of the B axis, Z1 is the height value of the first detection point, Z2 is the height value of the second detection point, B2 is the B axis rotation angle of the second detection point, and A2 is the A axis rotation angle of the second detection point.

8. The laser beveler calibration method of claim 3, wherein, The offset value of the torch length is calculated according to the height value, the A-axis rotation angle and the B-axis rotation angle of the first detection point and the reference zero point, and is realized by the following formula: In the formula, lenT is the offset value of the torch length, Z1 is the height value of the first detection point, Z0 is the height value of the reference zero point, R is the radius of the torch nozzle, V1 is the bevel angle of the first detection point, lenA is the A-axis offset value, A1 is the A-axis rotation angle of the first detection point, lenB is the B-axis offset value, and B1 is the B-axis rotation angle of the first detection point.

9. The laser beveler correction method according to any one of claims 1 to 8, wherein, In the step of controlling the gun head to rotate follow-up to each detection point of a detection group according to the preset bevel angle and the preset direction angle, each detection point has an equal bevel angle and an unequal direction angle, and the detection group has multiple groups. In the step of calculating the A-axis offset value, the B-axis offset value and the torch length offset value according to the height value, the bevel angle and the direction angle, the A-axis offset value, the B-axis offset value and the torch length offset value of each group are calculated to obtain the average A-axis offset value, the average B-axis offset value and the average torch length offset value. In the step of correcting the origin coordinates of the gun head according to the offset values, the origin coordinates of the gun head are corrected according to the average offset values.

10. A computer-readable storage medium, characterized in that, The computer program is stored in the memory and is executed by the processor to make the processor execute the steps of the laser beveling machine correction method.

11. A laser beveling machine comprising a B-axis mounted on an A-axis and a torch head mounted on the B-axis, the A-axis and the B-axis both being rotational axes, characterized in that, The memory stores the computer program, and the computer program is executed by the processor to make the processor execute the steps of the laser beveling machine correction method.

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