A three-dimensional laser marking method, system and terminal based on a five-axis machine tool

Abstract

The application relates to a three-dimensional laser marking method, system and terminal based on a five-axis machine tool, relates to the field of laser cutting technology, and comprises the following steps: acquiring marking information; determining a marking position of a marking process layer according to the marking information; controlling a preset cutting head to move according to the marking position, and determining a marking angle of the marking process layer according to the marking information; controlling the preset cutting head to turn to be perpendicular to the marking process layer according to the marking angle, and determining marking content according to the marking information; determining marking characters according to the marking content; calling a marking matrix according to the marking characters; and controlling the preset cutting head to mark in sequence according to the marking matrix. The application has the effects of improving the convenience of a laser marking machine, reducing processing time and improving production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser cutting technology, in particular to a three-dimensional laser marking method, system and terminal based on a five-axis machine tool. BACKGROUND

[0002] Laser marking refers to a marking method that uses high-energy-density laser to locally irradiate workpieces, causing the surface layer material to vaporize or undergo a color-changing chemical reaction, thereby leaving a permanent mark.

[0003] Traditional laser marking technology mainly uses a galvanometer to quickly perform planar laser marking on a processing surface. Although this method has achieved good results in many applications, its flexibility and adaptability are limited when dealing with complex shapes or three-dimensional curved surfaces, and it needs to be processed by a dedicated laser marking machine, and for this purpose, workers need to move the workpiece to the dedicated laser marking machine.

[0004] In mass processing, workers need to repeatedly move the workpiece, resulting in a decrease in production efficiency. SUMMARY

[0005] In order to improve the convenience of the laser marking machine, reduce processing time, and improve production efficiency, the present application provides a three-dimensional laser marking method, system and terminal based on a five-axis machine tool.

[0006] In a first aspect, the present application provides a three-dimensional laser marking method based on a five-axis machine tool, which adopts the following technical solution:

[0007] A three-dimensional laser marking method based on a five-axis machine tool, comprising:

[0008] Obtaining marking information;

[0009] Determining the marking position of the marking process layer according to the marking information;

[0010] Controlling the movement of the preset cutting head according to the marking position, and determining the marking angle of the marking process layer according to the marking information;

[0011] Controlling the preset cutting head to turn perpendicular to the marking process layer according to the marking angle, and determining the marking content according to the marking information;

[0012] Determining the marking characters according to the marking content;

[0013] Retrieving the marking matrix according to the marking characters;

[0014] Controlling the preset cutting head to mark in sequence according to the marking matrix.

[0015] By adopting the above technical scheme, the five-axis machine tool is adopted to enable the cutting head to move in multiple axial directions at the same time, so that the laser beam can be accurately positioned to any angle and position of the workpiece, thereby realizing the function that the cutting head moves with the marking process layer, and further enabling the laser to mark on a surface with a certain curvature. The technology not only improves the marking precision and efficiency, but also expands the application range of laser marking and improves the convenience of the laser marking machine.

[0016] Optionally, the character adjustment method further comprises:

[0017] determining a scaling command according to the marking information;

[0018] determining a scaling ratio according to the scaling command;

[0019] determining a scaling matrix according to the scaling ratio;

[0020] calculating the product of the marking matrix and the scaling matrix, and defining the product as a transformation matrix;

[0021] controlling the preset cutting head to mark in sequence according to the transformation matrix.

[0022] By adopting the above technical scheme, when the scaling command is contained in the marking information, the printed character matrix is adjusted according to the scaling command, so that the characters printed according to the character matrix meet the requirements, and the convenience of the laser printer is improved.

[0023] Optionally, the character adjustment method further comprises:

[0024] determining a scaling center according to the scaling command;

[0025] when the scaling center is not zero, determining a translation matrix and an inverse matrix according to the scaling center;

[0026] determining a dimension-raising marking matrix according to the marking matrix, and determining a dimension-raising scaling matrix according to the scaling matrix;

[0027] calculating the product of the dimension-raising marking matrix, the translation matrix, the dimension-raising scaling matrix and the inverse matrix, and defining the product as a transformation matrix.

[0028] By adopting the above technical scheme, when the scaling ratio of the character matrix is adjusted, the scaling center is generally the origin. When the character is not located at the origin, the position of the character after scaling is easily changed. At this time, the character is first translated to the origin, and then re-translated to the position of the character after scaling, thereby improving the convenience of using the laser marking machine.

[0029] Optionally, the character adjustment method further comprises:

[0030] determining a rotation command according to the marking information;

[0031] determining a rotation axis according to the rotation command;

[0032] determining a reference matrix according to the rotation axis;

[0033] determining a rotation angle according to the rotation command;

[0034] determining a rotation matrix according to the reference matrix and the rotation angle;

[0035] calculating the product of the marking matrix and the rotation matrix, and defining as a transformation matrix.

[0036] By adopting the above technical solution, when the marking information contains a rotation command, the character matrix of printing is adjusted according to the rotation command, so that the characters printed according to the character matrix meet the requirements, thereby improving the convenience of the laser printer.

[0037] Optionally, the cutting control method further comprises:

[0038] acquiring a marking image of the marking process layer when the cutting head marks in sequence;

[0039] judging whether slag appears on the marking process layer according to the marking image;

[0040] when the slag appears on the marking process layer, determining the slag position according to the marking image;

[0041] determining the slag shape based on the slag position;

[0042] determining the adjustment direction according to the slag shape;

[0043] controlling the preset cutting head to adjust the focal point according to the adjustment direction.

[0044] By adopting the above technical solution, when the focal point of the cutting head does not meet the marking requirements, slag is likely to appear on the workpiece, and when the focal point position is too advanced, the slag is spherical, and when the focal point position is too lagging, the slag is relatively sharp, the focal point position of the cutting head is adjusted according to the shape of the slag, thereby improving the convenience of the laser printer.

[0045] Optionally, the cutting control method further comprises:

[0046] when the adjustment direction is consistent with the preset reduction direction, acquiring a cutting image at the cutting head;

[0047] determining the focal point diameter according to the cutting image;

[0048] determining the adjustment amplitude according to the focal point diameter;

[0049] controlling the preset cutting head to adjust the focal point according to the adjustment amplitude.

[0050] By adopting the technical scheme, when the focal point position is too advanced, the laser emitted by the cutting head irradiates on the workpiece surface with a larger spot area, the focal length adjustment range is selected according to the spot area, so that the focal point position meets the requirements.

[0051] Optionally, the method further comprises a slag cleaning method, the slag cleaning method comprising:

[0052] According to the slag position, a preset cutting head is controlled to move above the slag, and a slag area is determined based on the slag position;

[0053] According to the slag area, a removal diameter is determined;

[0054] According to the removal diameter, a removal focal length is determined;

[0055] According to the removal focal length, the preset cutting head is controlled to adjust the focal point.

[0056] By adopting the technical scheme, the focal length of the cutting head is adjusted according to the area of the slag, so that the laser emitted by the cutting head irradiates the slag completely, and then the slag is gasified by the laser, so that the slag is removed by the laser cutting machine.

[0057] Optionally, the slag cleaning method further comprises:

[0058] According to the removal focal length, a laser intensity is determined;

[0059] Based on the slag position, a slag melting point is determined;

[0060] According to the slag melting point, a required intensity is determined;

[0061] According to the laser intensity and the required intensity, a correction coefficient is determined;

[0062] According to the correction coefficient, the preset cutting head is controlled to adjust the laser intensity.

[0063] By adopting the technical scheme, when the focal length of the cutting head is adjusted to make the laser irradiate the slag completely, the intensity of the laser is likely to decrease, the power of the laser is adjusted according to the melting point of the slag, so that the slag can be fully gasified when the laser irradiates on the slag.

[0064] In a second aspect, the application provides a three-dimensional laser marking system based on a five-axis machine tool, which adopts the following technical scheme:

[0065] A three-dimensional laser marking system based on a five-axis machine tool, comprising:

[0066] An acquisition module for acquiring marking information, a marking image and a cutting image;

[0067] A memory for storing the program of any one of the three-dimensional laser marking methods based on a five-axis machine tool;

[0068] A processor, the program in the memory can be loaded and executed by the processor.

[0069] In a third aspect, the application provides an intelligent terminal, which adopts the technical scheme as follows:

[0070] An intelligent terminal, comprising a memory and a processor, the memory stores a computer program capable of being loaded and executed by the processor to implement any of the above-mentioned three-dimensional laser marking methods based on a five-axis machine tool.

[0071] By adopting the above technical scheme, the five-axis machine tool is adopted to enable the cutting head to move in multiple axial directions at the same time, so that the laser beam can be accurately positioned to any angle and position of the workpiece, thereby realizing the function of the cutting head moving with the marking process layer, and further enabling the laser to mark on a surface with a certain curvature. This technology not only improves the precision and efficiency of marking, but also expands the application range of laser marking and improves the convenience of the laser marking machine.

[0072] In summary, the present application includes at least one of the following beneficial technical effects:

[0073] The five-axis machine tool is adopted to enable the cutting head to move in multiple axial directions at the same time, so that the laser beam can be accurately positioned to any angle and position of the workpiece, thereby realizing the function of the cutting head moving with the marking process layer, and further enabling the laser to mark on a surface with a certain curvature. This technology not only improves the precision and efficiency of marking, but also expands the application range of laser marking and improves the convenience of the laser marking machine.

[0074] When the scaling command is included in the marking information, the character matrix of the printed characters is adjusted according to the scaling command, so that the characters printed according to the character matrix meet the requirements, and the convenience of the laser printer is improved.

[0075] When adjusting the scaling ratio of the character matrix, the scaling is generally performed with the origin as the scaling center. When the character is not located at the origin, the position of the character after scaling is easily changed. At this time, the character is first translated to the origin, and then re-translated to the character position after scaling, thereby improving the convenience of using the laser marking machine. BRIEF DESCRIPTION OF DRAWINGS

[0076] Figure 1 is a flowchart of a three-dimensional laser marking method based on a five-axis machine tool;

[0077] Figure 2 is a flowchart of a character adjustment method Figure One ;

[0078] Figure 3 is a flowchart of a character adjustment method Figure Two ;

[0079] Figure 4 is a flow of a character adjusting method Figure Three ;

[0080] Figure 5 is a flow of a cutting control method Figure One ;

[0081] Figure 6 is a flow of a cutting control method Figure Two ;

[0082] Figure 7 is a flow of a slag cleaning method Figure One ;

[0083] Figure 8 is a flow of a slag cleaning method Figure Two . DETAILED DESCRIPTION

[0084] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0085] With reference to Figure 1 , a three-dimensional laser marking method based on a five-axis machine tool, comprising:

[0086] Step 100: obtaining marking information.

[0087] The marking information refers to data containing the position of the marking process layer, the angle value of the marking process layer, the content of the marking, the size of the character, the angle of the character and the like, wherein the marking process layer refers to the surface that needs to be marked by laser, and the marking information can be manually input by personnel. The method for obtaining the marking information is selected by the staff according to the actual situation, which is not described herein.

[0088] Step 101: determining the marking position of the marking process layer according to the marking information.

[0089] The marking position is the position of the marking process layer identified from the marking information, and the method for determining the marking position is well known in the art, which is not described herein.

[0090] Step 102: controlling the movement of the pre-set cutting head according to the marking position, and determining the marking angle of the marking process layer according to the marking information.

[0091] The cutting head is a device mounted on the cantilever of a machine tool for emitting laser light. This method uses a five-axis machine tool with an AC axis structure. XYZ are linear axes that drive the cantilever to move. The Z-axis is vertically upward with the positive direction. The XYZ axis directions conform to the right-hand screw rule. The A and C axes are rotary axes that realize the swing and rotation of the cutting head. The A-axis has a degree of freedom of +90° to -90°. The C-axis is a motor that can rotate infinitely. The A-axis motor rotates around the X-axis, and the C-axis motor rotates around the Z-axis. Both rotations are clockwise with the positive direction. The position of the cutting head is controlled by the coordination of the five axes. The method of controlling the movement of the cutting head is common knowledge to those skilled in the art and will not be described in detail here.

[0092] The marking angle is the angle value of the marking process layer identified from the marking information. The method for determining the marking angle is common knowledge to those in the field and will not be elaborated here.

[0093] Step 103: Control the preset cutting head to rotate perpendicular to the marking process layer according to the marking angle, and determine the marking content according to the marking information.

[0094] The orientation of the cutting head is controlled by a five-axis system. The method for controlling the orientation of the cutting head is common knowledge in the art and will not be elaborated here. The marking content is the overall content to be marked, identified from the marking information. The method for determining the marking content is common knowledge in the art and will not be elaborated here.

[0095] Step 104: Determine the tagging characters based on the tagging content.

[0096] Tagging characters refer to the recognition results obtained by identifying each character in the tagged content. The method for determining tagged characters is common knowledge in the field and will not be elaborated here.

[0097] Step 105: Retrieve the tagging matrix based on the tagging characters.

[0098] The marking matrix refers to a matrix where all points along the processing path corresponding to the marking characters are treated as a row vector with T= The coordinate point matrix is ​​in the form of a matrix. The marking matrix can be obtained from the matrix data table. The matrix data table is a data table that records the marking matrices corresponding to common punctuation marks such as commas, pauses, separators, and spaces.

[0099] Step 106: Mark the cutting heads sequentially according to the marking matrix.

[0100] The five-axis machine tool is adopted to enable the cutting head to move in multiple axial directions at the same time, so that the laser beam can be accurately positioned to any angle and position of the workpiece, thereby realizing the function that the cutting head moves with the marking process layer, and further enabling the laser to mark on a surface with a certain curvature. The technology not only improves the marking precision and efficiency, but also expands the application range of laser marking and improves the convenience of the laser marking machine.

[0101] With reference to Figure 2 , the character adjusting method comprises:

[0102] Step 200: determining a scaling command according to the marking information.

[0103] The scaling command is a command for controlling the size of the character identified from the marking information. The scaling command generally adopts the G51 scaling instruction in the Fanuc G code. The scaling instruction generally includes the scaling center and the scaling magnification, for example, in G51X0Y0I2000J2000, (0, 0) is the scaling center, and the scaling magnification t x and t y in the X-axis and Y-axis directions are both 2000, wherein the unit size of the scaling magnification is 1000. The determination method of the scaling command is the common knowledge of the person skilled in the art, and will not be described here.

[0104] Step 201: determining the scaling magnification according to the scaling command.

[0105] The scaling magnification is the scaling magnification value of the character identified from the scaling command. The determination method of the scaling magnification is the common knowledge of the person skilled in the art, and will not be described here.

[0106] Step 202: determining the scaling matrix according to the scaling magnification.

[0107] The scaling matrix refers to a matrix obtained by the scaling magnification t x , t y and t z of the X-axis, Y-axis and Z-axis in the form of T n = . The determination method of the scaling matrix is the common knowledge of the person skilled in the art, and will not be described here.

[0108] Step 203: calculating the product of the marking matrix and the scaling matrix, and defining it as the transformation matrix.

[0109] The transformation matrix is the marking matrix obtained after scaling according to the scaling magnification. The calculation method of the transformation matrix is the common knowledge of the person skilled in the art, and will not be described here.

[0110] Step 204: controlling the preset cutting head to mark in sequence according to the transformation matrix.

[0111] When the scaling command is contained in the marking information, the printed character matrix is adjusted according to the scaling command, so that the characters printed according to the character matrix meet the requirements, thereby improving the convenience of the laser printer.

[0112] With reference to Figure 3 , the character adjusting method further comprises:

[0113] Step 205: determining the scaling center according to the scaling command.

[0114] The scaling center is the center of the character identified from the scaling command when the character is scaled, and the determination method of the scaling center is well known to those skilled in the art, which is not described here.

[0115] Step 206: when the scaling center is not zero, determining the translation matrix and the inverse matrix according to the scaling center.

[0116] The scaling center not being zero represents that the scaling center of the character is not the origin, at this time, the character needs to be translated to the origin for scaling, and then the character is translated to the original position to ensure that the position of the character does not change.

[0117] The translation matrix is a matrix in the form of T p = obtained from the scaling center (a, b, c) for translating the marking matrix to the origin, and the determination method of the translation matrix is well known to those skilled in the art, which is not described here.

[0118] The inverse matrix is a matrix in the form of T p -1 = obtained from the scaling center (a, b, c) for translating the marking matrix from the origin to the original position, and the determination method of the inverse matrix is well known to those skilled in the art, which is not described here.

[0119] Step 207: determining the dimension-raised marking matrix according to the marking matrix, and determining the dimension-raised scaling matrix according to the scaling matrix.

[0120] The dimension-raised marking matrix is a matrix in the form of T obtained after the marking matrix is dimension-raised, and the dimension-raised scaling matrix is a matrix in the form of Tn obtained after the scaling matrix is dimension-raised, since the translation matrix and the inverse matrix are both four-dimensional matrices, when the four-dimensional matrix is calculated with the three-dimensional marking matrix and the three-dimensional scaling matrix, the three-dimensional matrix needs to be raised to four dimensions first, and the dimension-raising method of the matrix is well known to those skilled in the art, which is not described here.

[0121] Step 208: calculating the product of the dimension-raised marking matrix, the translation matrix, the dimension-raised scaling matrix and the inverse matrix, and defining it as the transformation matrix.

[0122] The transformation matrix is a product of the dimension-up marking matrix, the translation matrix, the dimension-up scaling matrix and the reciprocal matrix TT p T n T P -1 The calculated result is that when the scaling ratio of the character matrix is adjusted, the original point is generally taken as the scaling center for scaling, and when the character is not located at the original point, the position of the character after scaling is easily changed. At this time, the character is first translated to the original point, and then re-translated to the position of the character after scaling, so as to improve the convenience of use of the laser marking machine.

[0123] Referring to Figure 4 , the character adjustment method further comprises:

[0124] Step 209: determining a rotation command according to the marking information.

[0125] The rotation command is a command for controlling the angle of the character identified from the marking information. The rotation command generally adopts the G68 rotation instruction in the Fanuc G code. The rotation instruction generally includes the rotation center, the rotation component of each axis and the rotation angle, etc. For example, in G68X0Y0Z0I0J0K1Rθ, (0, 0, 0) is the rotation center, the rotation component of the X axis and the Y axis is 0, the rotation component of the Z axis is 1, and the rotation angle is θ degrees, i.e. rotating θ degrees around the Z axis. The determination method of the rotation command is the common knowledge of the person skilled in the art, which is not described here.

[0126] Step 210: determining a rotation axis according to the rotation command.

[0127] The rotation axis refers to the axis line of the font rotation. When the rotation component is not 0, the axis line corresponding to the rotation component is the rotation axis. The overall angle of rotation in the rotation command is decomposed into multi-axis rotation composed of the X axis, the Y axis and the Z axis. The determination method of the rotation axis is the common knowledge of the person skilled in the art, which is not described here.

[0128] Step 211: determining a reference matrix according to the rotation axis.

[0129] The reference matrix refers to a matrix for rotating the marking matrix according to the rotation axis. When the rotation axis is the X axis, the reference matrix is T α = , and α is the rotation angle value in the X axis direction. When the rotation axis is the Y axis, the reference matrix is T β = , and β is the rotation angle value in the Y axis direction. When the rotation axis is the Z axis, the reference matrix is T γ = , and γ is the rotation angle value in the Z axis direction. The determination method of the reference matrix is the common knowledge of the person skilled in the art, which is not described here.

[0130] Step 212: Determine the rotation angle according to the rotation command.

[0131] The rotation angle refers to the decomposition of the angle value θ into component angle values ​​on each axis based on the rotation component. The method for determining the rotation angle is common knowledge to those in the field and will not be elaborated here.

[0132] Step 213: Determine the rotation matrix based on the reference matrix and the rotation angle.

[0133] The rotation matrix is ​​the complete matrix obtained by filling the rotation angle into the reference matrix. The method for determining the rotation matrix is ​​common knowledge to those in the field and will not be elaborated here.

[0134] Step 214: Calculate the product of the marking matrix and the rotation matrix, and define it as the transformation matrix.

[0135] The transformation matrix is ​​denoted by TT. α T β T γ The marking matrix is ​​obtained by right-multiplying the rotation matrix in the order of X, Y, Z. When the marking information contains a scaling command, the printed character matrix is ​​adjusted according to the scaling command so that the characters printed according to the character matrix meet the requirements, thereby improving the convenience of the laser printer.

[0136] When scaling and rotation are used simultaneously, scaling (G51) should be applied first, followed by rotation (G68). The corresponding matrix multiplication method also needs to be modified to TT. p T n T α T β T γ T P -1 , where the rotation matrix T α T β T γ The same dimensionality-up process is also required to transform it into the corresponding four-dimensional matrix.

[0137] Reference Figure 5 The cutting control methods include:

[0138] Step 300: When the cutting head marks sequentially, acquire the marking image of the marking process layer.

[0139] The marking image is a picture of the marking process layer when the cutting head marks the layers sequentially. The method of obtaining the marking image is selected by the staff according to the actual situation, and will not be elaborated here.

[0140] Step 301: Determine whether slag appears on the marking process layer based on the marking image.

[0141] The molten slag is a molten metal remaining on the workpiece surface or the cut during the laser cutting process, which is melted by the laser beam but not completely blown away by the auxiliary gas. Whether the molten slag exists on the marking process layer can be determined by image recognition technology. The identification method of the molten slag is well known to those skilled in the art, and will not be described here.

[0142] Step 302: When the molten slag appears on the marking process layer, the position of the molten slag is determined according to the marking image.

[0143] The appearance of the molten slag on the marking process layer represents that the focal position of the cutting head at this time is not suitable. The position of the molten slag refers to the coordinate information of the molten slag. The position of the molten slag can be obtained by image recognition technology. The identification method of the position of the molten slag is well known to those skilled in the art, and will not be described here.

[0144] Step 303: Determine the shape of the molten slag based on the position of the molten slag.

[0145] The shape of the molten slag refers to the external shape of the molten slag. Whether the molten slag has an edge is generally identified by image recognition technology. When the edge exists, it is judged that the shape of the molten slag is sharp. When the edge does not exist, it is judged that the shape of the molten slag is spherical. The judgment method of the shape of the molten slag is well known to those skilled in the art, and will not be described here.

[0146] Step 304: Determine the adjustment direction according to the shape of the molten slag.

[0147] The adjustment direction refers to the direction of adjusting the focal position. When the shape of the molten slag is sharp, it represents that the focal position of the laser at this time is too lagging, resulting in incomplete melting of the material. When the shape of the molten slag is spherical, it represents that the focal position of the laser at this time is too advanced, resulting in excessive heat at the lower end of the material. According to the shape of the molten slag, the focal position of the laser is determined, and the corresponding adjustment direction is selected. The determination method of the adjustment direction is well known to those skilled in the art, and will not be described here.

[0148] Step 305: Control the pre-set cutting head adjustment focal point according to the adjustment direction.

[0149] The focal length of the laser is adjusted according to the adjustment direction and the unit step length to adjust the focal position of the laser, thereby reducing the generation of the molten slag.

[0150] When the focal point of the cutting head does not meet the marking requirements, the molten slag is likely to appear on the workpiece. When the focal position is too advanced, the molten slag is spherical. When the focal position is too lagging, the molten slag is relatively sharp. The focal position of the cutting head is adjusted according to the shape of the molten slag, thereby improving the convenience of the laser printer.

[0151] Referring to Figure 6 , the cutting control method further comprises:

[0152] Step 306: When the adjustment direction is consistent with the pre-set reduction direction, the cutting image at the cutting head is obtained.

[0153] The reducing direction refers to the adjusting direction required when the slag is in a spherical shape. The adjusting direction being consistent with the reducing direction means that the focal point position of the laser is too advanced, and the spot area of the laser irradiated on the workpiece is larger. The cutting image is a picture of the position on the workpiece cut by the cutting head. The method for obtaining the cutting image is selected by the staff according to the actual situation, and is not described herein.

[0154] Step 307: determining the focal point diameter according to the cutting image.

[0155] The focal point diameter refers to the diameter of the spot of the laser irradiated on the workpiece. The focal point diameter can be determined by image recognition technology. The method for identifying the focal point diameter is common knowledge in the art, and is not described herein.

[0156] Step 308: determining the adjusting amplitude according to the focal point diameter.

[0157] The adjusting amplitude refers to the amplitude value of the focal length required to be adjusted to adjust the focal point position so as to reduce the generation of slag. The adjusting amplitude can be obtained from the amplitude relationship table. The amplitude relationship table refers to a data table recording the adjusting amplitudes corresponding to different focal point diameters.

[0158] Step 309: controlling the preset cutting head to adjust the focal point by the adjusting amplitude.

[0159] When the focal point position is too advanced, the spot area of the laser emitted by the cutting head irradiated on the workpiece surface is larger. The amplitude of the focal length adjustment is selected according to the spot area, so that the focal point position meets the requirements.

[0160] Reference Figure 7 , the slag cleaning method comprises:

[0161] Step 400: controlling the preset cutting head to move above the slag according to the slag position, and determining the slag area based on the slag position.

[0162] The slag area refers to the range of the slag on the workpiece in the direction of the cutting head. The slag area can be determined from the cutting image by image recognition technology. The method for determining the slag area is common knowledge in the art, and is not described herein.

[0163] Step 401: determining the removal diameter according to the slag area.

[0164] The removal diameter refers to the minimum circumscribed circle diameter required to completely cover the slag area. The method for determining the removal diameter is common knowledge in the art, and is not described herein.

[0165] Step 402: determining the removal focal length according to the removal diameter.

[0166] The removal focal length refers to the focal length value required to adjust the spot formed by laser irradiation on the workpiece to the removal diameter. The removal focal length can be obtained from the focal length relationship table. The focal length relationship table refers to a data table recording the removal focal length corresponding to different removal diameters.

[0167] Step 403: Adjust the focal point of the preset cutting head according to the removal focal length.

[0168] The focal length of the cutting head is adjusted according to the area of the slag, so that the laser emitted by the cutting head irradiates the slag completely. Then the slag is gasified by laser, so that the slag is removed by the laser cutting machine.

[0169] Reference Figure 8 The slag cleaning method further comprises:

[0170] Step 404: Determine the laser intensity according to the removal focal length.

[0171] The laser intensity refers to the energy value per unit area of the laser irradiation on the workpiece. The laser intensity can be obtained from the intensity relationship table. The intensity relationship table refers to a data table recording the laser intensity corresponding to different removal focal lengths.

[0172] Step 405: Determine the melting point of the slag based on the position of the slag.

[0173] The melting point of the slag refers to the temperature value at which the slag melts. The melting point of the slag is related to the material of the workpiece. The material of the workpiece is determined from the cutting image by image recognition technology, and then the melting point of the slag is obtained by table lookup. The determination method of the melting point of the slag is well known to those skilled in the art, and will not be described here.

[0174] Step 406: Determine the required intensity according to the melting point of the slag.

[0175] The required intensity refers to the energy value per unit area required to gasify the slag by laser. The required intensity can be obtained by querying the requirement relationship table. The requirement relationship table refers to a data table recording different melting points of the slag and their corresponding required intensities.

[0176] Step 407: Determine the correction coefficient according to the laser intensity and the required intensity.

[0177] The correction coefficient refers to a coefficient used to adjust the power of the laser. The correction coefficient is generally obtained by calculating the quotient of the laser intensity and the required intensity. The calculation method of the correction coefficient is well known to those skilled in the art, and will not be described here.

[0178] Step 408: Control the laser intensity of the preset cutting head according to the correction coefficient.

[0179] When the focal length of the cutting head is adjusted to make the laser fully irradiate the slag, the intensity of the laser is prone to decrease, a correction coefficient is determined according to the melting point of the slag, and the power of the laser is adjusted according to the correction coefficient, so that the laser can still sufficiently gasify the slag when irradiating the slag.

[0180] The slag cleaning method further comprises:

[0181] Step 409: determining the circumscribed width according to the slag area when the removal diameter is greater than a preset irradiation threshold.

[0182] The irradiation threshold refers to the maximum spot diameter of the laser emitted by the cutting head that can effectively cut the workpiece, and the irradiation threshold is selected by the worker according to the actual situation, which is not described herein. The removal diameter greater than the irradiation threshold represents that the area of the slag is too large at this time, and it is difficult to remove the slag by directly irradiating the laser. The circumscribed width refers to the width of the smallest circumscribed rectangle of the slag area in each direction. The determination method of the circumscribed width is known to those skilled in the art, which is not described herein.

[0183] Step 410: determining the cutting direction according to the circumscribed width.

[0184] The cutting direction refers to the direction of the cutting head cutting the slag. Generally, the direction corresponding to the smallest circumscribed width is taken as the cutting direction.

[0185] Step 411: determining the cutting position according to the cutting direction and the slag area.

[0186] The cutting position refers to the starting position of the cutting head cutting the slag. Generally, a point at the edge of the slag area in the cutting direction is selected as the cutting position. The cutting position is selected by the worker according to the actual situation, which is not described herein.

[0187] Step 412: determining the cutting orientation according to the marking angle.

[0188] The cutting orientation refers to the orientation angle of the cutting head when the cutting head cuts the slag. Generally, an angle that is 90 degrees different from the marking angle is selected as the cutting orientation to reduce the damage to the surface of the workpiece when cutting the slag. The marking angle is selected by the worker according to the actual situation, which is not described herein.

[0189] Step 413: controlling the preset cutting head to move according to the cutting position, and controlling the preset cutting head to turn according to the cutting orientation.

[0190] The cutting head is controlled to reach the starting position of cutting by five-axis cooperation, and the orientation is adjusted to prepare for cutting the slag.

[0191] Step 414: determining the cutting length curve according to the cutting direction, the cutting position, and the slag area.

[0192] The cutting length curve refers to a length variation curve of the molten slag region from the cutting position along the cutting direction, and a determination method of the cutting length curve is well known to those skilled in the art, which is not described herein.

[0193] Step 415: determining a cutting time curve according to the cutting length curve.

[0194] The cutting time curve refers to a cutting time variation curve required for separating the molten slag of the corresponding length in the cutting length curve from the workpiece by the cutting head, and a determination method of the cutting time curve is well known to those skilled in the art, which is not described herein.

[0195] Step 416: controlling the preset cutting head to cut in the cutting direction according to the cutting time curve.

[0196] When the area of the molten slag is too large, the energy consumption required for directly irradiating by the cutting head to completely remove the molten slag is too high, at this time, the orientation of the cutting head is adjusted to make the cutting head cut the molten slag along the boundary line between the molten slag and the workpiece to separate the molten slag from the workpiece, thereby improving the convenience of removing the molten slag.

[0197] Based on the same inventive concept, the embodiment of the present application provides a three-dimensional laser marking system based on a five-axis machine tool, comprising:

[0198] An acquisition module is configured to acquire marking information, a marking image and a cutting image.

[0199] A memory is configured to store a program of any of the three-dimensional laser marking methods based on the five-axis machine tool.

[0200] A processor, and the program in the memory can be loaded and executed by the processor.

[0201] Based on the same inventive concept, the embodiment of the present application provides an intelligent terminal, comprising a memory and a processor, and the memory stores a computer program which can be loaded and executed by the processor to execute any of the three-dimensional laser marking methods based on the five-axis machine tool.

[0202] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0203] The above merely describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-described embodiments. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application shall also be considered as falling within the protection scope of the present application.

Claims

1. A three-dimensional laser marking method based on a five-axis machine tool, characterized in that, The method comprises the following steps: acquiring marking information; determining a marking position of a marking process layer according to the marking information; controlling a preset cutting head to move according to the marking position, and determining a marking angle of the marking process layer according to the marking information; controlling the preset cutting head to turn to be perpendicular to the marking process layer according to the marking angle, and determining marking content according to the marking information; determining marking characters according to the marking content; calling a marking matrix according to the marking characters; controlling the preset cutting head to mark in sequence according to the marking matrix; The method further comprises a cutting control method, which comprises the following steps: acquiring a marking image of the marking process layer when the cutting head marks in sequence; judging whether slag appears on the marking process layer according to the marking image; determining a slag position according to the marking image when slag appears on the marking process layer; determining a slag shape based on the slag position; determining an adjustment direction according to the slag shape; controlling the preset cutting head to adjust a focal point according to the adjustment direction; The method further comprises a character adjustment method, which comprises the following steps: determining a zoom command according to the marking information; determining a zoom ratio according to the zoom command; determining a zoom matrix according to the zoom ratio; calculating a product of the marking matrix and the zoom matrix, and defining the product as a transformation matrix; controlling the preset cutting head to mark in sequence according to the transformation matrix; The character adjustment method further comprises the following steps: determining a zoom center according to the zoom command; determining a translation matrix and an inverse matrix according to the zoom center when the zoom center is not zero; determining a dimension-up marking matrix according to the marking matrix, and determining a dimension-up zoom matrix according to the zoom matrix; calculating a product of the dimension-up marking matrix, the translation matrix, the dimension-up zoom matrix and the inverse matrix, and defining the product as the transformation matrix; The character adjustment method further comprises the following steps: determining a rotation command according to the marking information; determining a rotation axis according to the rotation command; determining a reference matrix according to the rotation axis; determining a rotation angle according to the rotation command; determining a rotation matrix according to the reference matrix and the rotation angle; calculating a product of the marking matrix and the rotation matrix, and defining the product as the transformation matrix.

2. A method for three-dimensional laser marking based on a five-axis machine tool according to claim 1, characterized in that, The cutting control method further comprises the following steps: acquiring a cutting image at the cutting head when the adjustment direction is consistent with a preset reduction direction; determining a focal point diameter according to the cutting image; determining an adjustment amplitude according to the focal point diameter; controlling the preset cutting head to adjust the focal point according to the adjustment amplitude.

3. A method for three-dimensional laser marking based on a five-axis machine tool according to claim 2, characterized in that, The method further comprises a slag cleaning method, which comprises the following steps: controlling the preset cutting head to move above the slag according to the slag position, and determining a slag area based on the slag position; determining a removal diameter according to the slag area; determining a removal focal length according to the removal diameter; controlling the preset cutting head to adjust the focal point according to the removal focal length.

4. A method for three-dimensional laser marking based on a five-axis machine tool according to claim 3, characterized in that, The slag cleaning method further comprises the following steps: determining a laser intensity according to the removal focal length; determining a slag melting point based on the slag position; determining a required intensity according to the slag melting point; determining a correction coefficient according to the laser intensity and the required intensity; controlling the preset cutting head to adjust the laser intensity according to the correction coefficient.

5. A method for three-dimensional laser marking based on a five-axis machine tool according to claim 4, characterized in that, The slag cleaning method further comprises the following steps: determining an circumscribed width according to the slag area when the removal diameter is greater than a preset irradiation threshold; determining a cutting direction according to the circumscribed width; determining a cutting position according to the cutting direction and the slag area; determining a cutting orientation according to the marking angle; controlling the preset cutting head to move according to the cutting position, and controlling the preset cutting head to turn according to the cutting orientation; determining a cutting length curve according to the cutting direction, the cutting position and the slag region; determining a cutting time curve according to the cutting length curve; controlling the preset cutting head to cut according to the cutting direction according to the cutting time curve.

6. A three-dimensional laser marking system based on a five-axis machine tool, characterized in that, comprising: an acquisition module, configured to acquire marking information, a marking image and a cutting image; a memory, configured to store a program of the three-dimensional laser marking method based on the five-axis machine tool according to any one of claims 1 to 5; a processor, the program in the memory being capable of being loaded and executed by the processor.

7. A smart terminal, characterized by comprising a memory and a processor, the memory storing a computer program capable of being loaded and executed by the processor, the computer program being the three-dimensional laser marking method based on the five-axis machine tool according to any one of claims 1 to 5.

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