Method, apparatus, and computer readable storage medium for adjusting height of processing head

Abstract

The application belongs to the technical field of laser processing, and relates to a method for adjusting the height of a processing head, equipment and a computer readable storage medium. The method for adjusting the height of the processing head uses a contact detection piece which is normally away from a workpiece in the height direction. The method comprises the following steps: moving the contact detection piece in the height direction of the processing head to abut against the workpiece or keeping the contact detection piece at the current position at a first specified position of a processing path, so as to determine the current actual distance between the workpiece and the processing head in the height direction; and adjusting the position of the processing head in the height direction or keeping the position of the processing head in the height direction at the first specified position according to the current actual distance and a preset distance. The application can adjust the position of the processing head, so that the actual distance between the processing head and the surface of the workpiece is consistent with the preset distance, and the processing head is prevented from colliding with the plate surface.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser processing, and more particularly relates to a method and device for adjusting the height of a processing head and a computer readable storage medium. BACKGROUND

[0002] Laser-flame combined cutting is generally applied to thick plate cutting. In the cutting process, the actual distance between the processing head and the surface of the workpiece in the height direction is likely to be less than the preset distance, which can cause the processing head to collide with the surface of the workpiece and damage the processing head. SUMMARY

[0003] The application provides a method and device for adjusting the height of a processing head and a computer readable storage medium, which can adjust the position of the processing head, so that the actual distance between the processing head and the surface of the workpiece is consistent with the preset distance, and the processing head is prevented from colliding with the surface of the workpiece.

[0004] The technical solution adopted by the application is as follows: a method for adjusting the height of a processing head is provided, and a contact detection member is used, which is normally away from a workpiece in the height direction of the processing head;

[0005] The method comprises the following steps.

[0006] The contact detection member is moved to abut against the workpiece or kept at the current position in the height direction of the processing head at a first specified position of a processing path, so as to determine the current actual distance between the workpiece and the processing head in the height direction.

[0007] According to the current actual distance and a preset distance, the position of the processing head in the height direction is adjusted or kept at the current position in the height direction at the first specified position.

[0008] Optionally, the step of keeping the contact detection member at the current position in the height direction of the processing head at the first specified position of the processing path to determine the current actual distance between the workpiece and the processing head in the height direction comprises the following steps.

[0009] The contact detection member is kept at the current position in the height direction of the processing head at the first specified position of the processing path.

[0010] A first historical actual distance corresponding to a second specified position of a machined contour of the workpiece is obtained, and the first historical actual distance is the distance between the workpiece and the processing head in the height direction at the second specified position.

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

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

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

[0014] Optionally, the first specified position on the machining path keeps the contact detection member at the current position in the height direction of the machining head to determine the current actual distance between the workpiece and the machining head in the height direction, comprising:

[0015] keeping the contact detection member at the current position in the height direction of the machining head at the first specified position on the machining path;

[0016] obtaining a second historical actual distance corresponding to a third specified position of the unprocessed area of the workpiece, the second historical actual distance being the distance between the workpiece and the machining head in the height direction at the third specified position;

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

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

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

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

[0021] Optionally, a distance between the first specified position and the last first specified position along the machining path is greater than or equal to L0, L0 is a distance between the machining head and the contact detection member in a first direction, the first direction is perpendicular to the height direction.

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

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

[0024] According to a slope of the workpiece to be cut, a moving speed of the machining head along a machining path direction, and an adjusting amount of the machining head in the height direction, a speed of adjusting the machining head in the height direction is determined;

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

[0026] Optionally, a distance between the first specified position and a nearest machined contour is greater than Lmin, Lmin is a maximum width of a normal projection of the contact detection member, a parallel projection line of the normal projection is parallel to the height direction.

[0027] Embodiments of the present application also provide a machining device, comprising a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the method for adjusting the height of the machining head.

[0028] Embodiments of the present application also provide a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are configured to execute the method for adjusting the height of the machining head.

[0029] The method for adjusting the height of the machining head, the device and the computer readable storage medium 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 machining head to abut against the workpiece or keep the contact detection member at the current position at the first specified position along the machining path, so as to determine an actual distance between the machining head and the surface of the workpiece in the height direction, and adjust the position of the machining head according to a comparison between the actual distance and a preset distance, so that the actual distance and the preset distance are consistent, the cutting effect is improved, and the machining head is prevented from colliding with the plate surface.

[0030] In addition, the contact detection member is normally away from the workpiece in the height direction, so that the detection accuracy of the contact detection member is prevented from being affected by residues generated in the cutting process, and the contact detection member is prevented from being worn due to long-time friction with the workpiece. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor under the premise of these drawings.

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

[0033] Figure 2 The schematic diagram of the distance between the first specified position and the next specified position in the method of the present application embodiment;

[0034] Figure 3 The schematic diagram of the distance between the first specified position and the machined contour in the method of the present application embodiment;

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

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

[0037] In the drawings, various reference signs:

[0038] 1, processing head; 2, follow-up cutting Z axis;

[0039] 31, distance measuring sensor; 32, contact detection piece; 33, driving piece; H, height direction;

[0040] 4, first specified position; 5, second specified position; 6, third specified position; 7, machined contour. DETAILED DESCRIPTION

[0041] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects more clearly, the following will be combined with the drawings Figures 1 to 5 and embodiments, the present application will be further described in detail. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application.

[0042] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0043] It is to be understood that the terminology "includes", "has", "holds", "contains" or "comprising", "including", "having" and the like, when used in the present specification and in the accompanying claims, are used to indicate included, has, holds, contains or comprises but does not exclude other integers or additional integers.

[0044] It is also to be understood that the terminology "and / or" when used in the present specification and in the accompanying claims, refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0045] As used in the present specification and in the accompanying claims, the term "if" can be interpreted as meaning "when" or "once" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted to mean "once it is determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]", depending on the context.

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

[0047] Reference in the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" or "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment, although it can. The terms "including", "containing", "having" and variations thereof mean "including but not limited to", unless expressly specified otherwise.

[0048] Please refer to Figures 1-5 The method for adjusting the height of the processing head provided by the embodiments of the present application will now be described.

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

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

[0051] The method for adjusting the height of the machining head provided by the embodiments of the present application comprises steps A1 and A2.

[0052] Step A1: moving the contact detection member 32 in the height direction H of the machining head 1 to abut against the workpiece at a first designated position of the machining path or keeping the contact detection member 32 at the current position, so as to determine the current actual distance between the workpiece and the machining head 1 in the height direction H.

[0053] Step A2: adjusting the position of the machining head 1 in the height direction H at the first designated position or keeping 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 by the embodiments of the present application can be applied to laser-flame composite cutting of a workpiece. The workpiece can be a plate. The machining head 1 can be a laser-flame composite cutting head capable of emitting laser and spraying flame to process the workpiece. In some other embodiments, the machining head 1 is a laser cutting head, a laser-water composite cutting head, or a laser-ultrasonic composite cleaning head.

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

[0056] Reference Figure 1A distance sensor 31, a drive unit 33, and a distance measuring baffle that can move along the height direction are mounted on the follow-up cutting Z-axis 2. A contact detection element 32 is connected to the distance measuring baffle via a connecting rod. The drive unit 33 is drively connected to the contact detection element 32 to drive the contact detection element 32 to move along the height direction H on the follow-up cutting Z-axis 2, causing the contact detection element 32 to move closer to or further away from the workpiece. When the contact detection element 32 contacts the surface of the workpiece, the distance between the distance sensor 31 and the distance measuring baffle is the actual distance between the processing head 1 and the workpiece. This actual distance is also the distance between the end face of the processing head 1 and the surface of the workpiece to be processed.

[0057] The processing path has several first designated positions. When some first designated positions are too close to nearby already cut contours, and the contact detector 32 comes into contact with the workpiece surface, the residue on the already cut contours will cause a decrease in the detection accuracy of the contact detector 32, or the residue on the already cut contours will interfere with the contact detector 32, causing damage to the contact detector 32. Therefore, when the first designated position is too close to nearby already cut contours, the contact detector 32 keeps away from the workpiece and obtains 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, 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 element 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 will adjust 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 will maintain the current position of the processing head 1 in the height direction H.

[0060] In this embodiment of the application, the actual distance between the processing head 1 and the surface of the workpiece in the height direction H is determined by moving the contact detection element to abut the workpiece or keeping the contact detection element in its current position at a first designated position in the processing path. The position of the processing head 1 is adjusted according to the comparison between the actual distance and the preset distance so that the actual distance matches the preset distance. The processing head processes the workpiece in place, which improves the processing qualification rate. At the same time, it prevents the processing head 1 from colliding with the surface of the workpiece.

[0061] In addition, the contact detection element 32 is normally far away from the workpiece in the height direction, which can prevent the contact detection element 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 element 32, and prevent the contact detection element 32 from being worn due to long-term friction with the workpiece.

[0062] Referring to Figure 4 At the first specified 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, at the first specified 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.

[0064] Step A12, obtain the first historical actual distance corresponding to the second specified position of the machined profile of the workpiece, the first historical actual distance is the distance between the workpiece and the machining head 1 in the height direction H at the second specified position.

[0065] Step A13, the first historical actual distance is taken 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 profile.

[0067] When the first specified position is too close to the machined profile, the contact detection member 32 cannot be in abutment with the workpiece surface at the first specified position to obtain the current actual distance, then the first historical actual distance corresponding to the second specified position closest to the first specified position on the machined profile is obtained, and the first historical actual distance is taken as the current actual distance.

[0068] Since the second specified position is relatively close to the first specified position, the first historical actual distance differs little from the actual distance obtained by abutting the contact detection member 32 with the workpiece surface at the first specified position, and the error of adjusting the position of the machining head 1 is small.

[0069] The distance between the first specified position and the second specified position is greater than or equal to L0, L0 is the distance between the machining head 1 and the contact detection member 32 in the 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 machining head 1, and one side of the detection frame is in contact with the surface of the workpiece, so that the actual distance between the machining 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 machining head 1 when the follow-up cutting Z-axis 2 moves along the Z-axis direction (i.e. the height direction H), the contact detection member 32 and the machining head 1 are spaced apart in the first direction, and the spacing distance therebetween is L0, and the spacing distances between different contact detection members 32 and the machining head 1 are different.

[0072] The distance between the first specified position and the second specified position is greater than or equal to L0, so as to prevent the contact detection member 32 from contacting the residue on the machined profile when the contact detection member 32 is in abutment with the workpiece surface.

[0073] Referring to Figure 2 , Figure 4 The distance between the first specified position and the second specified position is less than A-L0-△S, A is a third constraint value, L0 is the distance between the machining head 1 and the contact detection member 32 in the first direction, and △S is the distance between the current first specified position and the previous first specified position or the next first specified position. 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 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 by the third constraint value along the machining path, the machining head 1 is just in abutment with the workpiece surface, but at this time, if the contact detection member 32 is not in the normal state away from the workpiece surface, the contact detection member 32 may collide with the workpiece surface, resulting in damage to the contact detection member 32. Therefore, the distance between the next first specified position adjacent to the current first specified position and the second specified position should be less than the third constraint value-L0.

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

[0077] In this way, the first historical actual distance obtained at the second specified position and the actual distance obtained when the contact detection member 32 is in abutment with the workpiece surface at the current first specified position are relatively small, the first historical actual distance is taken as the current actual distance, and the error of the adjustment of the position of the machining head 1 is small.

[0078] Referring to Figure 5 , the first specified position on the machining path keeps the contact detection member 32 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', the first specified position on the machining path keeps the contact detection member 32 at the current position in the height direction H of the machining head 1.

[0080] Step A12', obtaining a second historical actual distance corresponding to a third specified position of the unprocessed region of the workpiece, the second historical actual distance being the distance between the workpiece and the machining head 1 in the height direction H at the third specified 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 specified position is too close to the processed contour, the contact detection member 32 cannot abut against the surface of the workpiece at the first specified position to obtain the current actual distance, and all the second specified positions of the processed contour are far away from the first specified position, the first historical actual distance corresponding to the second specified position is greatly different from the actual distance obtained by abutting the contact detection member 32 against the surface of the workpiece at the first specified position, and the error of adjusting the position of the machining head 1 is large when the first historical actual distance is taken as the current actual distance. Therefore, the first historical actual distance cannot be taken as the current actual distance.

[0083] Therefore, it is necessary to specify a third specified position close to the first specified position in the unprocessed region deviating from the machining path, obtain a second historical actual distance corresponding to the third specified position, and take the second historical actual distance as the current actual distance between the workpiece and the machining head 1 in the height direction H.

[0084] Please refer to Figure 5 , the distance between the third specified position and the nearest processed contour is greater than Lmin, and Lmin is the maximum width of the orthogonal projection of the contact detection member 32; the parallel projection line of the aforementioned orthogonal projection is parallel to the height direction H.

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

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

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

[0088] To prevent the contact detection element 32 from colliding with the processing head 1 as it moves along the Z-axis of the follow-up cutting Z-axis 2, there is a gap between the contact detection element 32 and the processing head 1 in the first direction, and the gap distance is L0. The gap distance between different contact detection elements 32 and the processing head 1 is different.

[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 element 32 from contacting the residue on the cut contour when it is against the workpiece surface.

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

[0091] In this embodiment, the third constraint value is calculated by dividing the limit distance between the processing head 1 and the workpiece in the height direction H by the slope of the workpiece.

[0092] When the processing head 1 moves along the processing path to the third constraint value, the processing head 1 just comes into contact with the workpiece surface. However, if the contact detection element 32 is not in a normal state away from the workpiece surface, the contact detection element 32 may collide with the workpiece surface, causing the contact detection element 32 to be damaged. Therefore, the distance between the previous first specified position and the third specified position adjacent to the current first specified position should be less than the third constraint value -L0.

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

[0094] Thus, the difference between the second historical actual distance obtained from the third designated position and the actual distance obtained by the contact detection element 32 abutting against the workpiece surface at the current first designated position is small. Using this second historical actual distance as the current actual distance will result in a smaller error in adjusting the position of the processing head 1.

[0095] The distance between the initial first specified position and the last first specified 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 element 32 in the first direction, which is perpendicular to the height direction H.

[0096] The first specified position of the machining path is the machining start point, and the last specified position is close to the first specified position. Since a piercing process is required at the machining start point, slag will be generated at the piercing position, which prevents the contact detection member 32 from contacting the slag when the contact detection member 32 contacts the workpiece surface to affect the measurement accuracy. Therefore, the distance between the last specified position and the first specified position is kept equal to or greater than L0 to prevent the contact detection member 32 from contacting the slag at the piercing position.

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

[0098] The first constraint value and the second constraint value are within the range of 0 to a third constraint value, and the first constraint value is less 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, and if it is set too small, the number of distance detection times 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, and 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 interval 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] The position of the machining head 1 in the height direction H is adjusted at the first specified position, including steps A21 and A22.

[0100] Step A21, according to the slope of the workpiece to be cut, the movement speed of the machining head 1 in the machining path direction, and the adjustment amount of the machining head 1 in the height direction H, the speed of the height direction H adjusting the machining head 1 is determined.

[0101] Step A22, adjust the position of the machining head 1 in the height direction H at the first specified position according to the above speed.

[0102] First, the follow-up cutting Z-axis 2 height Z B , the actual distance H B between the current machining head 1 and the workpiece S , and the preset distance H S between the machining head 1 and the workpiece B are obtained. B +H S , the position of the follow-up cutting Z-axis 2 is adjusted to the preset height Z S , and then the cutting is started.

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

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

[0105] When H T > H S , it indicates that the current cutting head height is too high, and the follow-up cutting Z-axis 2 moves ΔZ towards the direction of approaching the cut plate; when H T < H S , it indicates that the current cutting head height is too low, and the follow-up cutting Z-axis 2 moves ΔZ towards the direction of moving away from the cut plate.

[0106] For thick plates, the laser-flame composite cutting speed is relatively slow, but when the follow-up cutting Z-axis 2 adjusts the height, the speed should not be too small, otherwise the height cannot be adjusted to the preset height, affecting the processing effect of the processing head 1, or causing the processing head 1 to collide with the workpiece.

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

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

[0109] Let the adjustment speed of the follow-up cutting Z-axis 2 in the height direction H be v, the moving speed along the processing path be v, the slope of the cut workpiece be K, and the adjustment amount of the processing head 1 in the height direction H be ΔZ, then the adjustment speed of the follow-up cutting Z-axis 2 in the height direction H (i.e. the adjustment speed of the processing head 1 in 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 amplified 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] Please refer to Figure 3 , the distance between the first specified position and the nearest processed contour is greater than Lmin, and Lmin is the maximum width of the orthogonal projection of the contact detection member 32; the parallel projection line of the aforementioned orthogonal projection is parallel to the height direction H.

[0113] Since the contact detection piece 32 occupies a certain area when in contact with the workpiece, the contact of the contact detection piece 32 with the machined profile causes inaccurate detection data, and since the machining head 1 is located in the contact detection piece 32, when the first specified position is too close to the machined profile, the machining head 1 may be stuck into the machined profile, affecting the machining efficiency. Therefore, when the first specified position is close to the machined profile, the distance between the first specified position and the machined profile should be greater than Lmin.

[0114] The embodiment of the present application also provides a machining device, comprising a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the method for adjusting the height of the machining head.

[0115] The machining device can be a laser-flame composite cutting device, a laser cutting device, a laser-water composite cutting device, or a laser-ultrasonic composite cleaning device.

[0116] The embodiment of the present application also provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are arranged to execute the method for adjusting the height of the machining head.

[0117] The computer readable storage medium includes any entity or device capable of carrying computer program code, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. For example, a U disk, a mobile hard disk, a magnetic disk or an optical disk.

[0118] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0119] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0120] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method of adjusting the height of a processing head, characterized by, The contact detection member is moved away from the workpiece in the height direction of the machining head in a normal state; The method comprises: moving the contact detection member in the height direction of the machining head to abut against the workpiece or keeping the contact detection member at a current position at a first specified position of a machining path to determine a current actual distance between the workpiece and the machining head in the height direction; adjusting or keeping the position of the machining head in the height direction at the first specified position according to the current actual distance and a preset distance; the keeping the contact detection member at a current position in the height direction of the machining head at a first specified position of a machining path to determine a current actual distance between the workpiece and the machining head in the height direction comprises: when the first specified position is too close to a machined contour, the contact detection member cannot abut against the workpiece surface at the first specified position to obtain a current actual distance, the contact detection member is kept at a current position in the height direction of the machining head at the first specified position of the machining path to obtain a first historical actual distance corresponding to a second specified position of a machined contour of the workpiece, the first historical actual distance is a distance between the workpiece and the machining head in the height direction at the second specified position, the first historical actual distance is taken as the current actual distance between the workpiece and the machining head in the height direction, or a second historical actual distance corresponding to a third specified position of an unprocessed region of the workpiece is obtained, the second historical actual distance is a distance between the workpiece and the machining head in the height direction at the third specified position, and the second historical actual distance is taken as the current actual distance between the workpiece and the machining head in the height direction; when there is no machined contour or other interference near the first specified position, the contact detection member abuts against the workpiece in the height direction to detect the current actual distance between the workpiece and the machining head in the height direction.

2. The method of claim 1, wherein, The distance between the first specified position and the second specified position is greater than or equal to L0, 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.

3. The method of claim 1, wherein, The distance between the first specified position and the second specified position is less than A-L0-△S, A is a third constraint value, L0 is the distance between the machining head and the contact detection member in a first direction, △S is the distance between the current first specified position and the previous first specified position or the next first specified position, and the third constraint value is determined according to the slope of the workpiece and the limit distance between the machining head and the workpiece in the height direction.

4. The method of claim 1, wherein, The distance between the third specified position and the nearest machined contour is greater than Lmin, Lmin is the maximum width of the contact detection member orthographic projection, and the parallel projection line of the orthographic projection is parallel to the height direction.

5. The method of claim 1, wherein, The distance between the first specified position and the third specified position is greater than or equal to L0, 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.

6. The method of claim 1, wherein, The distance between the first specified position and the third specified position is less than A-L0-△S, A is a 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 specified position and the previous first specified position or the next first specified position, and the third constraint value is determined according to the slope of the workpiece and the limit distance between the machining head and the workpiece in the height direction.

7. The method of claim 1, wherein, The distance between the initial first specified position and the final first specified position along the machining path is greater than or equal to L0, L0 is the distance between the machining head and the contact detection member in the first direction, and the first direction is perpendicular to the height direction.

8. The method of claim 1, wherein, The machining head is a laser-flame composite cutting head, the distance between the current first specified position and the previous first specified position is greater than or equal to a first constraint value and less than or equal to a second constraint value.

9. The method of claim 1, wherein, The adjusting the position of the machining head in the height direction at the first specified position comprises: determining the speed of adjusting the machining head in the height direction according to the slope of the cut workpiece, the moving speed of the machining head along the machining path direction, and the adjusting amount of the machining head in the height direction; adjusting the position of the machining head in the height direction at the first specified position according to the speed.

10. The method of claim 1, wherein, The distance between the first specified position and the nearest machined contour is greater than Lmin, Lmin is the maximum width of the contact detection member orthographic projection, and the parallel projection line of the orthographic projection is parallel to the height direction.

11. A processing apparatus characterized by comprising: The device comprises a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the method for adjusting the height of the machining head according to any one of claims 1 to 10.

12. 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 the machining head according to any one of claims 1 to 10.

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