Method and system for calibrating rotating shaft of laser five-axis equipment

Abstract

The invention relates to a rotating shaft calibration method and system for laser five-axis equipment, and the method comprises the steps: carrying out the detection of N azimuth positions of correction balls at different positions on a rotating shaft at different angles through a probe, so as to obtain the position coordinates of the corresponding correction balls, dividing the rotating shaft according to a preset equal interval angle, calculating a first sphere center position coordinate of a first correction sphere and a second sphere center position coordinate of a second correction sphere of the rotating shaft under each equant angle, performing circle fitting to obtain a first fitting circle and a second fitting circle, and calculating a rotation vector of the rotating shaft according to the circle centers of the two fitting circles, updating the current position coordinate of the machine tool according to the rotation vector and the current position coordinate of the rotating shaft, and correcting the current position coordinate of the rotating shaft according to the updated position coordinate of the machine tool, thereby realizing calibration based on the corrected position coordinate of the rotating shaft. Therefore, the calibration precision and efficiency of the rotating shaft are improved.

Description

Technical Field

[0001] The present invention relates to the field of precision measurement technology, and particularly to a calibration method and system for a rotating axis of a laser five-axis device. Background Art

[0002] Laser five-axis devices are commonly used in high-precision and high-precision machining scenarios such as machining precision workpieces and surface textures. The traditional calibration method for the rotating axis uses detection instruments such as dial indicators and spindle detection rods for assistance. The machine tool adjustment mechanism is used to adjust the normal direction of the rotating axis to make it parallel to the corresponding mechanical axis. Then, a standard block is used to assist in measuring the difference of the rotating axis in the laser coordinate system by moving the axis, so as to calculate the position of the rotating axis in the laser coordinate system. This requires the machine tool to design a corresponding adjustment device and consider the load capacity of this adjustment device. The mechanical complexity is high, and the normal direction of the rotating axis needs to be parallel to the mechanical axis, and errors in two directions need to be adjusted. During the adjustment process, the operator needs to repeatedly confirm the other direction, resulting in low adjustment efficiency and calibration efficiency, and the errors caused by the end face runout and radial runout of the rotating axis cannot be reduced, affecting the calibration accuracy. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: The present invention provides a calibration method and system for a rotating axis of a laser five-axis device, which improves the calibration accuracy of the rotating axis and at the same time improves the calibration efficiency.

[0004] To solve the above technical problem, the technical solution adopted by the present invention is:

[0005] In a first aspect, the present invention provides a calibration method for a rotating axis of a laser five-axis device, including:

[0006] Probing the first calibration ball and the second calibration ball on the rotating axis at the first angle at N azimuth positions to obtain M1 position coordinates of the first calibration ball and P1 position coordinates of the second calibration ball. At the same time, probing the first calibration ball and the second calibration ball on the rotating axis at the second angle at N azimuth positions to obtain M2 position coordinates of the first calibration ball and P2 position coordinates of the second calibration ball. The first calibration ball and the second calibration ball are calibration balls at different positions on the rotating axis;

[0007] The swing axis is divided according to a preset equal division interval angle to obtain J equal division angles. The first center position coordinates of the first calibration sphere on the rotation axis at each equal division interval angle are calculated based on M1 position coordinates and M2 position coordinates. All the first center position coordinates are subjected to circular fitting to obtain a first fitted circle. The second center position coordinates of the second calibration sphere on the rotation axis at each equal division interval angle are calculated based on P1 position coordinates and P2 position coordinates. All the second center position coordinates are subjected to circular fitting to obtain a second fitted circle. The rotation vector of the rotation axis is obtained based on the first center of the first fitted circle and the second center of the second fitted circle;

[0008] Obtain the current position coordinates of the machine tool and the current position coordinates of the rotation axis in the laser coordinate system of the machine tool. Update the current position coordinates of the machine tool according to the current position coordinates of the rotation axis and the rotation vector to obtain the updated machine tool position coordinates. Correct the current position coordinates of the rotation axis according to the updated machine tool position coordinates to obtain the corrected rotation axis position coordinates. Calibration is achieved based on the corrected rotation axis position coordinates.

[0009] The beneficial effects of the present invention are as follows: By using a probe to detect the N azimuth positions of calibration spheres at different positions on the rotation axis at different angles, automatic acquisition of data points on the rotation axis is realized, improving the data acquisition efficiency. The swing axis is divided according to a preset equal division interval angle, and the center position coordinates of the calibration spheres on the rotation axis at each equal division interval angle are calculated based on the position coordinates of the same calibration spheres on the rotation axis at different angles obtained. All the center position coordinates are subjected to circular fitting to further obtain the rotation vector of the rotation axis, suppressing the errors caused by the radial runout and end face runout of the rotation axis, ensuring the accuracy of the rotation vector. The current position coordinates of the machine tool are updated according to the current position coordinates of the rotation axis and the rotation vector, and then the initial position of the rotation axis is corrected according to the updated machine tool position coordinates to obtain the corrected rotation position coordinates, that is, the position of the rotation axis in the laser coordinate system. There is no need for a complex machine tool adjustment mechanism, nor for manual repeated adjustment and confirmation, improving the calibration efficiency and the calibration accuracy at the same time.

[0010] Optionally, the calculating the first center position coordinates of the first calibration sphere on the rotation axis at each equal division interval angle based on M1 position coordinates and M2 position coordinates includes:

[0011] Obtain the first radius and the first safety distance of the first calibration sphere;

[0012] Calculate the third center position coordinates of the first calibration sphere according to M1 position coordinates, the first radius, and the first safety distance, calculate the fourth center position coordinates of the first calibration sphere according to M2 position coordinates, the first radius, and the first safety distance, and calculate the first rotation center of the first calibration sphere according to the third center position coordinates and the fourth center position coordinates;

[0013] Calculate the first center position coordinates of the first calibration sphere on the rotation axis at each equal division interval angle according to the first rotation center and the third center position coordinates;

[0014] The calculating the second center position coordinates of the second calibration sphere on the rotation axis at each equal division interval angle according to P1 position coordinates and P2 position coordinates includes:

[0015] Obtain the second radius and the second safety distance of the second calibration sphere;

[0016] Calculate the fifth center position coordinates of the second calibration sphere according to P1 position coordinates, the second radius, and the second safety distance, calculate the sixth center position coordinates of the second calibration sphere according to P2 position coordinates, the second radius, and the second safety distance, and calculate the second rotation center of the second calibration sphere according to the fifth center position coordinates and the sixth center position coordinates;

[0017] Calculate the second center position coordinates of the second calibration sphere on the rotation axis at each equal division interval angle according to the second rotation center and the fifth center position coordinates.

[0018] According to the above description, the position coordinates of the same calibration sphere on the rotation axes at different angles are combined with the radius and safety distance of the corresponding calibration sphere for calculation to obtain the corresponding center position coordinates. Further, the rotation center is calculated according to the obtained center position coordinates, which not only ensures the accuracy of the obtained rotation center but also improves the first center position coordinates of the first calibration sphere on the rotation axis at each equal division interval angle and the second center position coordinates of the second calibration sphere on the rotation axis at each equal division interval angle calculated finally.

[0019] Optionally, the calculating the third center position coordinates of the first calibration sphere according to M1 position coordinates, the first radius, and the first safety distance, and the calculating the fourth center position coordinates of the first calibration sphere according to M2 position coordinates, the first radius, and the first safety distance includes:

[0020] Take the third center-of-sphere position coordinates as the detection starting point for the next detection. Combine the first radius and the first safety distance to enable the probe to re-detect the first calibration sphere on the rotation axis at the first angle for N azimuth positions and calculate the third center-of-sphere position coordinates based on the detection starting point of the next detection until the third center-of-sphere position coordinates are less than the error threshold, and obtain the final third center-of-sphere position coordinates;

[0021] Take the fourth center-of-sphere position coordinates as the detection starting point for the next detection. Combine the first radius and the first safety distance to enable the probe to re-detect the first calibration sphere on the rotation axis at the second angle for N azimuth positions and calculate the fourth center-of-sphere position coordinates based on the detection starting point of the next detection until the fourth center-of-sphere position coordinates are less than the error threshold, and obtain the final fourth center-of-sphere position coordinates;

[0022] Calculating the fifth center-of-sphere position coordinates of the second calibration sphere according to P1 position coordinates, the second radius, and the second safety distance, and calculating the sixth center-of-sphere position coordinates of the second calibration sphere according to P2 position coordinates, the second radius, and the second safety distance includes:

[0023] Take the fifth center-of-sphere position coordinates as the detection starting point for the next detection. Combine the second radius and the second safety distance to enable the probe to re-detect the second calibration sphere on the rotation axis at the first angle for N azimuth positions and calculate the fifth center-of-sphere position coordinates based on the detection starting point of the next detection until the fifth center-of-sphere position coordinates are less than the error threshold, and obtain the final fifth center-of-sphere position coordinates;

[0024] Take the sixth center-of-sphere position coordinates as the detection starting point for the next detection. Combine the second radius and the second safety distance to enable the probe to re-detect the second calibration sphere on the rotation axis at the second angle for N azimuth positions and calculate the sixth center-of-sphere position coordinates based on the detection starting point of the next detection until the sixth center-of-sphere position coordinates are less than the error threshold, and obtain the final sixth center-of-sphere position coordinates.

[0025] According to the above description, the calculated third sphere center position coordinates are used as the probe for the next detection starting point, and combined with the first radius and the first safety distance, N azimuth position detections and the calculation of the third sphere center position coordinates are performed again. In the way of iterative calculation, the accuracy of the finally calculated third sphere center position coordinates is continuously improved. Similarly, the accuracy of the fourth sphere center position coordinates is improved, thereby ensuring the accuracy of the first rotation center calculated according to the third sphere center position coordinates and the fourth sphere center position coordinates. Similarly, the accuracy of the fifth sphere center position coordinates and the sixth sphere center position coordinates is also improved through iterative calculation, thereby ensuring the accuracy of the second rotation center calculated according to the fifth sphere center position coordinates and the sixth sphere center position coordinates.

[0026] Optionally, updating the current position coordinates of the machine tool according to the current position coordinates of the rotation axis and the rotation vector to obtain the updated machine tool position coordinates, correcting the current position coordinates of the rotation axis according to the updated machine tool position coordinates to obtain the corrected rotation axis position coordinates, and realizing calibration based on the corrected rotation axis position coordinates includes:

[0027] Obtain a preset third angle and a preset third angle rotation matrix, rotate the rotation axis at the first angle to the third angle to obtain the rotation axis at the third angle, and rotate the current position coordinates of the rotation axis around the rotation vector by the third angle rotation matrix to obtain the first rotation position coordinates of the rotation axis;

[0028] Update the current position coordinates of the machine tool according to the current position coordinates of the rotation axis and the first rotation position coordinates of the rotation axis to obtain the first updated machine tool position coordinates;

[0029] Obtain a preset fourth angle and a preset fourth angle rotation matrix, rotate the rotation axis at the first angle to the fourth angle to obtain the rotation axis at the fourth angle, and rotate the current position coordinates of the rotation axis around the rotation vector by the fourth angle rotation matrix to obtain the second rotation position coordinates of the rotation axis;

[0030] Update the current position coordinates of the machine tool according to the current position coordinates of the rotation axis and the second rotation position coordinates of the rotation axis to obtain the second updated machine tool position coordinates;

[0031] Correct the current position coordinates of the rotation axis according to the first updated machine tool position coordinates and the second updated machine tool position coordinates to obtain the corrected rotation axis position coordinates, and realize calibration based on the corrected rotation axis position coordinates.

[0032] Optionally, correcting the current position coordinates of the rotating axis according to the first updated machine tool position coordinates and the second updated machine tool position coordinates to obtain corrected rotating axis position coordinates, and implementing calibration based on the corrected rotating axis position coordinates includes:

[0033] Obtain the origin of the laser coordinate system, use the origin as the laser focus position, and perform cross printing on the machine tool by the laser head on the rotating axis at the first angle according to the laser focus position to obtain the first cross;

[0034] Move the machine tool from the current machine tool position coordinates to the first updated machine tool position coordinates to obtain the first moved machine tool, and perform cross printing on the first moved machine tool by the laser head on the rotating axis at the third angle according to the laser focus position to obtain the second cross;

[0035] Move the machine tool from the current machine tool position coordinates to the second updated machine tool position coordinates to obtain the second moved machine tool, and perform cross printing on the second moved machine tool by the laser head on the rotating axis at the fourth angle according to the laser focus position to obtain the third cross;

[0036] Calculate the position deviation of the rotating axis according to the first cross, the second cross, and the third cross, correct the current position coordinates of the rotating axis according to the position deviation of the rotating axis to obtain corrected rotating axis position coordinates, and implement calibration based on the corrected rotating axis position coordinates.

[0037] According to the above description, rotate the rotating axis at the first angle to different angles, update the current position coordinates of the rotating axis according to the rotation matrices at different angles, and update the current position coordinates of the machine tool according to the updated current position coordinates of the rotating axis, namely the first rotation position coordinates of the rotating axis and the second rotation position coordinates of the rotating axis. Combine the laser engraving technology in the forward and inverse kinematics manner. By moving the machine tool to different updated machine tool position coordinates and using the laser heads on the rotating axes at the corresponding angles to perform cross printing, calculate the position deviation of the rotating axis, ensure the rationality and accuracy of the calculated position deviation, thereby improve the accuracy of the corrected rotating axis position coordinates corrected according to the position deviation, and achieve high-precision calibration of the position of the rotating axis in the laser coordinate system.

[0038] Optionally, calculating the position deviation of the rotating axis according to the first cross, the second cross, and the third cross, correcting the current position coordinates of the rotating axis according to the position deviation of the rotating axis to obtain corrected rotating axis position coordinates, and implementing calibration based on the corrected rotating axis position coordinates includes:

[0039] Calculate the first distance between the vertical line of the second cross and the vertical line of the first cross, and determine whether the vertical line of the second cross and the laser head on the rotation axis at the third angle are both on the same side of the vertical line of the first cross. If so, use the first distance as the first position deviation of the rotation axis. If not, calculate the negative of the first distance to obtain the first negative distance, and use the first negative distance as the first position deviation of the rotation axis;

[0040] Calculate the second distance between the vertical line of the third cross and the vertical line of the first cross, and determine whether the vertical line of the third cross and the laser head on the rotation axis at the fourth angle are both on the same side of the vertical line of the first cross. If so, use the second distance as the second position deviation of the rotation axis. If not, calculate the negative of the second distance to obtain the second negative distance, and use the second negative distance as the second position deviation of the rotation axis;

[0041] Correct the current position coordinates of the rotation axis according to the first position deviation of the rotation axis and the second position deviation of the rotation axis to obtain the corrected rotation axis position coordinates. Update the updated machine tool position coordinates again according to the corrected rotation axis position coordinates until the first cross, the second cross, and the third cross completely coincide, and realize calibration based on the corrected rotation axis position coordinates when the first cross, the second cross, and the third cross completely coincide.

[0042] Optionally, the corrected rotation axis position coordinates include: the corrected rotation axis x-axis position coordinates and the corrected rotation axis z-axis position coordinates. The step of correcting the current position coordinates of the rotation axis according to the first position deviation of the rotation axis and the second position deviation of the rotation axis to obtain the corrected rotation axis position coordinates includes:

[0043] Obtain the current x-axis position coordinates of the current position coordinates of the rotation axis, substitute the current x-axis position coordinates of the current position coordinates of the rotation axis, the first position deviation of the rotation axis, and the second position deviation of the rotation axis into the x-axis correction formula for calculation to obtain the corrected rotation axis x-axis position coordinates. The x-axis correction formula is:

[0044]

[0045] Obtain the current z-axis position coordinates of the current position coordinates of the rotation axis, substitute the current z-axis position coordinates of the current position coordinates of the rotation axis, the first position deviation of the rotation axis, and the corrected rotation axis x-axis position coordinates into the z-axis correction formula for calculation to obtain the corrected rotation axis z-axis position coordinates. The z-axis correction formula is:

[0046]

[0047] Where θ represents the third angle.

[0048] According to the above description, based on the vertical line of the first cross, the laser head positions of the rotating shaft when the vertical lines of the second cross and the third cross are used for cross printing are respectively judged, and the first position deviation and the second position deviation are calculated accordingly, so as to correct the current position coordinates of the rotating shaft. There is no need for manual complex and difficult operations. Only by simply judging the direction and distance can the current position coordinates of the rotating shaft be corrected, calibration be achieved, the difficulty of calibration be reduced, and the calibration efficiency be improved.

[0049] Optionally, the first angle is 0° and the second angle is 180°.

[0050] In a second aspect, the present invention provides a rotating shaft calibration system for a laser five-axis device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the rotating shaft calibration method of the laser five-axis device described in the first aspect is implemented.

[0051] Among them, the technical effects corresponding to the rotating shaft calibration system for a laser five-axis device provided in the second aspect refer to the relevant descriptions of the rotating shaft calibration method for a laser five-axis device provided in the first aspect. Description of the Drawings

[0052] Figure 1 It is a flowchart of a rotating shaft calibration method for a laser five-axis device provided in this embodiment;

[0053] Figure 2 It is an overall flow schematic diagram of a rotating shaft calibration method for a laser five-axis device provided in this embodiment;

[0054] Figure 3 It is a flow schematic diagram for correcting the current position coordinates of the rotating shaft involved in this embodiment;

[0055] Figure 4 It is a partial structure schematic diagram of a laser five-axis device involved in this embodiment;

[0056] Figure 5 It is a schematic diagram of calibration balls at different positions on the rotating shaft involved in this embodiment;

[0057] Figure 6 It is a schematic diagram of cross printing on the machine tool by the laser head on the rotating shaft at different angles according to the laser focus position involved in this embodiment;

[0058] Figure 7 It is a structure schematic diagram of a rotating shaft calibration system for a laser five-axis device provided in this embodiment.

[0059]

Explanation of the Reference Numerals

[0060] 1. A calibration method and system for the rotating axis of a laser five-axis device;

[0061] 2. A processor;

[0062] 3. A memory. Detailed implementation manners

[0063] To better understand the above technical solution, the exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0064] Embodiment 1

[0065] Please refer to Figures 1 to 6 , the present invention provides a calibration method for the rotating axis of a laser five-axis device, including the steps:

[0066] S1. Detect the positions of the first calibration ball and the second calibration ball on the rotating axis at the first angle at N azimuth positions through a probe, obtaining M1 position coordinates of the first calibration ball and P1 position coordinates of the second calibration ball. At the same time, detect the positions of the first calibration ball and the second calibration ball on the rotating axis at the second angle at N azimuth positions through a probe, obtaining M2 position coordinates of the first calibration ball and P2 position coordinates of the second calibration ball. The first calibration ball and the second calibration ball are calibration balls at different positions on the rotating axis;

[0067] In this embodiment, the first angle is 0°, and the second angle is 180°. As Figure 4 shown, a magnetic base and a connecting rod are installed on the rotating axis. The connecting rod is connected to the calibration ball. The roundness of the calibration ball is 0.5um, and the installation position of the calibration ball is at the maximum radius position that can be reached by the external probe on the machine tool moving stage. Detect the positions of the first calibration ball and the second calibration ball on the rotating axis at the first angle at N azimuth positions through an external probe. At the same time, detect the positions of the first calibration ball and the second calibration ball on the rotating axis at the second angle at N azimuth positions through a probe. The first calibration ball and the second calibration ball are calibration balls at different positions on the rotating axis. As Figure 5As shown, the position of the calibration ball on the rotating shaft can be changed by adjusting the length of the connecting rod. N is 5, and the N azimuth position detections are the front azimuth position detection of the calibration ball, the left azimuth position detection of the calibration ball, the right azimuth position detection of the calibration ball, the upper azimuth position detection of the calibration ball, and the lower azimuth position detection of the calibration ball. In this way, M1 position coordinates of the first calibration ball, P1 position coordinates of the second calibration ball, M2 position coordinates of the first calibration ball, and P2 position coordinates of the second calibration ball are obtained. Among them, the obtained M1 position coordinates of the first calibration ball, P1 position coordinates of the second calibration ball, M2 position coordinates of the first calibration ball, and P2 position coordinates of the second calibration ball are all position coordinates in the probe coordinate system.

[0068] S2. Divide the revolving shaft according to a preset equal division interval angle to obtain J equal division angles. Calculate the first ball center position coordinates of the first calibration ball on the rotating shaft at each equal division interval angle according to the M1 position coordinates and M2 position coordinates. Perform circular fitting on all the first ball center position coordinates to obtain the first fitting circle. Calculate the second ball center position coordinates of the second calibration ball on the rotating shaft at each equal division interval angle according to the P1 position coordinates and P2 position coordinates. Perform circular fitting on all the second ball center position coordinates to obtain the second fitting circle. Obtain the rotation vector of the rotating shaft according to the first center of the first fitting circle and the second center of the second fitting circle.

[0069] In this embodiment, as Figure 2 shown, divide the revolving shaft according to a preset equal division interval angle. The preset equal division interval angle is 10°. The revolving shaft is 360°. Starting from 0°, divide the revolving shaft by 10° to obtain 36 equal division angles in sequence: 0°, 10°, 20°... 350° and 360°, that is, obtain J equal division angles. Calculate the first ball center position coordinates of the first calibration ball on the rotating shaft at each equal division angle according to the M1 position coordinates and M2 position coordinates obtained in step S1. Perform circular fitting on all the first ball center position coordinates to obtain the first fitting circle. Similarly, calculate the second ball center position coordinates of the second calibration ball on the rotating shaft at each equal division angle according to the P1 position coordinates and P2 position coordinates. Perform circular fitting on all the second ball center position coordinates to obtain the second fitting circle. When performing circular fitting, the least squares method can be selected for circular fitting. Obtain the rotation vector of the rotating shaft according to the first center of the first fitting circle and the second center of the second fitting circle.

[0070] At this time, the calculation of the first ball center position coordinates of the first calibration ball on the rotating shaft at each equal division angle in step S2 according to the M1 position coordinates and M2 position coordinates includes:

[0071] S21. Obtain the first radius and the first safety distance of the first calibration ball.

[0072] S22. Calculate the third center position coordinate of the first calibration sphere based on the M1 position coordinates, the first radius, and the first safety distance; calculate the fourth center position coordinate of the first calibration sphere based on the M2 position coordinates, the first radius, and the first safety distance; calculate the first rotation center of the first calibration sphere based on the third center position coordinate and the fourth center position coordinate.

[0073] In this embodiment, as Figure 2 shown, obtain the first radius and the first safety distance of the first calibration sphere, calculate the third center position coordinate of the first calibration sphere based on the M1 position coordinates, the first radius, and the first safety distance, calculate the fourth center position coordinate of the first calibration sphere based on the M2 position coordinates, the first radius, and the first safety distance, and then calculate the first rotation center of the first calibration sphere based on the third center position coordinate and the fourth center position coordinate. Specifically, calculate the first sum value of the third center position coordinate and the fourth center position coordinate, and take half of the first sum value as the first rotation center. Among them, the first radius is 15 mm and the first safety distance is 10 mm.

[0074] In a specific embodiment, the M1 position coordinates are respectively: the front position coordinate m 11 (Xm1, Ym1, Zm1) of the first calibration sphere, the left position coordinate m 12 (Xm2, Ym2, Zm2) of the first calibration sphere, the right position coordinate m 13 (Xm3, Ym3, Zm3) of the first calibration sphere, the upper position coordinate m 14 (Xm4, Ym4, Zm4) of the first calibration sphere, and the lower position coordinate m 15 (Xm5, Ym5, Zm5) of the first calibration sphere. The calculation formula for the center position coordinate of the sphere is:

[0075] XQ1 = (Xm2 + Xm3) / 2;

[0076] YQ1 = Ym1 + r;

[0077] ZQ1 = (Zm4 + Zm5) / 2;

[0078] Among them, XQ1 represents the x coordinate of the center position coordinate of the sphere, YQ1 represents the y coordinate of the center position coordinate of the sphere, ZQ1 represents the z coordinate of the center position coordinate of the sphere, and r represents the first radius.

[0079] At this time, calculating the third center position coordinate of the first calibration sphere according to the M1 position coordinates, the first radius, and the first safety distance, and calculating the fourth center position coordinate of the first calibration sphere according to the M2 position coordinates, the first radius, and the first safety distance in step S22 includes:

[0080] S221. Take the third center position coordinate as the detection starting point for the next detection of the probe. Combine the first radius and the first safety distance to enable the probe to re-detect the first calibration sphere on the rotation axis at the first angle and calculate the third center position coordinate for N azimuth positions based on the detection starting point of the next detection until the third center position coordinate is less than the error threshold to obtain the final third center position coordinate;

[0081] S222. Take the fourth center position coordinate as the detection starting point for the next detection of the probe. Combine the first radius and the first safety distance to enable the probe to re-detect the first calibration sphere on the rotation axis at the second angle and calculate the fourth center position coordinate for N azimuth positions based on the detection starting point of the next detection until the fourth center position coordinate is less than the error threshold to obtain the final fourth center position coordinate;

[0082] In this embodiment, as Figure 2 shown, taking the third center position coordinate as the detection starting point for the next detection. In step S1, the detection starting point of the first detection is manually adjusted by manual observation. Therefore, at this time, taking the third center position coordinate as the detection starting point for the next detection, combining the first radius and the first safety distance to enable the probe to re-detect the first calibration sphere on the rotation axis at the first angle and calculate the third center position coordinate for N azimuth positions based on this detection starting point. When performing N azimuth position detections with the new detection starting point, when the third center position coordinates are respectively: the front azimuth position coordinate m of the third calibration sphere 31 (Xm31, Ym31, Zm31), the left azimuth position coordinate m of the third calibration sphere 32 (Xm32, Ym32, Zm32), the right azimuth position coordinate m of the third calibration sphere 33 (Xm33, Ym33, Zm33), the upper azimuth position coordinate m of the third calibration sphere 34 (Xm34, Ym34, Zm34) and the lower azimuth position coordinate m of the third calibration sphere 35 (Xm35, Ym35, Zm35), when the first radius is r and the first safety distance is d, the new M1 position coordinates obtained by re-detecting N azimuth positions are respectively: the front azimuth position coordinate m of the new first calibration sphere 31(Xm31, Ym31 - r - d, Zm31), the left - hand azimuth position coordinates m of the new first calibration sphere 32 (Xm32 - r - d, Ym32, Zm32), the right - hand azimuth position coordinates m of the new first calibration sphere 33 (Xm33 + r + d, Ym33, Zm33), the upper - hand azimuth position coordinates m of the new first calibration sphere 34 (Xm34, Ym34, Zm34 + r + d) and the lower - hand azimuth position coordinates m of the new first calibration sphere 35 (Xm35, Ym35, Zm35 - r - d), until the third sphere center position coordinates are less than the error threshold, that is, in the way of repeating the iteration for azimuth position detection and sphere center position coordinate calculation, the final third sphere center position coordinates are obtained. Similarly, the final fourth sphere center position coordinates are obtained, where the number threshold can be adjusted according to the actual situation.

[0083] S23. Calculate the first sphere center position coordinates of the first calibration sphere on the rotation axis at each equal - division angle according to the first rotation center and the third sphere center position coordinates;

[0084] In this embodiment, as Figure 2 shown, calculate the first sphere center position coordinates of the first calibration sphere on the rotation axis at each equal - division angle according to the first rotation center and the third sphere center position coordinates. At this time, rotate the rotation axis to each equal - division angle, translate each x - axis coordinate, y - axis coordinate, and z - axis coordinate of each azimuth position coordinate of the third sphere center position coordinates according to the first rotation center, and then use the translated third sphere center position coordinates as the new detection starting point to re - perform N azimuth position detections, so as to calculate the first sphere center position coordinates of the first calibration sphere on the rotation axis at each equal - division angle according to the newly obtained azimuth position coordinates.

[0085] The calculation of the second sphere center position coordinates of the second calibration sphere on the rotation axis at each equal - division interval angle according to P1 position coordinates and P2 position coordinates includes:

[0086] S24. Obtain the second radius and the second safety distance of the second calibration sphere;

[0087] S25. Calculate the fifth sphere center position coordinates of the second calibration sphere according to P1 position coordinates, the second radius, and the second safety distance, calculate the sixth sphere center position coordinates of the second calibration sphere according to P2 position coordinates, the second radius, and the second safety distance, and calculate the second rotation center of the second calibration sphere according to the fifth sphere center position coordinates and the sixth sphere center position coordinates;

[0088] At this time, the step of calculating the fifth center position coordinate of the second calibration sphere according to the P1 position coordinates, the second radius, and the second safety distance, and calculating the sixth center position coordinate of the second calibration sphere according to the P2 position coordinates, the second radius, and the second safety distance in step S25 includes:

[0089] S251. Take the fifth center position coordinate as the detection starting point for the next detection of the probe. Combine the second radius and the second safety distance to enable the probe to re-detect N azimuth positions on the second calibration sphere on the rotation axis at the first angle and calculate the fifth center position coordinate based on the detection starting point of the next detection until the fifth center position coordinate is less than the error threshold to obtain the final fifth center position coordinate;

[0090] S252. Take the sixth center position coordinate as the detection starting point for the next detection of the probe. Combine the second radius and the second safety distance to enable the probe to re-detect N azimuth positions on the second calibration sphere on the rotation axis at the second angle and calculate the sixth center position coordinate based on the detection starting point of the next detection until the sixth center position coordinate is less than the error threshold to obtain the final sixth center position coordinate.

[0091] S26. Calculate the second center position coordinate of the second calibration sphere on the rotation axis at each equal division interval angle according to the second rotation center and the fifth center position coordinate.

[0092] In this embodiment, as Figure 2 shown, the calculation of the fifth center position coordinate and the sixth center position coordinate is the same as the calculation of the third center position coordinate and the fourth center position coordinate, and the calculation of the second center position coordinate and the first center position coordinate is the same.

[0093] S3. Obtain the current position coordinate of the machine tool of the machine tool and the current position coordinate of the rotation axis in the laser coordinate system. Update the current position coordinate of the machine tool according to the current position coordinate of the rotation axis and the rotation vector to obtain the updated machine tool position coordinate. Correct the current position coordinate of the rotation axis according to the updated machine tool position coordinate to obtain the corrected rotation axis position coordinate. Realize calibration based on the corrected rotation axis position coordinate.

[0094] At this time, the step of updating the current position coordinate of the machine tool according to the current position coordinate of the rotation axis and the rotation vector to obtain the updated machine tool position coordinate, correcting the current position coordinate of the rotation axis according to the updated machine tool position coordinate to obtain the corrected rotation axis position coordinate, and realizing calibration based on the corrected rotation axis position coordinate in step S3 includes:

[0095] S31. Obtain a preset third angle and a preset third - angle rotation matrix. Rotate the rotation axis at the first angle to the third angle to obtain a rotation axis at the third angle. Rotate the current position coordinates of the rotation axis around the rotation vector by the third - angle rotation matrix to obtain the first - rotated position coordinates of the rotation axis;

[0096] S32. Update the current position coordinates of the machine tool according to the current position coordinates of the rotation axis and the first - rotated position coordinates of the rotation axis to obtain the first updated machine - tool position coordinates;

[0097] S33. Obtain a preset fourth angle and a preset fourth - angle rotation matrix. Rotate the rotation axis at the first angle to the fourth angle to obtain a rotation axis at the fourth angle. Rotate the current position coordinates of the rotation axis around the rotation vector by the fourth - angle rotation matrix to obtain the second - rotated position coordinates of the rotation axis;

[0098] S34. Update the current position coordinates of the machine tool according to the current position coordinates of the rotation axis and the second - rotated position coordinates of the rotation axis to obtain the second updated machine - tool position coordinates;

[0099] S35. Correct the current position coordinates of the rotation axis according to the first updated machine - tool position coordinates and the second updated machine - tool position coordinates to obtain the corrected rotation - axis position coordinates, and perform calibration based on the corrected rotation - axis position coordinates.

[0100] In this embodiment, as Figure 2 shown, obtain a preset third angle and a preset third - angle rotation matrix. Rotate the rotation axis at the first angle to the third angle, where the third angle is [30°, 60°]. Specifically, the third angle can be adjusted according to the actual situation. When the third angle is 45°, that is, rotate the rotation axis at the first angle, which is the rotation axis of 0°, to 45° to obtain a rotation axis at the third angle, that is, a rotation axis at 45°. Rotate the current position coordinates of the rotation axis around the rotation vector by the third - angle rotation matrix to obtain the first - rotated position coordinates of the rotation axis. Among them, the third - angle rotation matrix is:

[0101]

[0102] Among them, n x represents the x - axis coordinate of the rotation vector, n y represents the y - axis coordinate of the rotation vector, n z represents the z - axis coordinate of the rotation vector, and θ represents the third angle.

[0103] Rotate the current position coordinates of the rotation axis by the rotation matrix of the third angle around the rotation vector, that is, multiply the current position coordinates of the rotation axis by the rotation matrix of the third angle, and the first rotation position coordinates of the rotation axis can be obtained. Input the first rotation position coordinates of the rotation axis, the current position coordinates of the rotation axis, and the current position coordinates of the machine tool into the machine tool update formula for calculation, and the update of the current position coordinates of the machine tool can be realized to obtain the first updated machine tool position coordinates. The machine tool update formula is as follows:

[0104] The first updated machine tool position coordinates = the first rotation position coordinates of the rotation axis - the current position coordinates of the rotation axis + the current position coordinates of the machine tool;

[0105] Similarly, the second updated machine tool position coordinates are obtained. Among them, the fourth angle is the negative angle of the third angle, that is, -θ. Correct the current position coordinates of the rotation axis according to the first updated machine tool position coordinates and the second updated machine tool position coordinates to obtain the corrected rotation axis position coordinates, and calibration is realized based on the corrected rotation axis position coordinates.

[0106] At this time, step S35 includes:

[0107] S351. Obtain the origin of the laser coordinate system, use the origin as the laser focus position, and perform cross printing on the machine tool by the laser head on the rotation axis at the first angle according to the laser focus position to obtain the first cross;

[0108] S352. Move the machine tool from the current position coordinates of the machine tool to the first updated machine tool position coordinates to obtain the first moved machine tool, and perform cross printing on the first moved machine tool by the laser head on the rotation axis at the third angle according to the laser focus position to obtain the second cross;

[0109] S353. Move the machine tool from the current position coordinates of the machine tool to the second updated machine tool position coordinates to obtain the second moved machine tool, and perform cross printing on the second moved machine tool by the laser head on the rotation axis at the fourth angle according to the laser focus position to obtain the third cross;

[0110] S354. Calculate the position deviation of the rotation axis according to the first cross, the second cross, and the third cross, correct the current position coordinates of the rotation axis according to the position deviation of the rotation axis to obtain the corrected rotation axis position coordinates, and realize calibration based on the corrected rotation axis position coordinates.

[0111] In this embodiment, as Figure 6As shown, a cross is printed on the machine tool by a laser head on a rotation axis at a first angle according to the laser focus position to obtain a first cross. The machine tool is moved from the current position coordinates of the machine tool to the first updated machine tool position coordinates. A cross is printed on the moved first machine tool by a laser head on a rotation axis at a third angle according to the laser focus position to obtain a second cross. The machine tool is moved from the current position coordinates of the machine tool to the second updated machine tool position coordinates. A cross is printed on the moved second machine tool by a laser head on a rotation axis at a fourth angle according to the laser focus position to obtain a third cross. Figure 6 In this, θ represents the rotation axis at the third angle, -θ represents the rotation axis at the fourth angle, and the rotation axis between θ and -θ is the rotation axis at the first angle.

[0112] At this time, step S354 includes:

[0113] S3541. Calculate a first distance between the vertical line of the second cross and the vertical line of the first cross, and determine whether the vertical line of the second cross and the laser head on the rotation axis at the third angle are both on the same side of the vertical line of the first cross. If so, use the first distance as the first position deviation of the rotation axis. If not, calculate the negative of the first distance to obtain a first negative distance, and use the first negative distance as the first position deviation of the rotation axis;

[0114] S3542. Calculate a second distance between the vertical line of the third cross and the vertical line of the first cross, and determine whether the vertical line of the third cross and the laser head on the rotation axis at the fourth angle are both on the same side of the vertical line of the first cross. If so, use the second distance as the second position deviation of the rotation axis. If not, calculate the negative of the second distance to obtain a second negative distance, and use the second negative distance as the second position deviation of the rotation axis;

[0115] S3543. Correct the current position coordinates of the rotation axis according to the first position deviation of the rotation axis and the second position deviation of the rotation axis to obtain the corrected rotation axis position coordinates. Update the updated machine tool position coordinates again according to the corrected rotation axis position coordinates until the first cross, the second cross, and the third cross completely coincide. Calibration is achieved based on the corrected rotation axis position coordinates when the first cross, the second cross, and the third cross completely coincide.

[0116] In this embodiment, as Figure 3As shown, by determining whether the vertical lines of the second cross and the laser heads on the rotation axis at the third angle are all on the same side of the vertical line of the first cross, and determining whether the vertical lines of the third cross and the laser heads on the rotation axis at the fourth angle are all on the same side of the vertical line of the first cross, the first position deviation of the rotation axis and the second position deviation of the rotation axis are calculated. The current position coordinates of the rotation axis are corrected by the first position deviation of the rotation axis and the second position deviation of the rotation axis. Then, the updated machine tool position coordinates are updated again according to the corrected rotation axis position coordinates. The printing of the first cross, the second cross, and the third cross is carried out again. In this way, the current position coordinates of the rotation axis are continuously corrected through iterative cycling until the printed first cross, second cross, and third cross completely coincide, and the calibration of the rotation axis can be achieved.

[0117] At this time, the corrected rotation axis position coordinates described in step S3543 include: the corrected rotation axis x-axis position coordinates and the corrected rotation axis z-axis position coordinates. The correction of the current position coordinates of the rotation axis according to the first position deviation of the rotation axis and the second position deviation of the rotation axis to obtain the corrected rotation axis position coordinates includes:

[0118] Obtain the current x-axis position coordinate of the current position coordinates of the rotation axis, substitute the current x-axis position coordinate of the current position coordinates of the rotation axis, the first position deviation of the rotation axis, and the second position deviation of the rotation axis into the x-axis correction formula for calculation to obtain the corrected rotation axis x-axis position coordinates. The x-axis correction formula is:

[0119]

[0120] Obtain the current z-axis position coordinate of the current position coordinates of the rotation axis, substitute the current z-axis position coordinate of the current position coordinates of the rotation axis, the first position deviation of the rotation axis, and the corrected rotation axis x-axis position coordinates into the z-axis correction formula for calculation to obtain the corrected rotation axis z-axis position coordinates. The z-axis correction formula is:

[0121]

[0122] Where θ represents the third angle.

[0123] In this embodiment, as Figure 3As shown, obtain the current x-axis position coordinate of the current position coordinate of the rotation axis. Substitute the current x-axis position coordinate of the current position coordinate of the rotation axis, the first position deviation of the rotation axis, and the second position deviation of the rotation axis into the x-axis correction formula for calculation to obtain the corrected x-axis position coordinate of the rotation axis. At the same time, obtain the current z-axis position coordinate of the current position coordinate of the rotation axis. Substitute the current z-axis position coordinate of the current position coordinate of the rotation axis, the corrected x-axis position coordinate of the rotation axis, and the first position deviation of the rotation axis into the z-axis correction formula for calculation to obtain the corrected z-axis position coordinate of the rotation axis. Since the current position coordinate of the rotation axis in the laser coordinate system is set on the xz plane, the y coordinate of the current position coordinate of the rotation axis is 0. Therefore, the corrected y-axis position coordinate of the rotation axis is consistent with the y coordinate of the current position coordinate of the rotation axis. Since the updated machine tool position coordinate will be updated again according to the corrected rotation axis position coordinate, and the printing of the first cross, the second cross, and the third cross will be performed again. Therefore, each time the current position coordinate of the rotation axis is corrected, it is for the previous current position coordinate of the rotation axis. That is, the current x-axis position coordinate and the current y-axis position coordinate of the current position coordinate of the rotation axis substituted into the x-axis correction formula and the z-axis correction formula both refer to the current x-axis position coordinate of the current position coordinate of the rotation axis before this correction and the current y-axis position coordinate of the current position coordinate of the rotation axis before this correction.

[0124] In this embodiment, regarding how to obtain the corrected rotation axis position coordinate in step S3, that is, how to determine the position of the rotation axis in the laser coordinate system, it can be implemented in a different way from the above step S3. Specifically:

[0125] Install an additional probe sensor beside the laser head of the rotation axis and install a calibration ball on the carrier of the machine tool:

[0126] 1. Rotate the rotation axis by more than three different angles. For each angle, perform N azimuth position detections and calculate the center position coordinates of the calibration ball on the carrier of the machine tool according to steps S1 - S2 to obtain the center position coordinates corresponding to each angle;

[0127] 2. Rotate each center position coordinate to the coordinate system with 0° as the origin, that is, subtract the center position coordinate of the rotation axis at 0° from each center position coordinate to obtain each converted center position coordinate. Perform circular fitting on all the converted center position coordinates to obtain a new fitted circle;

[0128] 3. Install a calibration fixture on the carrier of the machine tool. The calibration fixture consists of a cylinder and a rotating device. The outer circle of the cylinder is set according to the preset outer circle requirements, and the end face of the cylinder is set according to the preset plane requirements. The end face is perpendicular to the axis of the cylinder;

[0129] 4. Rotate the cylinder to 0°, rotate the rotation axis to 0°, and use the laser head to perform a cross-print on the end face of the cylinder;

[0130] 5. Rotate the cylinder to 180°, and use the laser head to perform a cross-print on the end face of the cylinder;

[0131] 6. If the two crosses in step 4 and step 5 do not coincide, move the carrier of the machine tool, and repeat steps 2 and 3 until the two crosses in step 4 and step 5 completely coincide, and record the position coordinates of the machine tool when the two crosses completely coincide;

[0132] 7. Use a probe to detect the four sides of the cylinder and calculate the center point of the end face of the cylinder;

[0133] 8. Add the center of the new fitted circle in step 2 to the position coordinates of the machine tool when the two crosses in step 6 completely coincide, and then calculate the difference between it and the center point of the end face of the cylinder in step 7. Take this difference as the position of the rotation axis in the laser coordinate system, that is, the corrected position coordinates of the rotation axis.

[0134] Embodiment 2

[0135] Please refer to Figure 7 , the present invention provides a calibration system 1 for the rotation axis of a laser five-axis device, including a memory 3, a processor 2, and a computer program stored on the memory 3 and executable on the processor 2. When the processor 2 executes the computer program, the steps in Embodiment 1 are implemented.

[0136] Since the system / device described in the above embodiments of the present invention is the system / device adopted for implementing the method in the above embodiments of the present invention, based on the method described in the above embodiments of the present invention, those skilled in the art can understand the specific structure and deformation of the system / device, and thus will not be elaborated herein. Any system / device adopted by the method in the above embodiments of the present invention falls within the scope of protection of the present invention.

[0137] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0138] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems) and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions.

[0139] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of other elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the claims listing several means, several of these means can be embodied by one and the same item of hardware. The use of the terms first, second, third, etc. is for convenience only and does not denote any order. These terms can be understood as part of the name of the element.

[0140] In addition, it should be noted that in the description of this specification, the descriptions of the terms "an embodiment", "some embodiments", "embodiments", "examples", "specific examples" or "some examples", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0141] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications after learning the basic creative concept. Therefore, the claims should be construed to cover the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0142] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention should also include these modifications and variations.

Claims

1. A calibration method for the rotating axis of a laser five-axis device, characterized in that Including: Probing the first calibration sphere and the second calibration sphere on the rotation axis at the first angle with a probe to obtain M1 position coordinates of the first calibration sphere and P1 position coordinates of the second calibration sphere. At the same time, probing the first calibration sphere and the second calibration sphere on the rotation axis at the second angle with a probe to obtain M2 position coordinates of the first calibration sphere and P2 position coordinates of the second calibration sphere. The first calibration sphere and the second calibration sphere are calibration spheres at different positions on the rotation axis; Dividing the rotation axis according to a preset equal division interval angle to obtain J equal division angles. Calculating the first center position coordinates of the first calibration sphere on the rotation axis at each equal division interval angle according to the M1 position coordinates and the M2 position coordinates. Performing circular fitting on all the first center position coordinates to obtain a first fitted circle. Calculating the second center position coordinates of the second calibration sphere on the rotation axis at each equal division interval angle according to the P1 position coordinates and the P2 position coordinates. Performing circular fitting on all the second center position coordinates to obtain a second fitted circle. Obtaining the rotation vector of the rotation axis according to the first center of the first fitted circle and the second center of the second fitted circle; Obtaining the current machine tool position coordinates of the machine tool and the current position coordinates of the rotation axis in the laser coordinate system. Updating the current machine tool position coordinates according to the current position coordinates of the rotation axis and the rotation vector to obtain the updated machine tool position coordinates. Correcting the current position coordinates of the rotation axis according to the updated machine tool position coordinates to obtain the corrected rotation axis position coordinates. Implementing calibration based on the corrected rotation axis position coordinates.

2. The calibration method for the rotating axis of a laser five-axis device according to claim 1, characterized in that The calculating the first center position coordinates of the first calibration sphere on the rotation axis at each equal division interval angle according to the M1 position coordinates and the M2 position coordinates includes: Obtaining the first radius and the first safety distance of the first calibration sphere; Calculating the third center position coordinates of the first calibration sphere according to the M1 position coordinates, the first radius and the first safety distance. Calculating the fourth center position coordinates of the first calibration sphere according to the M2 position coordinates, the first radius and the first safety distance. Calculating the first rotation center of the first calibration sphere according to the third center position coordinates and the fourth center position coordinates; Calculating the first center position coordinates of the first calibration sphere on the rotation axis at each equal division interval angle according to the first rotation center and the third center position coordinates; The calculating the second center position coordinates of the second calibration sphere on the rotation axis at each equal division interval angle according to the P1 position coordinates and the P2 position coordinates includes: Obtaining the second radius and the second safety distance of the second calibration sphere; Calculating the fifth center position coordinates of the second calibration sphere according to the P1 position coordinates, the second radius and the second safety distance. Calculating the sixth center position coordinates of the second calibration sphere according to the P2 position coordinates, the second radius and the second safety distance. Calculating the second rotation center of the second calibration sphere according to the fifth center position coordinates and the sixth center position coordinates; Calculate the second center position coordinates of the second calibration sphere on the rotation axis at each equal division interval angle according to the second rotation center and the fifth center position coordinates of the sphere.

3. The calibration method for the rotating axis of a laser five-axis device according to claim 2, wherein, The calculation of the third center position coordinates of the first calibration sphere according to M1 position coordinates, the first radius, and the first safety distance, and the calculation of the fourth center position coordinates of the first calibration sphere according to M2 position coordinates, the first radius, and the first safety distance include: Use the third center position coordinates as the detection starting point for the next detection. Combine the first radius and the first safety distance to make the probe re-detect N azimuth positions and calculate the third center position coordinates of the first calibration sphere on the rotation axis at the first angle based on the detection starting point of the next detection until the third center position coordinates are less than the error threshold to obtain the final third center position coordinates; Use the fourth center position coordinates as the detection starting point for the next detection. Combine the first radius and the first safety distance to make the probe re-detect N azimuth positions and calculate the fourth center position coordinates of the first calibration sphere on the rotation axis at the second angle based on the detection starting point of the next detection until the fourth center position coordinates are less than the error threshold to obtain the final fourth center position coordinates; The calculation of the fifth center position coordinates of the second calibration sphere according to P1 position coordinates, the second radius, and the second safety distance, and the calculation of the sixth center position coordinates of the second calibration sphere according to P2 position coordinates, the second radius, and the second safety distance include: Use the fifth center position coordinates as the detection starting point for the next detection. Combine the second radius and the second safety distance to make the probe re-detect N azimuth positions and calculate the fifth center position coordinates of the second calibration sphere on the rotation axis at the first angle based on the detection starting point of the next detection until the fifth center position coordinates are less than the error threshold to obtain the final fifth center position coordinates; Use the sixth center position coordinates as the detection starting point for the next detection. Combine the second radius and the second safety distance to make the probe re-detect N azimuth positions and calculate the sixth center position coordinates of the second calibration sphere on the rotation axis at the second angle based on the detection starting point of the next detection until the sixth center position coordinates are less than the error threshold to obtain the final sixth center position coordinates.

4. The calibration method for the rotating shaft of a laser five-axis device according to claim 1, characterized in that, The update of the current position coordinates of the machine tool according to the current position coordinates of the rotation axis and the rotation vector to obtain the updated machine tool position coordinates, and the correction of the current position coordinates of the rotation axis according to the updated machine tool position coordinates to obtain the corrected rotation axis position coordinates, and the realization of calibration based on the corrected rotation axis position coordinates include: Obtain a preset third angle and a rotation matrix for the third angle. Rotate the rotation axis at the first angle to the third angle to obtain a rotation axis at the third angle. Rotate the current position coordinates of the rotation axis around the rotation vector by the rotation matrix for the third angle to obtain the first rotation position coordinates of the rotation axis; Update the current position coordinates of the machine tool according to the current position coordinates of the rotation axis and the first rotation position coordinates of the rotation axis to obtain the first updated machine tool position coordinates; Obtain a preset fourth angle and a preset fourth angle rotation matrix, rotate the rotation axis at the first angle to the fourth angle to obtain the rotation axis at the fourth angle, and rotate the current position coordinates of the rotation axis around the rotation vector by the fourth angle rotation matrix to obtain the second rotation position coordinates of the rotation axis; Update the current position coordinates of the machine tool according to the current position coordinates of the rotation axis and the second rotation position coordinates of the rotation axis to obtain the second updated machine tool position coordinates; Correct the current position coordinates of the rotation axis according to the first updated machine tool position coordinates and the second updated machine tool position coordinates to obtain the corrected rotation axis position coordinates, and perform calibration based on the corrected rotation axis position coordinates.

5. The calibration method for the rotating axis of a laser five-axis device according to claim 4, characterized in that, The step of correcting the current position coordinates of the rotation axis according to the first updated machine tool position coordinates and the second updated machine tool position coordinates to obtain the corrected rotation axis position coordinates, and performing calibration based on the corrected rotation axis position coordinates includes: Obtain the origin of the laser coordinate system, use the origin as the laser focus position, and perform cross printing on the machine tool by the laser head on the rotation axis at the first angle according to the laser focus position to obtain the first cross; Move the machine tool from the current position coordinates of the machine tool to the first updated machine tool position coordinates to obtain the first moved machine tool, and perform cross printing on the first moved machine tool by the laser head on the rotation axis at the third angle according to the laser focus position to obtain the second cross; Move the machine tool from the current position coordinates of the machine tool to the second updated machine tool position coordinates to obtain the second moved machine tool, and perform cross printing on the second moved machine tool by the laser head on the rotation axis at the fourth angle according to the laser focus position to obtain the third cross; Calculate the position deviation of the rotation axis according to the first cross, the second cross and the third cross, correct the current position coordinates of the rotation axis according to the position deviation of the rotation axis to obtain the corrected rotation axis position coordinates, and perform calibration based on the corrected rotation axis position coordinates.

6. The calibration method of the rotating shaft of a laser five-axis device according to claim 5, characterized in that, The step of calculating the position deviation of the rotation axis according to the first cross, the second cross and the third cross, correcting the current position coordinates of the rotation axis according to the position deviation of the rotation axis to obtain the corrected rotation axis position coordinates, and performing calibration based on the corrected rotation axis position coordinates includes: Calculate the first distance between the vertical line of the second cross and the vertical line of the first cross, and judge whether the vertical line of the second cross and the laser head on the rotation axis at the third angle are on the same side of the vertical line of the first cross. If so, take the first distance as the first position deviation of the rotation axis. If not, calculate the negative number of the first distance to obtain the first negative distance, and take the first negative distance as the first position deviation of the rotation axis; Calculate the second distance between the vertical line of the third cross and the vertical line of the first cross, and determine whether the vertical line of the third cross and the laser head on the rotation axis at the fourth angle are both on the same side of the vertical line of the first cross. If so, use the second distance as the second position deviation of the rotation axis. If not, calculate the negative of the second distance to obtain the second negative distance, and use the second negative distance as the second position deviation of the rotation axis; Correct the current position coordinates of the rotation axis according to the first position deviation of the rotation axis and the second position deviation of the rotation axis to obtain the corrected rotation axis position coordinates. Update the updated machine tool position coordinates according to the corrected rotation axis position coordinates until the first cross, the second cross, and the third cross completely coincide, and perform calibration based on the corrected rotation axis position coordinates when the first cross, the second cross, and the third cross completely coincide.

7. A calibration method for the rotating axis of a laser five-axis device according to claim 6, characterized in that The corrected rotation axis position coordinates include: the corrected rotation axis x-axis position coordinates and the corrected rotation axis z-axis position coordinates. The correction of the current position coordinates of the rotation axis according to the first position deviation of the rotation axis and the second position deviation of the rotation axis to obtain the corrected rotation axis position coordinates includes: Obtain the current x-axis position coordinates of the current position coordinates of the rotation axis, substitute the current x-axis position coordinates of the current position coordinates of the rotation axis, the first position deviation of the rotation axis, and the second position deviation of the rotation axis into the x-axis correction formula for calculation to obtain the corrected rotation axis x-axis position coordinates. The x-axis correction formula is: Obtain the current z-axis position coordinates of the current position coordinates of the rotation axis, substitute the current z-axis position coordinates of the current position coordinates of the rotation axis, the first position deviation of the rotation axis, and the corrected rotation axis x-axis position coordinates into the z-axis correction formula for calculation to obtain the corrected rotation axis z-axis position coordinates. The z-axis correction formula is: Where θ represents the third angle.

8. The calibration method for the rotating axis of a laser five-axis device according to claim 1, wherein The first angle is 0°, and the second angle is 180°.

9. A calibration system for the rotating axis of a laser five-axis device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method described in any one of claims 1 to 8.

Images