Method and equipment for adjusting height of machining head and computer readable storage medium

Abstract

The invention belongs to the technical field of laser processing, and relates to a method and equipment for adjusting the height of a processing head and a computer readable storage medium, the method for adjusting the height of the processing head uses a contact detection piece, and the contact detection piece is far away from a workpiece in the height direction in a normal state; the method comprises the steps that a contact detection piece is moved in the height direction of a machining head at a first designated position of a machining path till the contact detection piece abuts against a workpiece or the contact detection piece is kept to be located at the current position, so that the current actual distance between the workpiece and the machining head in the height direction is determined; according to the current actual distance and a preset distance, the position of the machining head in the height direction is adjusted at the first designated position or the position of the machining head in the height direction is kept; the position of the machining head can be adjusted, so that the actual distance between the machining head and the surface of the workpiece conforms to the preset distance, and the machining head is prevented from colliding with the plate face.

Description

Technical Field

[0001] The present application belongs to the field of laser processing technology, and more specifically, to a method, device and computer-readable storage medium for adjusting the height of a processing head. Background Art

[0002] Laser and flame composite cutting is generally used for thick plate cutting. During the cutting process, it is easy for the actual distance between the processing head and the surface of the workpiece in the height direction to be less than the preset distance, which will cause the processing head to collide with the surface of the workpiece and damage the processing head. Summary of the invention

[0003] The embodiments of the present application provide a method, device and computer-readable storage medium for adjusting the height of a processing head, which can adjust the position of the processing head so that the actual distance between the processing head and the surface of the workpiece matches the preset distance, thereby preventing the processing head from colliding with the surface of the workpiece.

[0004] The technical solution adopted in the embodiment of the present application is: to provide a method for adjusting the height of a processing head, using a contact detection member, wherein the contact detection member is normally away from the workpiece in the height direction of the processing head;

[0005] The method comprises:

[0006] At a first designated position of the machining path, move the contact detection member in the height direction of the machining head until it abuts against the workpiece or keep the contact detection member at the current position to determine the current actual distance between the workpiece and the machining head in the height direction;

[0007] According to the current actual distance and the preset distance, the position of the machining head in the height direction is adjusted at the first designated position or the position of the machining head in the height direction is maintained.

[0008] Optionally, maintaining the contact detection member at a current position in the height direction of the machining head at the first designated position of the machining path to determine a current actual distance between the workpiece and the machining head in the height direction includes:

[0009] At the first designated position of the machining path, the contact detection member is maintained at a current position in the height direction of the machining head;

[0010] Acquire a first historical actual distance corresponding to a second designated position of the processed contour of the workpiece, wherein the first historical actual distance is a distance between the workpiece and the processing head at the second designated position in the height direction;

[0011] The first historical actual distance is used as the current actual distance between the workpiece and the machining head in the height direction.

[0012] Optionally, the distance between the first designated position and the second designated position is greater than or equal to L0, where L0 is the distance between the machining head and the contact detection member in a first direction, and the first direction is perpendicular to the height direction.

[0013] Optionally, the distance between the first designated position and the second designated position is less than A-L0-△S, where A is the third constraint value, L0 is the distance between the machining head and the contact detection member in the first direction, △S is the distance between the current first designated position and the previous first designated position or the next first designated position, and the third constraint value is determined based on the slope of the workpiece and the limit distance between the machining head and the workpiece in the height direction.

[0014] Optionally, maintaining the contact detection member at a current position in the height direction of the machining head at the first designated position of the machining path to determine a current actual distance between the workpiece and the machining head in the height direction includes:

[0015] Maintaining the contact detection member at a current position in the height direction of the machining head at a first designated position of the machining path;

[0016] Acquire a second historical actual distance corresponding to a third designated position of the unprocessed area of ​​the workpiece, wherein the second historical actual distance is a distance between the workpiece and the processing head at the third designated position in the height direction;

[0017] The second historical actual distance is used as the current actual distance between the workpiece and the machining head in the height direction.

[0018] Optionally, the distance between the third designated position and the nearest processed contour is greater than Lmin, where Lmin is the maximum width of the orthographic projection of the contact detection member, and the parallel projection line of the orthographic projection is parallel to the height direction.

[0019] Optionally, the distance between the first designated position and the third designated position is greater than or equal to L0, where L0 is the distance between the machining head and the contact detection member in a first direction, and the first direction is perpendicular to the height direction.

[0020] Optionally, the distance between the first designated position and the third designated position is less than A-L0-△S, where A is the third constraint value, L0 is the distance between the machining head and the contact detection member in the first direction, △S is the distance between the current first designated position and the previous first designated position or the next first designated position, and the third constraint value is determined based on the slope of the workpiece and the limit distance between the machining head and the workpiece in the height direction.

[0021] Optionally, the distance between the initial first designated position and the final first designated position along the processing path is greater than or equal to L0, where L0 is the distance between the processing head and the contact detection member in a first direction, and the first direction is perpendicular to the height direction.

[0022] Optionally, the processing head is a laser-flame composite cutting head; and the distance between the current first designated position and the previous first designated position is greater than or equal to the first constraint value and less than or equal to the second constraint value.

[0023] Optionally, adjusting the position of the machining head in the height direction at the first designated position includes:

[0024] Determining the speed of adjusting the machining head in the height direction according to the slope of the workpiece being cut, the moving speed of the machining head along the machining path, and the adjustment amount of the machining head in the height direction;

[0025] The position of the machining head in the height direction is adjusted according to the speed at the first designated position.

[0026] Optionally, the distance between the first designated position and the nearest processed contour is greater than Lmin, where Lmin is the maximum width of the orthographic projection of the contact detection member, and the parallel projection line of the orthographic projection is parallel to the height direction.

[0027] An embodiment of the present application further provides a processing device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned method for adjusting the height of a processing head when executing the computer program.

[0028] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are configured to execute the above-mentioned method for adjusting the height of a machining head.

[0029] The method, device and computer-readable storage medium for adjusting the height of a processing head provided by the embodiments of the present application have the following beneficial effects: the embodiments of the present application move the contact detection member in the height direction of the processing head at the first designated position of the processing path to abut against the workpiece or keep the contact detection member at the current position, thereby determining the actual distance between the processing head and the surface of the workpiece in the height direction, and adjusting the position of the processing head according to the comparison between the actual distance and the preset distance so that the actual distance matches the preset distance, thereby improving the cutting effect and preventing the processing head from colliding with the plate surface;

[0030] In addition, the contact detection member is normally away from the workpiece in the height direction to prevent the residues generated during the cutting process from affecting the detection accuracy of the contact detection member, and to prevent the contact detection member from being worn due to long-term friction with the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1 A schematic diagram of the three-dimensional structure of the laser cutting mechanism used in the implementation of this application;

[0033] Figure 2 A schematic diagram of the distance between a first designated position and a next designated position in the method of an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the distance between the first designated position and the processed contour in the method of the embodiment of the present application;

[0035] Figure 4 A schematic diagram of the distance between the first designated position and the second designated position in the method of the embodiment of the present application;

[0036] Figure 5 Schematic diagram of the distance between the first designated position and the third designated position in the method of the embodiment of the present application.

[0037] Among them, the reference numerals in the figure are:

[0038] 1. Processing head; 2. Follow-up cutting Z axis;

[0039] 31. Distance measuring sensor; 32. Contact detection element; 33. Driving element; H, height direction;

[0040] 4. First designated position; 5. Second designated position; 6. Third designated position; 7. Processed contour. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following Figures 1 to 5 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0043] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0044] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0045] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0046] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0047] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0048] See also Figure 1-Figure 5 , the method for adjusting the height of the processing head provided in the embodiment of the present application is now described.

[0049] The method for adjusting the height of a processing head provided in the embodiment of the present application can be applied to a processing device. The processing device includes a processing head 1 , a follow-up cutting Z axis 2 , a distance sensor 31 , a contact detection member 32 , and a driving member 33 .

[0050] The method for adjusting the height of the machining head provided in the embodiment of the present application uses the contact detection member 32. The contact detection member 32 is normally away from the workpiece in the height direction H of the machining head 1. The height direction H may be a vertical direction.

[0051] The method for adjusting the height of a processing head provided in an embodiment of the present application includes step A1 and step A2.

[0052] Step A1: at a first designated position of the machining path, move the contact detection member 32 in the height direction H of the machining head 1 until it abuts against the workpiece or keep the contact detection member 32 at the current position to determine the current actual distance in the height direction H between the workpiece and the machining head 1 .

[0053] Step A2: adjusting the position of the machining head 1 in the height direction H at the first designated position or maintaining the position of the machining head 1 in the height direction H according to the current actual distance and the preset distance.

[0054] The method provided in the embodiment of the present application can be applied to laser-flame composite cutting of a workpiece. The workpiece can be a plate. The processing head 1 can be a laser-flame composite cutting head, which can emit laser and flame to process the workpiece. In some other embodiments, the processing head 1 is a laser cutting head, a laser-water composite cutting head or a laser-ultrasonic composite cleaning head.

[0055] The processing head 1 adjusts the distance between the processing head 1 and the workpiece in the height direction H by following the cutting Z axis 2. The processing head 1 is also driven by the horizontal moving part to move along the processing path. The workpiece to be cut is a plate, which may have a slope due to unevenness. When the processing head 1 moves along the processing path, the actual distance between the processing head 1 and the workpiece in the height direction H may not match the preset distance. If the actual distance is greater than the preset distance, the workpiece may not be cut through. If the actual distance is less than the preset distance, the processing head 1 may collide with the workpiece, causing damage to the processing head 1.

[0056] refer to Figure 1, a distance sensor 31, a driving member 33, and a distance baffle that can move in the height direction are installed on the follow-up cutting Z axis 2. The contact detection member 32 is connected to the distance baffle through a connecting rod. The driving member 33 is transmission-connected to the contact detection member 32 to drive the contact detection member 32 to move in the height direction H on the follow-up cutting Z axis 2, so that the contact detection member 32 is close to or away from the workpiece. When the contact detection member 32 contacts the surface of the workpiece, the distance between the distance sensor 31 and the distance baffle is the actual distance between the processing head 1 and the workpiece. The actual distance is also the distance between the end face of the processing head 1 and the surface to be processed of the workpiece.

[0057] The processing path has several first designated positions. When some of the first designated positions are too close to the nearby cut contour, when the contact detection member 32 abuts against the surface of the workpiece, the residue on the cut contour will cause the detection accuracy of the contact detection member 32 to decrease, or the residue on the cut contour will interfere with the contact detection member 32 and cause damage to the contact detection member 32. Therefore, when the first designated position is too close to the nearby cut contour, the contact detection member 32 remains away from the workpiece, and the first historical actual distance corresponding to the second designated position of the processed contour near the current first designated position, or the second historical actual distance corresponding to the third designated position of the unprocessed area, is obtained as the actual distance at the current first designated position.

[0058] When there is no cut contour or other interference near the first designated position, the contact detection member 32 abuts against the workpiece along the height direction H. At this time, the distance between the distance sensor 31 and the distance baffle is the actual distance between the workpiece and the processing head 1.

[0059] If the current actual distance is less than or greater than the preset distance, the follow-up cutting Z axis 2 adjusts the processing head 1 to the preset distance along the height direction H; if the current actual distance is equal to the preset distance, the follow-up cutting Z axis 2 maintains the current position of the processing head 1 in the height direction H.

[0060] The embodiment of the present application determines the actual distance between the processing head 1 and the surface of the workpiece in the height direction H by moving the contact detection piece in the height direction of the processing head at the first specified position of the processing path until it abuts against the workpiece or keeps the contact detection piece at the current position. By comparing the actual distance with the preset distance, the position of the processing head 1 is adjusted to make the actual distance consistent with the preset distance. The processing head processes the workpiece in place, improves the processing qualification rate, and at the same time, prevents the processing head 1 from colliding with the surface of the workpiece.

[0061] In addition, the contact detection part 32 is normally away from the workpiece in the height direction, which can prevent the contact detection part 32 from being burned by the high-temperature flame of the laser flame composite cutting head for a long time, prevent the residue generated during the cutting process from affecting the detection accuracy of the contact detection part 32, and prevent the contact detection part 32 from being worn due to long-term friction with the workpiece.

[0062] See also Figure 4 , at the first designated position of the machining path, the contact detection member 32 is kept at the current position in the height direction H of the machining head 1 to determine the current actual distance between the workpiece and the machining head 1 in the height direction H, including steps A11 to A13.

[0063] Step A11 : maintaining the contact detection member 32 at the current position in the height direction H of the machining head 1 at the first designated position of the machining path.

[0064] Step A12: Acquire a first historical actual distance corresponding to a second designated position of the processed contour of the workpiece, where the first historical actual distance is the distance between the workpiece and the processing head 1 in the height direction H at the second designated position.

[0065] Step A13: taking the first historical actual distance as the current actual distance between the workpiece and the machining head 1 in the height direction H.

[0066] The second specified position is a point on the machined contour.

[0067] When the first designated position is too close to the processed contour, the contact detection member 32 cannot abut against the workpiece surface at the first designated position to obtain the current actual distance, then the first historical actual distance corresponding to the second designated position on the processed contour closest to the first designated position is obtained, and the first historical actual distance is used as the current actual distance.

[0068] Since the second designated position is closer to the first designated position, the first historical actual distance is slightly different from the actual distance obtained when the contact detection member 32 abuts against the workpiece surface at the first designated position. By using the first historical actual distance as the current actual distance, the error in adjusting the position of the machining head 1 is relatively small.

[0069] The distance between the first designated position and the second designated position is greater than or equal to L0, where L0 is the distance between the machining head 1 and the contact detection member 32 in a first direction, and the first direction is perpendicular to the height direction H.

[0070] The contact detection member 32 is a square detection frame arranged below the processing head 1. One side of the detection frame contacts the surface of the workpiece, so that the actual distance between the processing head 1 and the surface of the workpiece can be obtained.

[0071] In order to prevent the contact detection member 32 from colliding with the processing head 1 when moving along the Z-axis direction (i.e., the height direction H) of the follow-up cutting Z-axis 2, there is a gap between the contact detection member 32 and the processing head 1 in the first direction, and the gap distance is L0. The gap distances between different contact detection members 32 and the processing head 1 are different.

[0072] The distance between the first designated position and the second designated position is greater than or equal to L0, so as to prevent the contact detection member 32 from contacting the residue on the processed contour when the contact detection member 32 abuts against the surface of the workpiece.

[0073] See also Figure 2 , Figure 4 , the distance between the first designated position and the second designated position is less than A-L0-△S, A is the third constraint value, L0 is the distance between the machining head 1 and the contact detection member 32 in the first direction, △S is the distance between the current first designated position and the previous first designated position or the next first designated position, and the third constraint value is determined according to the slope of the workpiece and the limit distance between the machining head 1 and the workpiece in the height direction H.

[0074] The third constraint value in the embodiment of the present application is calculated by dividing the limit distance between the machining head 1 and the workpiece in the height direction H by the slope of the workpiece.

[0075] When the machining head 1 moves the third constraint value along the machining path, the machining head 1 just touches the surface of the workpiece. However, if the contact detection part 32 is not in a normal state away from the surface of the workpiece at this time, the contact detection part 32 may collide with the surface of the workpiece, causing damage to the contact detection part 32. Therefore, the distance between the next first designated position adjacent to the current first designated position and the second designated position should be less than the third constraint value -L0.

[0076] The distance between the current first designated position and the next first designated position or the previous first designated position is △S, and the second designated position should be located on the extension line of the current first designated position and the next first designated position. Therefore, the distance between the current first designated position and the second designated position should be less than A-L0-△S.

[0077] In this way, the first historical actual distance obtained from the second designated position is slightly different from the actual distance obtained when the contact detection member 32 abuts against the workpiece surface at the current first designated position. By using the first historical actual distance as the current actual distance, the error in adjusting the position of the machining head 1 is relatively small.

[0078] See also Figure 5 , at the first designated position of the machining path, the contact detection member 32 is kept at the current position in the height direction H of the machining head 1 to determine the current actual distance between the workpiece and the machining head 1 in the height direction H, including steps A11' to A13'.

[0079] Step A11 ′: maintaining the contact detection member 32 at the current position in the height direction H of the machining head 1 at the first designated position of the machining path.

[0080] Step A12 ′: acquiring a second historical actual distance corresponding to a third designated position of the unprocessed area of ​​the workpiece, wherein the second historical actual distance is a distance in the height direction H between the workpiece and the processing head 1 at the third designated position.

[0081] Step A13 ′: taking the second historical actual distance as the current actual distance between the workpiece and the machining head 1 in the height direction H.

[0082] When the first designated position is too close to the processed contour, the contact detection member 32 cannot abut against the workpiece surface at the first designated position to obtain the current actual distance, and all the second designated positions of the processed contour are far away from the first designated position. The first historical actual distance corresponding to the second designated position is significantly different from the actual distance obtained when the contact detection member 32 abuts against the workpiece surface at the first designated position. If the first historical actual distance is used as the current actual distance, the error in adjusting the position of the processing head 1 is relatively large, and the first historical actual distance cannot be used as the current actual distance.

[0083] Therefore, it is necessary to specify a third designated position closer to the first designated position in the unprocessed area deviating from the processing path, obtain the second historical actual distance corresponding to the third designated position, and use the second historical actual distance as the current actual distance between the workpiece and the processing head 1 in the height direction H.

[0084] See also Figure 5 , the distance between the third designated position and the nearest processed contour is greater than Lmin, where Lmin is the maximum width of the positive projection of the contact detection member 32; the parallel projection line of the above-mentioned positive projection is parallel to the height direction H.

[0085] Since the contact detection member 32 occupies a certain area when in contact with the workpiece, the contact detection member 32 in contact with the processed contour will cause inaccurate detection data, and since the processing head 1 is located in the contact detection member 32, when the third designated position is too close to the processed contour, it is possible that the processing head 1 will be stuck in the processed contour, affecting the processing efficiency. Therefore, the distance between the third designated position and the processed contour should be greater than the above-mentioned maximum width Lmin.

[0086] The distance between the first designated position and the third designated position is greater than or equal to L0, where L0 is the distance between the machining head 1 and the contact detection member 32 in a first direction, and the first direction is perpendicular to the height direction H.

[0087] The contact detection member 32 is a square detection frame arranged below the processing head 1. One side of the detection frame contacts the surface of the workpiece, so that the actual distance between the processing head 1 and the workpiece can be obtained.

[0088] In order to prevent the contact detection member 32 from colliding with the processing head 1 when moving along the Z-axis direction of the follow-up cutting Z-axis 2, there is a gap between the contact detection member 32 and the processing head 1 in the first direction, and the gap distance is L0. Different contact detection members 32 have different gap distances with the processing head 1.

[0089] The distance between the first designated position and the third designated position is greater than or equal to L0, so as to prevent the contact detection member 32 from contacting the residue on the cut contour when the contact detection member 32 abuts against the surface of the workpiece.

[0090] The distance between the first designated position and the third designated position is less than A-L0-△S, where A is the third constraint value, L0 is the distance between the machining head 1 and the contact detection member 32 in the first direction, △S is the distance between the current first designated position and the previous first designated position or the next first designated position, and the third constraint value is determined based on the slope of the workpiece and the limit distance between the machining head 1 and the workpiece in the height direction H.

[0091] The third constraint value in the embodiment of the present application is calculated by dividing the limit distance between the machining head 1 and the workpiece in the height direction H by the slope of the workpiece.

[0092] When the machining head 1 moves the third constraint value along the machining path, the machining head 1 just touches the surface of the workpiece. However, if the contact detection part 32 is not in a normal state away from the surface of the workpiece at this time, the contact detection part 32 may collide with the surface of the workpiece, causing damage to the contact detection part 32. Therefore, the distance between the previous first designated position adjacent to the current first designated position and the third designated position should be less than the third constraint value -L0.

[0093] The distance between the current first designated position and the next first designated position or the previous first designated position is △S, and the third designated position should be located on the extension line of the line connecting the current first designated position and the previous first designated position. Therefore, the distance between the current first designated position and the third designated position should be less than A-L0-△S.

[0094] In this way, the second historical actual distance obtained from the third designated position is slightly different from the actual distance obtained when the contact detection member 32 abuts against the workpiece surface at the current first designated position. By using the second historical actual distance as the current actual distance, the error in adjusting the position of the machining head 1 is relatively small.

[0095] The distance between the initial first designated position and the final first designated position along the processing path is greater than or equal to L0, where L0 is the distance between the processing head 1 and the contact detection member 32 in the first direction, and the first direction is perpendicular to the height direction H.

[0096] The first initial designated position of the processing path is the processing starting point, and the last first designated position is closer to the first initial designated position. Since perforation processing is required at the processing starting point, welding slag will be generated at the perforation to prevent the contact detection member 32 from contacting the welding slag when it contacts the workpiece surface to affect the measurement accuracy. Therefore, the distance between the last first designated position and the first first designated position should be kept equal to or greater than L0 to prevent the contact detection member 32 from contacting the welding slag at the perforation.

[0097] The processing head is a laser-flame composite cutting head; the distance between the current first designated position and the previous first designated position is greater than or equal to the first constraint value and less than or equal to the second constraint value.

[0098] The first constraint value and the second constraint value are both within the range of 0 to the third constraint value, and the first constraint value is smaller than the second constraint value. The first constraint value is the minimum limit of the distance between the current first specified position and the previous first specified position. If it is set too small, the number of distance detections will increase. The second constraint value is the maximum limit of the distance between the current first specified position and the previous first specified position. If it is set too large, the risk of collision between the machining head 1 and the workpiece will increase. Therefore, the distance between the current first specified position and the previous first specified position can be set within the range of the first constraint value and the second constraint value. The first constraint value and the second constraint value need to be flexibly set in actual machining to cope with various working conditions.

[0099] Adjusting the position of the machining head 1 in the height direction H at the first designated position includes step A21 and step A22.

[0100] Step A21, determining the speed of adjusting the machining head 1 in the height direction H according to the slope of the workpiece being cut, the moving speed of the machining head 1 along the machining path, and the adjustment amount of the machining head 1 in the height direction H.

[0101] Step A22: adjusting the position of the machining head 1 in the height direction H at the first designated position according to the above speed.

[0102] First, obtain the Z axis 2 height Z of the current machining path starting point B , the actual distance H between the current machining head 1 and the workpiece B and the preset distance H between the machining head 1 and the workpiece S , according to the preset height Z of the Z axis 2 position of the follow-up cutting S Equal to Z B -H B +H S , adjust the position of the follow-up cutting Z axis 2 to the preset height Z S , and then start cutting.

[0103] During the cutting process, when the follow-up cutting Z axis 2 does not reach the first designated position, the follow-up cutting Z axis 2 does not perform height adjustment.

[0104] When the first specified position is reached, the current actual distance is obtained as H T , the adjustment distance △Z of the follow-up cutting Z axis 2 is H T With H S The difference between .

[0105] When H T >H S When H T <H S When , it means that the current cutting head height is too low, and the follow-up cutting Z axis 2 moves △Z away from the cut plate.

[0106] Laser flame composite cutting is aimed at thick plates, and the cutting speed is slow. However, when the follow-up cutting Z axis 2 adjusts the height, the speed should not be too slow, otherwise the height cannot be adjusted to the preset height, which will affect the processing effect of the processing head 1 or cause the processing head 1 to collide with the workpiece.

[0107] Specifically, the speed of adjusting the machining head 1 in the height direction H is determined according to the slope of the workpiece being cut, the moving speed of the machining head 1 along the machining path, and the adjustment amount of the machining head 1 in the height direction H.

[0108] At the first designated position, the position of the machining head 1 in the height direction H is adjusted according to the above speed.

[0109] Assume that the adjustment speed of the follow-up cutting Z axis 2 along the height direction H is ν, and the moving speed along the processing path is ν. Assume that the slope of the workpiece being cut is K, and the adjustment amount of the processing head 1 in the height direction H is △Z, then the adjustment speed of the follow-up cutting Z axis 2 along the height direction H (that is, the adjustment speed of the processing head 1 along the height direction H) is as follows:

[0110]

[0111] During actual cutting, the adjustment speed of the follow-up cutting Z axis 2 can be appropriately increased according to the cutting quality to ensure that the follow-up cutting Z axis 2 adjusts the processing head 1 in time to meet the preset distance between the processing head 1 and the workpiece.

[0112] See also Figure 3 , the distance between the first designated position and the nearest processed contour is greater than Lmin, where Lmin is the maximum width of the positive projection of the contact detection member 32; the parallel projection line of the aforementioned positive projection is parallel to the height direction H.

[0113] Since the contact detection member 32 occupies a certain area when in contact with the workpiece, the contact detection member 32 contacts the processed contour, resulting in inaccurate detection data. In addition, since the processing head 1 is located in the contact detection member 32, when the first designated position is too close to the processed contour, it is possible that the processing head 1 will be stuck in the processed contour, affecting the processing efficiency. Therefore, when the first designated position is set close to the processed contour, the distance between the first designated position and the processed contour should be greater than the above-mentioned Lmin.

[0114] An embodiment of the present application further provides a processing device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned method for adjusting the height of a processing head when executing the computer program.

[0115] The processing equipment may specifically be laser-flame composite cutting equipment, laser cutting equipment, laser-water composite cutting equipment, or laser-ultrasonic composite cleaning equipment.

[0116] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are configured to execute the above-mentioned method for adjusting the height of a machining head.

[0117] Computer-readable storage media include: any entity or device that can carry computer program codes to a device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium, such as a USB flash drive, mobile hard disk, magnetic disk, or optical disk.

[0118] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order 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 application.

[0119] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for adjusting the height of a processing head, characterized in that: Using a contact detection member, the contact detection member is normally away from the workpiece in the height direction of the processing head; The method comprises: At a first designated position of the machining path, move the contact detection member in the height direction of the machining head until it abuts against the workpiece or keep the contact detection member at the current position to determine the current actual distance between the workpiece and the machining head in the height direction; According to the current actual distance and the preset distance, the position of the machining head in the height direction is adjusted at the first designated position or the position of the machining head in the height direction is maintained.

2. The method according to claim 1, characterized in that The step of maintaining the contact detection member at a current position in the height direction of the machining head at a first designated position of the machining path to determine a current actual distance between the workpiece and the machining head in the height direction includes: Keeping the contact detection member at a current position in the height direction of the machining head at the first designated position of the machining path; Acquire a first historical actual distance corresponding to a second designated position of the processed contour of the workpiece, wherein the first historical actual distance is a distance between the workpiece and the processing head at the second designated position in the height direction; The first historical actual distance is used as the current actual distance between the workpiece and the machining head in the height direction.

3. The method according to claim 2, characterized in that The distance between the first designated position and the second designated position is greater than or equal to L0, where L0 is the distance between the machining head and the contact detection member in a first direction, and the first direction is perpendicular to the height direction.

4. The method according to claim 2, characterized in that: The distance between the first designated position and the second designated position is less than A-L0-△S, where A is the third constraint value, L0 is the distance between the processing head and the contact detection member in the first direction, △S is the distance between the current first designated position and the previous first designated position or the next first designated position, and the third constraint value is determined based on the slope of the workpiece and the limit distance between the processing head and the workpiece in the height direction.

5. The method according to claim 1, characterized in that The step of maintaining the contact detection member at a current position in the height direction of the machining head at a first designated position of the machining path to determine a current actual distance between the workpiece and the machining head in the height direction includes: Maintaining the contact detection member at a current position in the height direction of the machining head at a first designated position of the machining path; Acquire a second historical actual distance corresponding to a third designated position of the unprocessed area of ​​the workpiece, wherein the second historical actual distance is a distance between the workpiece and the processing head at the third designated position in the height direction; The second historical actual distance is used as the current actual distance between the workpiece and the machining head in the height direction.

6. The method according to claim 5, characterized in that The distance between the third designated position and the nearest processed contour is greater than Lmin, where Lmin is the maximum width of the orthographic projection of the contact detection member, and the parallel projection line of the orthographic projection is parallel to the height direction.

7. The method according to claim 5, characterized in that The distance between the first designated position and the third designated position is greater than or equal to L0, where L0 is the distance between the machining head and the contact detection member in a first direction, and the first direction is perpendicular to the height direction.

8. The method according to claim 5, characterized in that The distance between the first designated position and the third designated position is less than A-L0-△S, where A is the third constraint value, L0 is the distance between the machining head and the contact detection member in the first direction, △S is the distance between the current first designated position and the previous first designated position or the next first designated position, and the third constraint value is determined based on the slope of the workpiece and the limit distance between the machining head and the workpiece in the height direction.

9. The method according to claim 1, characterized in that: The distance between the initial first designated position and the final first designated position along the processing path is greater than or equal to L0, where L0 is the distance between the processing head and the contact detection member in a first direction, and the first direction is perpendicular to the height direction.

10. The method according to claim 1, characterized in that The processing head is a laser-flame composite cutting head; the distance between the current first designated position and the previous first designated position is greater than or equal to the first constraint value and less than or equal to the second constraint value.

11. The method according to claim 1, characterized in that: The step of adjusting the position of the machining head in the height direction at the first designated position comprises: Determining the speed of adjusting the machining head in the height direction according to the slope of the workpiece being cut, the moving speed of the machining head along the machining path, and the adjustment amount of the machining head in the height direction; The position of the machining head in the height direction is adjusted according to the speed at the first designated position.

12. The method according to claim 1, characterized in that The distance between the first designated position and the nearest processed contour is greater than Lmin, where Lmin is the maximum width of the orthographic projection of the contact detection member, and the parallel projection line of the orthographic projection is parallel to the height direction.

13. A processing equipment, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method for adjusting the height of a machining head as claimed in any one of claims 1 to 12 is implemented.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are configured to execute the method for adjusting the height of a machining head according to any one of claims 1 to 12.

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