Rotating axis calibration method and system for a laser five-axis machine

Abstract

This invention relates to a method and system for calibrating the rotary axis of a five-axis laser device. The method involves using a probe to detect the positions of calibration balls at different locations on the rotary axis at different angles in N azimuths to obtain the position coordinates of the corresponding calibration balls. The rotary axis is divided into J equal intervals according to a preset interval. The position coordinates of the first center of the first calibration ball and the second center of the second calibration ball are calculated for each equal interval. Circle fitting is then performed to obtain a first fitted circle and a second fitted circle. The rotation vector of the rotary axis is calculated based on the centers of the two fitted circles. The current position coordinates of the machine tool are updated based on the rotation vector and the current position coordinates of the rotary axis. The current position coordinates of the rotary axis are then corrected based on the updated machine tool position coordinates, thereby achieving calibration based on the corrected rotary axis position coordinates. Therefore, this invention improves the accuracy and efficiency of rotary axis calibration.

Description

Technical Field

[0001] This invention relates to the field of precision measurement technology, and in particular to a method and system for calibrating the rotary axis of a five-axis laser device. Background Technology

[0002] Laser five-axis equipment is often used in high-precision and high-resolution machining scenarios such as processing precision workpieces and surface textures. Traditional rotary axis calibration methods use measuring instruments such as dial indicators and spindle test bars to assist in adjusting the normal of the rotary axis with the machine tool adjustment mechanism to make it parallel to the corresponding mechanical axis. Then, standard blocks are used to assist in measuring the difference of the rotary axis in the laser coordinate system with the moving axis, thereby calculating the position of the rotary axis in the laser coordinate system. This requires the design of a corresponding adjustment device for the machine tool, and the load capacity of the adjustment device must be considered. The mechanical complexity is high. In addition, the normal of the rotary axis must be parallel to the mechanical axis, and the error in two directions needs to be adjusted. During the adjustment process, the other direction needs to be repeatedly confirmed by the operator. The adjustment efficiency is low, the calibration efficiency is low, and it cannot reduce the error caused by the runout of the rotary axis end face and radial runout, which affects the calibration accuracy. Summary of the Invention

[0003] The technical problem to be solved by this invention is: to provide a method and system for calibrating the rotary axis of a five-axis laser device, which improves both the calibration accuracy and calibration efficiency.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present invention provides a method for calibrating the rotation axis of a five-axis laser device, comprising:

[0006] The probe detects the positions of the first and second correction spheres on the rotation axis at the first angle in N azimuths, obtaining M1 position coordinates of the first correction sphere and P1 position coordinates of the second correction sphere. At the same time, the probe detects the positions of the first and second correction spheres on the rotation axis at the second angle in N azimuths, obtaining M2 position coordinates of the first correction sphere and P2 position coordinates of the second correction sphere. The first and second correction spheres are correction spheres at different positions on the rotation axis.

[0007] The rotation axis is divided into J equal intervals according to a preset interval. The first center position coordinate of the first correction ball on the rotation axis is calculated according to M1 and M2 position coordinates. All the first center position coordinates are fitted with a circle to obtain a first fitted circle. The second center position coordinate of the second correction ball on the rotation axis is calculated according to P1 and P2 position coordinates. All the second center position coordinates are fitted with a circle to obtain a second fitted circle. The rotation vector of the rotation axis is obtained according to the first center of the first fitted circle and the second center of the second fitted circle.

[0008] The machine tool's current position coordinates and the rotation axis's current position coordinates in the laser coordinate system are obtained. The machine tool's current position coordinates are updated based on the rotation axis's current position coordinates and the rotation vector to obtain updated machine tool position coordinates. The rotation axis's current position coordinates are corrected based on the updated machine tool position coordinates to obtain corrected rotation axis position coordinates. Calibration is then performed based on the corrected rotation axis position coordinates.

[0009] The beneficial effects of this invention are as follows: By probing the N directional positions of the calibration balls at different positions on the rotating axis at different angles, the automatic acquisition of data points on the rotating axis is achieved, thereby improving data acquisition efficiency. The rotating axis is divided according to a preset equal interval angle. Based on the obtained position coordinates of the same calibration balls on the rotating axis at different angles, the center position coordinates of the calibration balls on the rotating axis at each equal interval angle are calculated. By performing circle fitting on all the center position coordinates, the rotation vector of the rotating axis is further obtained, which suppresses the errors caused by radial runout and end face runout of the rotating axis and ensures the accuracy of the rotation vector. The current position coordinates of the rotating axis and the rotation vector are used to update the current position coordinates of the machine tool. Then, the initial position of the rotating axis is corrected based on the updated machine tool position coordinates to obtain the corrected rotation position coordinates, that is, the position of the rotating axis in the laser coordinate system. This eliminates the need for complex machine tool adjustment mechanisms and repeated manual adjustments and confirmations, thereby improving calibration efficiency and accuracy.

[0010] Optionally, calculating the first center position coordinates of the first correction sphere on the rotation axis at each equally spaced 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 correction sphere;

[0012] The third center position coordinate of the first correction sphere is calculated based on M1 position coordinates, the first radius, and the first safety distance. The fourth center position coordinate of the first correction sphere is calculated based on M2 position coordinates, the first radius, and the first safety distance. The first rotation center of the first correction sphere is calculated based on the third center position coordinates and the fourth center position coordinates.

[0013] Calculate the first center position coordinates of the first correction ball on the rotation axis at each equally spaced interval angle based on the first rotation center and the third ball center position coordinates;

[0014] The calculation of the second center position coordinates of the second correction sphere on the rotation axis at each equally spaced interval angle based on the P1 and P2 position coordinates includes:

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

[0016] The fifth center position coordinate of the second correction sphere is calculated based on the P1 position coordinates, the second radius, and the second safety distance. The sixth center position coordinate of the second correction sphere is calculated based on the P2 position coordinates, the second radius, and the second safety distance. The second rotation center of the second correction sphere is calculated based on the fifth center position coordinates and the sixth center position coordinates.

[0017] The second center position coordinates of the second correction ball on the rotation axis are calculated based on the second rotation center and the fifth ball center position coordinates for each equally spaced interval angle.

[0018] As described above, the position coordinates of the same correction ball on the rotation axis at different angles are combined with the radius and safety distance of the corresponding correction ball to calculate the corresponding ball center position coordinates. The rotation center is then calculated based on the obtained ball center position coordinates. This ensures the accuracy of the obtained rotation center and also improves the final calculated first ball center position coordinates of the first correction ball on the rotation axis at each equally spaced angle and the second ball center position coordinates of the second correction ball on the rotation axis at each equally spaced angle.

[0019] Optionally, the step of calculating the third center coordinate of the first correction sphere based on M1 position coordinates, the first radius, and the first safety distance, and calculating the fourth center coordinate of the first correction sphere based on M2 position coordinates, the first radius, and the first safety distance, includes:

[0020] The third sphere center position coordinates are used as the detection starting point for the probe to perform the next detection. Combined with the first radius and the first safety distance, the probe re-detects the first correction sphere on the rotation axis at the first angle with N azimuth positions and calculates the third sphere center position coordinates based on the detection starting point of the next detection, until the third sphere center position coordinates are less than the error threshold, and the final third sphere center position coordinates are obtained.

[0021] The fourth sphere center position coordinates are used as the detection starting point for the probe to perform the next detection. Combined with the first radius and the first safety distance, the probe re-detects the first correction sphere on the rotation axis at the second angle with N azimuth positions and calculates the fourth sphere center position coordinates based on the detection starting point for the next detection, until the fourth sphere center position coordinates are less than the error threshold, and the final fourth sphere center position coordinates are obtained.

[0022] The calculation of the fifth center coordinate of the second correction sphere based on P1 position coordinates, the second radius, and the second safety distance, and the calculation of the sixth center coordinate of the second correction sphere based on P2 position coordinates, the second radius, and the second safety distance, include:

[0023] The fifth sphere center position coordinates are used as the starting point for the probe to perform the next detection. Combined with the second radius and the second safety distance, the probe re-detects the second correction sphere on the rotation axis at the first angle with N azimuth positions and recalculates the fifth sphere center position coordinates based on the starting point for the next detection, until the fifth sphere center position coordinates are less than the error threshold, and the final fifth sphere center position coordinates are obtained.

[0024] The sixth sphere center position coordinates are used as the starting point for the probe to perform the next detection. Combined with the second radius and the second safety distance, the probe re-detects the second correction sphere on the rotation axis at the second angle with N azimuth positions and calculates the sixth sphere center position coordinates based on the starting point of the next detection, until the sixth sphere center position coordinates are less than the error threshold, and the final sixth sphere center position coordinates are obtained.

[0025] As described above, the calculated coordinates of the third sphere's center are used as the starting point for the next probe detection. Combined with the first radius and the first safety distance, N directional position detections and the calculation of the third sphere's center coordinates are performed again. This iterative calculation continuously improves the accuracy of the final calculated third sphere's center coordinates. Similarly, the accuracy of the fourth sphere's center coordinates is improved, thus ensuring the accuracy of the first rotation center calculated based on the third and fourth sphere's center coordinates. Likewise, the accuracy of the fifth and sixth sphere's center coordinates is improved through iterative calculation, thereby ensuring the accuracy of the second rotation center calculated based on the fifth and sixth sphere's center coordinates.

[0026] Optionally, the step of updating the current position coordinates of the machine tool based on the current position coordinates of the rotary axis and the rotation vector to obtain updated machine tool position coordinates, correcting the current position coordinates of the rotary axis based on the updated machine tool position coordinates to obtain corrected rotary axis position coordinates, and performing calibration based on the corrected rotary 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 using the third angle rotation matrix to obtain the first rotation position coordinates of the rotation axis;

[0028] The machine tool's current position coordinates are updated based on the current position coordinates of the rotating axis and the first rotation position coordinates of the rotating 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. Rotate the current position coordinates of the rotation axis around the rotation vector using the fourth angle rotation matrix to obtain the second rotation position coordinates of the rotation axis.

[0030] The machine tool's current position coordinates are updated based on the current position coordinates of the rotating axis and the second rotation position coordinates of the rotating axis to obtain the second updated machine tool position coordinates;

[0031] The current position coordinates of the rotary axis are corrected based on the first updated machine tool position coordinates and the second updated machine tool position coordinates to obtain the corrected rotary axis position coordinates, and calibration is performed based on the corrected rotary axis position coordinates.

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

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

[0034] The machine tool is moved from its current position coordinates to the first updated machine tool position coordinates to obtain the moved first machine tool. The laser head on the rotating axis at the third angle performs cross printing on the moved first machine tool according to the laser focus position to obtain the second cross.

[0035] The machine tool is moved from its current position coordinates to the second updated machine tool position coordinates to obtain the moved second machine tool. The laser head on the rotating axis at the fourth angle performs cross printing on the moved second machine tool according to the laser focus position to obtain a third cross.

[0036] The position deviation of the rotation axis is calculated based on the first cross, the second cross, and the third cross. The current position coordinates of the rotation axis are corrected based on the position deviation to obtain the corrected position coordinates of the rotation axis. Calibration is then performed based on the corrected position coordinates of the rotation axis.

[0037] As described above, the rotation axis at the first angle is rotated to different angles. The current position coordinates of the rotation axis are updated according to the rotation matrix of different angles. The current position coordinates of the machine tool are updated according to the updated current position coordinates of the rotation axis, namely the first rotation position coordinates and the second rotation position coordinates of the rotation axis. By combining forward and inverse kinematics with laser engraving technology, the machine tool is moved to different updated machine tool position coordinates and cross-printing is performed by the laser head on the rotation axis at the corresponding angle. The position deviation of the rotation axis is calculated in this way, ensuring the rationality and accuracy of the calculated position deviation. This improves the accuracy of the corrected rotation axis position coordinates based on the position deviation, and achieves high-precision calibration of the rotation axis position in the laser coordinate system.

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

[0039] Calculate the first distance between the vertical line of the second cross and the vertical line of the first cross. Determine whether the vertical line of the second cross and the laser head on the rotation axis at the third angle are both located 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 value 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.

[0040] Calculate the second distance between the vertical line of the third cross and the vertical line of the first cross. Determine whether the vertical line of the third cross and the laser head on the rotation axis at the fourth angle are both located 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 value 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] The current position coordinates of the rotary axis are corrected based on the first position deviation and the second position deviation of the rotary axis to obtain the corrected rotary axis position coordinates. The updated machine tool position coordinates are then updated again based on the corrected rotary axis position coordinates until the first, second, and third crosshairs are completely aligned. Calibration is achieved based on the corrected rotary axis position coordinates under the condition that the first, second, and third crosshairs are completely aligned.

[0042] Optionally, the corrected rotation axis position coordinates include: corrected rotation axis x-axis position coordinates and corrected rotation axis z-axis position coordinates, and the step of correcting the current position coordinates of the rotation axis based on the first position deviation 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 coordinate of the rotation axis. Substitute the current x-axis position coordinate, the first position deviation, and the second position deviation of the rotation axis into the x-axis correction formula to calculate the corrected x-axis position coordinate of the rotation axis. The x-axis correction formula is as follows:

[0044]

[0045] Obtain the current z-axis position coordinate of the rotation axis. Substitute the current z-axis position coordinate, the first position deviation of the rotation axis, and the corrected x-axis position coordinate of the rotation axis into the z-axis correction formula to calculate the corrected z-axis position coordinate of the rotation axis. The z-axis correction formula is as follows:

[0046]

[0047] Where θ represents the third angle.

[0048] As described above, based on the vertical line of the first cross, the position of the laser head on the rotating axis during cross printing is determined by the vertical line of the second cross and the position of the laser head on the rotating axis during cross printing, and the vertical line of the third cross and the position of the laser head on the rotating axis during cross printing. The first position deviation and the second position deviation are calculated in this way, so as to correct the current position coordinates of the rotating axis. There is no need for complicated and difficult manual operations. The correction of the current position coordinates of the rotating axis can be achieved simply by judging the direction and distance, thus realizing calibration, reducing the difficulty of calibration, and improving the calibration efficiency.

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

[0050] In a second aspect, the present invention provides a rotary axis calibration system for a laser five-axis device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the rotary axis calibration method for a laser five-axis device described in the first aspect.

[0051] The technical effects of the rotary axis calibration system for a laser five-axis device provided in the second aspect are described in the relevant description of the rotary axis calibration method for a laser five-axis device provided in the first aspect. Attached Figure Description

[0052] Figure 1 This is a flowchart of a method for calibrating the rotation axis of a five-axis laser device provided in this embodiment;

[0053] Figure 2 This is a schematic diagram of the overall process of a rotation axis calibration method for a five-axis laser device provided in this embodiment;

[0054] Figure 3 This is a schematic diagram of the process for correcting the current position coordinates of the rotation axis involved in this embodiment;

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

[0056] Figure 5 This is a schematic diagram of the correction balls at different positions on the rotation axis involved in this embodiment;

[0057] Figure 6 This is a schematic diagram illustrating how laser heads on rotating axes at different angles perform cross-printing on a machine tool according to the laser focus position, as described in this embodiment.

[0058] Figure 7 This is a schematic diagram of the rotary axis calibration system of a laser five-axis device provided in this embodiment.

[0059] [Explanation of Labels in the Attached Image]

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

[0061] 2. Processor;

[0062] 3. Memory. Detailed Implementation

[0063] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although 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 to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0064] Example 1

[0065] Please refer to Figures 1 to 6 This invention provides a method for calibrating the rotation axis of a five-axis laser device, comprising the following steps:

[0066] S1. Using a probe, the first and second correction balls on the rotation axis at the first angle are probed in N directions to obtain M1 position coordinates of the first correction ball and P1 position coordinates of the second correction ball. At the same time, the probe is used to probe the first and second correction balls on the rotation axis at the second angle to obtain M2 position coordinates of the first correction ball and P2 position coordinates of the second correction ball. The first correction ball and the second correction ball are correction balls at different positions on the rotation axis.

[0067] In this embodiment, the first angle is 0°, and the second angle is 180°, such as... Figure 4 As shown, a magnetic base and a connecting rod are mounted on the rotating shaft. The connecting rod connects to a calibration ball with a roundness of 0.5 μm. The calibration ball is mounted at the maximum radius reachable by the external probe on the machine tool's moving platform. The external probe probes N directional positions of the first and second calibration balls on the rotating shaft at a first angle. Simultaneously, the probe probes N directional positions of the first and second calibration balls on the rotating shaft at a second angle. The first and second calibration balls are calibration balls at different positions on the rotating shaft. Figure 5As shown, the position of the calibration ball on the rotation axis can be changed by adjusting the length of the connecting rod. N is 5, and the N directional position detections are the front position detection, left position detection, right position detection, upper position detection, and lower position detection of the calibration ball. In this way, the corresponding 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. 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 rotation axis into J equal intervals according to a preset interval. Calculate the first center coordinate of the first correction sphere on the rotation axis at each equal interval based on M1 and M2 position coordinates. Perform circle fitting on all the first center coordinates to obtain a first fitted circle. Calculate the second center coordinate of the second correction sphere on the rotation axis at each equal interval based on P1 and P2 position coordinates. Perform circle fitting on all the second center coordinates to obtain a second fitted circle. Obtain the rotation vector of the rotation axis based on the first center of the first fitted circle and the second center of the second fitted circle.

[0069] In this embodiment, as Figure 2 As shown, the rotation axis is divided into preset equal intervals of 10°, and the rotation axis is 360°. Starting from 0°, the rotation axis is divided into 10° intervals, resulting in 36 equal intervals: 0°, 10°, 20°...350° and 360°, i.e., J equal intervals. Based on the M1 and M2 position coordinates obtained in step S1, the first center position coordinate of the first correction sphere of the rotation axis under each equal interval is calculated. All the first center position coordinates are fitted with a circle to obtain the first fitted circle. Similarly, based on the P1 and P2 position coordinates, the second center position coordinate of the second correction sphere of the rotation axis under each equal interval is calculated. All the second center position coordinates are fitted with a circle to obtain the second fitted circle. When performing circle fitting, the least squares method can be selected. 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.

[0070] At this point, the step S2, which involves calculating the first center position coordinates of the first correction sphere on the rotation axis at each equally divided angle based on the M1 and M2 position coordinates, includes:

[0071] S21. Obtain the first radius and the first safety distance of the first correction sphere;

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

[0073] In this embodiment, as Figure 2 As shown, the first radius and first safety distance of the first correction sphere are obtained. The third center position coordinate of the first correction sphere is calculated based on M1 position coordinates, the first radius, and the first safety distance. The fourth center position coordinate of the first correction sphere is calculated based on M2 position coordinates, the first radius, and the first safety distance. The first rotation center of the first correction sphere is then calculated based on the third and fourth center position coordinates. Specifically, the first sum of the third and fourth center position coordinates is calculated, and half of the first sum is taken as the first rotation center. The first radius is 15mm, and the first safety distance is 10mm.

[0074] In a specific embodiment, the M1 position coordinates are: the position coordinates of the front of the first correction sphere m 11 (Xm1, Ym1, Zm1), left-side orientation coordinates of the first correction sphere (m) 12 (Xm2, Ym2, Zm2), the right-side azimuth coordinates of the first correction sphere (m) 13 (Xm3, Ym3, Zm3), the coordinates of the upper orientation of the first correction sphere (m) 14 (Xm4, Ym4, Zm4) and the lower azimuth coordinates m of the first correction sphere 15 (Xm5, Ym5, Zm5), the formula for calculating the coordinates of the sphere's center is:

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

[0076] YQ1 = Ym1 + r;

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

[0078] Where XQ1 represents the x-coordinate of the sphere's center, YQ1 represents the y-coordinate of the sphere's center, ZQ1 represents the z-coordinate of the sphere's center, and r represents the first radius.

[0079] At this point, step S22, which involves calculating the third center coordinate of the first correction sphere based on M1 position coordinates, the first radius, and the first safety distance, and calculating the fourth center coordinate of the first correction sphere based on M2 position coordinates, the first radius, and the first safety distance, includes:

[0080] S221. The third sphere center position coordinates are used as the detection starting point for the probe to perform the next detection. Combined with the first radius and the first safety distance, the probe re-detects the first correction sphere on the rotation axis at the first angle with N directional positions and calculates the third sphere center position coordinates based on the detection starting point of the next detection, until the third sphere center position coordinates are less than the error threshold, and the final third sphere center position coordinates are obtained.

[0081] S222. The fourth sphere center position coordinates are used as the detection starting point for the probe to perform the next detection. Combined with the first radius and the first safety distance, the probe re-detects the first correction sphere on the rotation axis at the second angle with N directional positions and calculates the fourth sphere center position coordinates based on the detection starting point for the next detection, until the fourth sphere center position coordinates are less than the error threshold, and the final fourth sphere center position coordinates are obtained.

[0082] In this embodiment, as Figure 2 As shown, the coordinates of the third sphere's center position are used as the starting point for the probe's next detection. In step S1, the starting point for the first detection is manually observed and adjusted. Therefore, the coordinates of the third sphere's center position are used as the starting point for the probe's next detection. Combined with the first radius and the first safety distance, the probe re-detects the first correction sphere at the first angle of rotation axis with N azimuth positions and recalculates the coordinates of the third sphere's center position based on this starting point. When N azimuth positions are detected with the new starting point, the coordinates of the third sphere's center position are: the coordinates of the position directly in front of the third correction sphere m. 31 (Xm31, Ym31, Zm31), left-side orientation coordinates of the third correction sphere (m) 32 (Xm32, Ym32, Zm32), the right-side azimuth coordinates of the third correction sphere (m) 33 (Xm33, Ym33, Zm33), the coordinates of the upper position of the third correction sphere (m) 34 (Xm34, Ym34, Zm34) and the lower azimuth coordinates m of the third correction sphere 35 (Xm35, Ym35, Zm35), with a first radius of r and a first safety distance of d, the new M1 position coordinates obtained from re-detecting N azimuth positions are as follows: the new position coordinates m of the position directly in front of the first correction sphere. 31(Xm31, Ym31-rd, Zm31), the left azimuth coordinates of the new first correction sphere (m) 32 (Xm32-rd, Ym32, Zm32), the right-side azimuth coordinates of the new first correction sphere (m) 33 (Xm33+r+d, Ym33, Zm33), the upper orientation coordinates m of the new first correction sphere. 34 (Xm34, Ym34, Zm34+r+d) and the lower azimuth coordinates m of the new first correction sphere 35 (Xm35, Ym35, Zm35-rd) until the coordinates of the third sphere center are less than the error threshold. That is, the final coordinates of the third sphere center are obtained by repeatedly iterating the orientation position detection and sphere center coordinate calculation. Similarly, the final coordinates of the fourth sphere center are obtained. The number of iterations can be adjusted according to the actual situation.

[0083] S23. Calculate the first center position coordinates of the first correction ball on the rotation axis under each equally divided angle based on the first rotation center and the third ball center position coordinates;

[0084] In this embodiment, as Figure 2 As shown, the first center position coordinates of the first correction sphere on the rotation axis are calculated based on the first rotation center and the third sphere center position coordinates for each equally divided angle. At this time, the rotation axis is rotated to each equally divided angle. Each x-axis coordinate, y-axis coordinate, and z-axis coordinate of each azimuth position coordinate of the third sphere center position are translated according to the first rotation center. Then, the translated third sphere center position coordinates are used as the new detection starting point, and N azimuth position detections are performed again. The first center position coordinates of the first correction sphere on the rotation axis for each equally divided angle are calculated based on the newly obtained azimuth position coordinates.

[0085] The calculation of the second center position coordinates of the second correction sphere on the rotation axis at each equally spaced interval angle based on the P1 and P2 position coordinates includes:

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

[0087] S25. Calculate the fifth center position coordinate of the second correction ball based on the P1 position coordinates, the second radius, and the second safety distance; calculate the sixth center position coordinate of the second correction ball based on the P2 position coordinates, the second radius, and the second safety distance; and calculate the second rotation center of the second correction ball based on the fifth center position coordinates and the sixth center position coordinates.

[0088] At this point, step S25, which involves calculating the fifth center coordinate of the second correction sphere based on P1 position coordinates, the second radius, and the second safety distance, and calculating the sixth center coordinate of the second correction sphere based on P2 position coordinates, the second radius, and the second safety distance, includes:

[0089] S251. The fifth sphere center position coordinates are used as the detection starting point for the probe to perform the next detection. Combined with the second radius and the second safety distance, the probe re-detects the second correction sphere on the rotation axis at the first angle with N azimuth positions and calculates the fifth sphere center position coordinates based on the detection starting point of the next detection, until the fifth sphere center position coordinates are less than the error threshold, and the final fifth sphere center position coordinates are obtained.

[0090] S252. Using the coordinates of the sixth sphere's center as the starting point for the probe's next detection, and combining the second radius and the second safety distance, the probe re-detects the second correction sphere on the rotation axis at the second angle with N azimuth positions and calculates the coordinates of the sixth sphere's center based on the starting point for the next detection, until the coordinates of the sixth sphere's center are less than the error threshold, thus obtaining the final coordinates of the sixth sphere's center.

[0091] S26. Calculate the second center position coordinates of the second correction ball on the rotation axis at each equally spaced interval angle based on the second rotation center and the fifth ball center position coordinates.

[0092] In this embodiment, as Figure 2 As shown, the calculation of the coordinates of the fifth and sixth sphere centers is the same as that of the third and fourth sphere centers, and the calculation of the coordinates of the second and first sphere centers is the same.

[0093] S3. Obtain the current position coordinates of the machine tool and the current position coordinates of the rotation axis in the laser coordinate system. 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. Perform calibration based on the corrected rotation axis position coordinates.

[0094] At this point, step S3, which involves updating the current position coordinates of the machine tool based on the current position coordinates of the rotary axis and the rotation vector to obtain updated machine tool position coordinates, correcting the current position coordinates of the rotary axis based on the updated machine tool position coordinates to obtain corrected rotary axis position coordinates, and performing calibration based on the corrected rotary axis position coordinates, 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 the rotation axis at the third angle. Rotate the current position coordinates of the rotation axis around the rotation vector using the third angle rotation matrix to obtain the first rotation 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 rotating axis and the first rotation position coordinates of the rotating 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 the rotation axis at the fourth angle. Rotate the current position coordinates of the rotation axis around the rotation vector using the fourth angle rotation matrix to obtain the second rotation 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 rotating axis and the second rotation position coordinates of the rotating axis to obtain the second updated machine tool position coordinates;

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

[0100] In this embodiment, as Figure 2 As shown, a preset third angle and a preset third angle rotation matrix are obtained. The rotation axis at the first angle is rotated to the third angle, where the third angle is [30°, 60°]. The specific third angle can be adjusted according to the actual situation. When the third angle is 45°, that is, the rotation axis at the first angle, i.e., the rotation axis at 0°, is rotated to 45° to obtain the rotation axis at the third angle, i.e., the rotation axis at 45°. The current position coordinates of the rotation axis are rotated around the rotation vector using the third angle rotation matrix to obtain the first rotation position coordinates of the rotation axis. The third angle rotation matrix is:

[0101]

[0102] Where, n x n represents the x-axis coordinate of the rotation vector. y n represents the y-coordinate of the rotation vector. z The z-axis coordinate of the rotation vector is represented by θ, and the third angle is represented by θ.

[0103] The current position coordinates of the rotation axis are rotated around the rotation vector by a third-angle rotation matrix. That is, the current position coordinates of the rotation axis are multiplied by the corresponding third-angle rotation matrix to obtain the first rotational position coordinates of the rotation axis. These first rotational position coordinates, the current position coordinates of the rotation axis, and the current position coordinates of the machine tool are then input into the machine tool update formula for calculation. This updates the current position coordinates of the machine tool, resulting in the first updated machine tool position coordinates. The machine tool update formula is as follows:

[0104] First updated machine tool position coordinates = First rotational position coordinates of the rotary axis - Current position coordinates of the rotary axis + Current position coordinates of the machine tool;

[0105] Similarly, the second updated machine tool position coordinates are obtained, where the fourth angle is the negative angle of the third angle, i.e., -θ. The current position coordinates of the rotary axis are corrected based on the first and second updated machine tool position coordinates to obtain the corrected rotary axis position coordinates. Calibration is then performed based on the corrected rotary axis position coordinates.

[0106] At this point, step S35 includes:

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

[0108] S352. Move the machine tool from its current position coordinates to the first updated machine tool position coordinates to obtain the moved first machine tool. Use the laser head on the rotating axis at the third angle to perform cross printing on the moved first machine tool according to the laser focus position to obtain a second cross.

[0109] S353. Move the machine tool from its current position coordinates to the second updated machine tool position coordinates to obtain the moved second machine tool. Use the laser head on the rotating axis at the fourth angle to perform cross printing on the moved second machine tool according to the laser focus position to obtain a third cross.

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

[0111] In this embodiment, as Figure 6As shown, a laser head on a rotating axis at a first angle prints a crosshair on the machine tool according to the laser focus position, resulting in a first crosshair. The machine tool is then moved from its current position coordinates to a first updated machine tool position coordinate. A laser head on a rotating axis at a third angle prints a crosshair on the moved first machine tool according to the laser focus position, resulting in a second crosshair. The machine tool is then moved from its current position coordinates to a second updated machine tool position coordinate. A laser head on a rotating axis at a fourth angle prints a crosshair on the moved second machine tool according to the laser focus position, resulting in a third crosshair. Figure 6 In this context, 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 point, step S354 includes:

[0113] S3541. Calculate the first distance between the vertical line of the second cross and the vertical line of the first cross. Determine whether the vertical line of the second cross and the laser head on the rotation axis at the third angle are both located 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.

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

[0115] S3543. Correct the current position coordinates of the rotary axis according to the first position deviation and the second position deviation of the rotary axis to obtain the corrected position coordinates of the rotary axis. Update the updated machine tool position coordinates according to the corrected position coordinates of the rotary axis until the first crosshair, the second crosshair, and the third crosshair are completely aligned. Achieve calibration based on the corrected position coordinates of the rotary axis under the condition that the first crosshair, the second crosshair, and the third crosshair are completely aligned.

[0116] In this embodiment, as Figure 3As shown, by determining whether the vertical line of the second cross is on the same side as the laser head on the rotating axis at the third angle, and whether the vertical line of the third cross is on the same side as the laser head on the rotating axis at the fourth angle, the first and second position deviations of the rotating axis are calculated. The current position coordinates of the rotating axis are corrected using the first and second position deviations. Based on the corrected rotating axis position coordinates, the updated machine tool position coordinates are updated again, and the first, second, and third crosses are printed again. This iterative cycle continuously corrects the current position coordinates of the rotating axis until the printed first, second, and third crosses completely overlap, thus achieving the calibration of the rotating axis.

[0117] At this point, the corrected rotation axis position coordinates mentioned in step S3543 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 based on the first position deviation 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 rotation axis. Substitute the current x-axis position coordinate, the first position deviation, and the second position deviation of the rotation axis into the x-axis correction formula to calculate the corrected x-axis position coordinate of the rotation axis. The x-axis correction formula is as follows:

[0119]

[0120] Obtain the current z-axis position coordinate of the rotation axis. Substitute the current z-axis position coordinate, the first position deviation of the rotation axis, and the corrected x-axis position coordinate of the rotation axis into the z-axis correction formula to calculate the corrected z-axis position coordinate of the rotation axis. The z-axis correction formula is as follows:

[0121]

[0122] Where θ represents the third angle.

[0123] In this embodiment, as Figure 3As shown, the current x-axis position coordinate of the rotation axis is obtained. The current x-axis position coordinate, the first position deviation, and the second position deviation of the rotation axis are substituted into the x-axis correction formula to calculate the corrected x-axis position coordinate. Simultaneously, the current z-axis position coordinate of the rotation axis is obtained. The current z-axis position coordinate, the corrected x-axis position coordinate, and the first position deviation of the rotation axis are substituted into the z-axis correction formula to calculate the corrected z-axis position coordinate. 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 coordinates of the rotary axis are consistent with the y-coordinates of the current position coordinates of the rotary axis. Since the updated machine tool position coordinates will be updated again based on the corrected rotary axis position coordinates, and the first, second, and third crosshairs will be printed again, each time the current position coordinates of the rotary axis are corrected, it refers to the previous current position coordinates of the rotary axis. That is, the current x-axis position coordinates and current y-axis position coordinates of the rotary axis current position coordinates substituted into the x-axis correction formula and z-axis correction formula refer to the current x-axis position coordinates and current y-axis position coordinates of the rotary axis current position coordinates before this correction.

[0124] In this embodiment, the method for obtaining the corrected rotation axis position coordinates in step S3, i.e., determining the position of the rotation axis in the laser coordinate system, can be implemented in a different way than step S3 described above. Specifically:

[0125] An additional probe sensor is installed next to the laser head on the rotary axis, and a calibration ball is installed on the machine tool's stage.

[0126] 1. Rotate the rotary axis at three or more different angles. For each angle, perform N orientation position detections and calculate the center position coordinates of the calibration ball on the machine tool platform according to steps S1-S2 to obtain the center position coordinates of the ball corresponding to each angle.

[0127] 2. Transform the coordinates of each sphere's center position to a coordinate system with 0° as the origin. That is, subtract the coordinates of the sphere's center position when the rotation axis is at 0° from each sphere's center position coordinate to obtain the transformed coordinates of each sphere's center position. Perform circle fitting on all the transformed coordinates of each sphere's center position to obtain a new fitted circle.

[0128] 3. Install a calibration fixture on the machine tool's platform. 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 axis to 0°, and use the laser head to print a cross on the end face of the cylinder;

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

[0131] 6. If the two crosses in steps 4 and 5 do not coincide, move the machine tool platform and repeat steps 2 and 3 until the two crosses in steps 4 and 5 completely coincide. 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 cylinder's end face;

[0133] 8. When the center of the new fitted circle in step 2 is completely aligned with the two crosses in step 6, add the position coordinates of the machine tool together and calculate the difference between it and the center point of the cylinder end face in step 7. Use this difference as the position of the rotation axis in the laser coordinate system, which is the corrected rotation axis position coordinate.

[0134] Example 2

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

[0136] Since the systems / devices described in the above embodiments of the present invention are systems / devices used to implement the methods of the above embodiments of the present invention, those skilled in the art can understand the specific structure and modifications of the systems / devices based on the methods described in the above embodiments of the present invention, and therefore will not be repeated here. All systems / devices used in the methods of the above embodiments of the present invention fall within the scope of protection of the present invention.

[0137] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0138] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0139] It should be noted that any reference numerals placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims that enumerate several means, several of these means may be embodied by the same hardware. The use of the terms first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0140] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0141] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0142] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, then this invention should also include these modifications and variations.

Claims

1. A method for calibrating the rotation axis of a five-axis laser device, characterized in that, include: The probe detects the positions of the first and second correction spheres on the rotation axis at the first angle in N azimuths, obtaining M1 position coordinates of the first correction sphere and P1 position coordinates of the second correction sphere. At the same time, the probe detects the positions of the first and second correction spheres on the rotation axis at the second angle in N azimuths, obtaining M2 position coordinates of the first correction sphere and P2 position coordinates of the second correction sphere. The first and second correction spheres are correction spheres at different positions on the rotation axis. The rotation axis is divided into J equal intervals according to a preset interval. The first center position coordinate of the first correction ball on the rotation axis is calculated according to M1 and M2 position coordinates. All the first center position coordinates are fitted with a circle to obtain a first fitted circle. The second center position coordinate of the second correction ball on the rotation axis is calculated according to P1 and P2 position coordinates. All the second center position coordinates are fitted with a circle to obtain a second fitted circle. The rotation vector of the rotation axis is obtained according to the first center of the first fitted circle and the second center of the second fitted circle. The machine tool's current position coordinates and the rotation axis's current position coordinates in the laser coordinate system are obtained. The machine tool's current position coordinates are updated based on the rotation axis's current position coordinates and the rotation vector to obtain updated machine tool position coordinates. The rotation axis's current position coordinates are corrected based on the updated machine tool position coordinates to obtain corrected rotation axis position coordinates. Calibration is then performed based on the corrected rotation axis position coordinates.

2. The method for calibrating the rotation axis of a five-axis laser device as described in claim 1, characterized in that, The calculation of the first center position coordinate of the first correction sphere on the rotation axis under each equally spaced interval angle based on the M1 position coordinates and the M2 position coordinates includes: Obtain the first radius and the first safety distance of the first correction sphere; The third center position coordinate of the first correction sphere is calculated based on M1 position coordinates, the first radius, and the first safety distance. The fourth center position coordinate of the first correction sphere is calculated based on M2 position coordinates, the first radius, and the first safety distance. The first rotation center of the first correction sphere is calculated based on the third center position coordinates and the fourth center position coordinates. Calculate the first center position coordinates of the first correction ball on the rotation axis at each equally spaced interval angle based on the first rotation center and the third ball center position coordinates; The calculation of the second center position coordinates of the second correction sphere on the rotation axis at each equally spaced interval angle based on the P1 and P2 position coordinates includes: Obtain the second radius and the second safety distance of the second correction sphere; The fifth center position coordinate of the second correction sphere is calculated based on the P1 position coordinates, the second radius, and the second safety distance. The sixth center position coordinate of the second correction sphere is calculated based on the P2 position coordinates, the second radius, and the second safety distance. The second rotation center of the second correction sphere is calculated based on the fifth center position coordinates and the sixth center position coordinates. The second center position coordinates of the second correction ball on the rotation axis are calculated based on the second rotation center and the fifth ball center position coordinates for each equally spaced interval angle.

3. The method for calibrating the rotation axis of a five-axis laser device as described in claim 2, characterized in that, The step of calculating the third center coordinate of the first correction sphere based on M1 position coordinates, the first radius, and the first safety distance, and calculating the fourth center coordinate of the first correction sphere based on M2 position coordinates, the first radius, and the first safety distance, includes: The third sphere center position coordinates are used as the detection starting point for the probe to perform the next detection. Combined with the first radius and the first safety distance, the probe re-detects the first correction sphere on the rotation axis at the first angle with N azimuth positions and calculates the third sphere center position coordinates based on the detection starting point of the next detection, until the third sphere center position coordinates are less than the error threshold, and the final third sphere center position coordinates are obtained. The fourth sphere center position coordinates are used as the detection starting point for the probe to perform the next detection. Combined with the first radius and the first safety distance, the probe re-detects the first correction sphere on the rotation axis at the second angle with N azimuth positions and calculates the fourth sphere center position coordinates based on the detection starting point for the next detection, until the fourth sphere center position coordinates are less than the error threshold, and the final fourth sphere center position coordinates are obtained. The calculation of the fifth center coordinate of the second correction sphere based on P1 position coordinates, the second radius, and the second safety distance, and the calculation of the sixth center coordinate of the second correction sphere based on P2 position coordinates, the second radius, and the second safety distance, include: The fifth sphere center position coordinates are used as the starting point for the probe to perform the next detection. Combined with the second radius and the second safety distance, the probe re-detects the second correction sphere on the rotation axis at the first angle with N azimuth positions and recalculates the fifth sphere center position coordinates based on the starting point for the next detection, until the fifth sphere center position coordinates are less than the error threshold, and the final fifth sphere center position coordinates are obtained. The sixth sphere center position coordinates are used as the starting point for the probe to perform the next detection. Combined with the second radius and the second safety distance, the probe re-detects the second correction sphere on the rotation axis at the second angle with N azimuth positions and calculates the sixth sphere center position coordinates based on the starting point of the next detection, until the sixth sphere center position coordinates are less than the error threshold, and the final sixth sphere center position coordinates are obtained.

4. The method for calibrating the rotation axis of a five-axis laser device as described in claim 1, characterized in that, The steps of updating the current position coordinates of the machine tool based on the current position coordinates of the rotary axis and the rotation vector to obtain updated machine tool position coordinates, correcting the current position coordinates of the rotary axis based on the updated machine tool position coordinates to obtain corrected rotary axis position coordinates, and performing calibration based on the corrected rotary axis position coordinates include: 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 using the third angle rotation matrix to obtain the first rotation position coordinates of the rotation axis; The machine tool's current position coordinates are updated based on the current position coordinates of the rotating axis and the first rotation position coordinates of the rotating 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. Rotate the current position coordinates of the rotation axis around the rotation vector using the fourth angle rotation matrix to obtain the second rotation position coordinates of the rotation axis. The machine tool's current position coordinates are updated based on the current position coordinates of the rotating axis and the second rotation position coordinates of the rotating axis to obtain the second updated machine tool position coordinates; The current position coordinates of the rotary axis are corrected based on the first updated machine tool position coordinates and the second updated machine tool position coordinates to obtain the corrected rotary axis position coordinates, and calibration is performed based on the corrected rotary axis position coordinates.

5. The method for calibrating the rotation axis of a five-axis laser device as described in claim 4, characterized in that, The step of correcting the current position coordinates of the rotary axis based on the first updated machine tool position coordinates and the second updated machine tool position coordinates to obtain corrected rotary axis position coordinates, and performing calibration based on the corrected rotary axis position coordinates, includes: Obtain the origin of the laser coordinate system, take the origin as the laser focal point, and use the laser head on the rotation axis at the first angle to perform cross printing on the machine tool according to the laser focal point position to obtain the first cross; The machine tool is moved from its current position coordinates to the first updated machine tool position coordinates to obtain the moved first machine tool. The laser head on the rotating axis at the third angle performs cross printing on the moved first machine tool according to the laser focus position to obtain the second cross. The machine tool is moved from its current position coordinates to the second updated machine tool position coordinates to obtain the moved second machine tool. The laser head on the rotating axis at the fourth angle performs cross printing on the moved second machine tool according to the laser focus position to obtain a third cross. The position deviation of the rotation axis is calculated based on the first cross, the second cross, and the third cross. The current position coordinates of the rotation axis are corrected based on the position deviation to obtain the corrected position coordinates of the rotation axis. Calibration is then performed based on the corrected position coordinates of the rotation axis.

6. The method for calibrating the rotation axis of a five-axis laser device as described in claim 5, characterized in that, The step of calculating the position deviation of the rotation axis based on the first crosshair, the second crosshair, and the third crosshair, correcting the current position coordinates of the rotation axis based on the position deviation to obtain the corrected position coordinates of the rotation axis, and performing calibration based on the corrected position coordinates of the rotation axis includes: Calculate the first distance between the vertical line of the second cross and the vertical line of the first cross. Determine whether the vertical line of the second cross and the laser head on the rotation axis at the third angle are both located 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 value 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. Determine whether the vertical line of the third cross and the laser head on the rotation axis at the fourth angle are both located 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 value 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. The current position coordinates of the rotary axis are corrected based on the first position deviation and the second position deviation of the rotary axis to obtain the corrected rotary axis position coordinates. The updated machine tool position coordinates are then updated again based on the corrected rotary axis position coordinates until the first, second, and third crosshairs are completely aligned. Calibration is achieved based on the corrected rotary axis position coordinates under the condition that the first, second, and third crosshairs are completely aligned.

7. The method for calibrating the rotation axis of a five-axis laser device as described in claim 6, characterized in that, The corrected rotation axis position coordinates include: corrected rotation axis x-axis position coordinates and corrected rotation axis z-axis position coordinates. The step of correcting the current position coordinates of the rotation axis based on the first position deviation and the second position deviation of the rotation axis to obtain the corrected rotation axis position coordinates includes: Obtain the current x-axis position coordinate of the rotation axis. Substitute the current x-axis position coordinate, the first position deviation, and the second position deviation of the rotation axis into the x-axis correction formula to calculate the corrected x-axis position coordinate of the rotation axis. The x-axis correction formula is as follows: Obtain the current z-axis position coordinate of the rotation axis. Substitute the current z-axis position coordinate, the first position deviation of the rotation axis, and the corrected x-axis position coordinate of the rotation axis into the z-axis correction formula to calculate the corrected z-axis position coordinate of the rotation axis. The z-axis correction formula is as follows: Where θ represents the third angle.

8. The method for calibrating the rotation axis of a five-axis laser device as described in claim 1, characterized in that, The first angle is 0°, and the second angle is 180°.

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

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