Three-dimensional five-axis laser processing machine tool RTCP parameter calibration method

Abstract

The invention discloses a three-dimensional five-axis laser processing machine tool RTCP parameter calibration method, and relates to the field of three-dimensional five-axis laser processing equipment, and the method comprises the steps: S1, in a vertical state of a cutting head, symmetrically rotating an A axis, measuring the height difference between a nozzle and a plate, and calculating the zero deviation angle of the A axis; s2, based on the calibrated A-axis zero position, the height difference is measured, and the second rod length is calculated; s3, cutting C-axis 0-degree and 180-degree lineation under X-axis fixation and Y-axis feeding, measuring a distance, and calculating a first rod length; s4, two lines are cut under C-axis symmetric rotation, and the distance change is analyzed to obtain a C-axis zero position deviation angle; and S5, inputting the four parameters into a numerical control system, and automatically generating and configuring RTCP compensation parameters. Through high-precision pose measurement, multi-parameter space compensation and a result verification mechanism, high-precision calibration and stable and reliable correction control of the RTCP parameters of the five-axis laser machine tool are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of three-dimensional five-axis laser processing equipment, in particular to a three-dimensional five-axis laser processing machine RTCP parameter calibration method. BACKGROUND

[0002] With the development of the automobile industry, higher requirements are put forward for the machining of automobile parts. As an important means of advanced manufacturing, three-dimensional five-axis laser processing technology has been widely used in the precision machining of key structural parts such as hubs and bed bodies. This technology uses laser beams as processing tools and combines with numerical control systems to achieve high-degree linkage control of the laser head on three linear axes and two rotary axes, complete cutting, punching and engraving tasks on complex three-dimensional contours, and has the advantages of strong flexibility, high precision and high processing efficiency.

[0003] In the process of five-axis linkage laser processing, the participation of the rotary axis makes the actual position of the tool path point in space deviate from the theoretical trajectory, forming a nonlinear motion error, which directly affects the machining accuracy. Therefore, the rotary tool center point compensation technology is usually introduced, and through high-precision calibration of the key parameters of the machine tool structure, real-time compensation of the laser head motion error is realized to ensure the positioning accuracy under complex paths.

[0004] At present, there are still many problems in the calibration of RTCP parameters of three-dimensional five-axis laser processing machine. On the one hand, traditional methods such as using a dial gauge to measure the A / C axis zero point and using a vernier caliper to measure the distance from the nozzle to the rotary center rely heavily on manual experience and have the defects of low measurement accuracy, low efficiency, and complicated operation. On the other hand, although the use of a visual measurement system can improve automation, the system cost is high and is difficult to apply to large-scale equipment deployment. In addition, the spindle bar calibration method commonly used in traditional five-axis machining centers cannot be directly reused because three-dimensional laser processing machines do not have a spindle structure. SUMMARY

[0005] Based on the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a three-dimensional five-axis laser processing machine RTCP parameter calibration method to solve the above technical problems.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a three-dimensional five-axis laser processing machine RTCP parameter calibration method, comprising:

[0007] S1: When the cutting head is in a vertical state, rotate the A-axis to a preset angle symmetrically, measure the height difference between the nozzle and the metal plate by using a capacitive sensor, and calculate the A-axis zero deviation angle;

[0008] S2: Based on the calibrated A-axis zero position, measure the height difference between the nozzle and the metal plate at the compensated zero position and the forward rotation of the preset angle, and calculate the second rod length;

[0009] S3: Under the conditions of X-axis fixation and Y-axis feeding, control the cutting head to draw lines at C-axis 0° and 180°, measure the spacing between the two lines, and calculate the first rod length;

[0010] S4: Under the condition of C-axis symmetrical rotation angle, cut two lines at the same Y coordinate position, obtain the C-axis zero position deviation angle through the calculation of the spacing change between the two lines and the symmetrical error analysis;

[0011] S5: Input the obtained A-axis zero position deviation angle, second rod length, first rod length and C-axis zero position deviation angle into the numerical control system, generate RTCP compensation parameters automatically through the built-in calibration program of the numerical control system and complete the calibration configuration.

[0012] The application further provides that the S1 comprises:

[0013] In the vertical state of the laser cutting head, the metal plate is placed directly below the nozzle, and the position of the cutting head at this time is recorded as the zero position;

[0014] After controlling the cutting head to move horizontally to the right by a first preset distance and then move downward, the first distance from the nozzle to the metal plate surface is obtained by using the capacitive sensor;

[0015] Then, after controlling the cutting head to move horizontally to the left by a second preset distance from the zero position and then move downward, the second distance from the nozzle to the metal plate surface is obtained by using the capacitive sensor;

[0016] The first horizontal height difference is obtained according to the difference between the first distance and the second distance;

[0017] After moving the cutting head back to the zero position, manually rotating the A-axis clockwise by a first preset angle, and then controlling the Z-axis to move downward until the nozzle contacts the metal plate, the first Z-axis height value at this time is obtained by the motor encoder when the capacitive sensor triggers the bump plate signal;

[0018] After moving the cutting head back to the zero position, manually rotating the A-axis counterclockwise by a first preset angle, and then controlling the Z-axis to move downward until the nozzle contacts the metal plate, the second Z-axis height value at this time is obtained by the motor encoder when the capacitive sensor triggers the bump plate signal;

[0019] According to the obtained first distance, second distance, first Z-axis height value, second Z-axis height value, first horizontal height difference, nozzle diameter and initial rod length information, the angle deviation of the actual zero position of the A-axis relative to the theoretical zero position is calculated, which is recorded as the A-axis zero position deviation angle.

[0020] The application further provides that the S2 comprises:

[0021] Based on the obtained zero-point deviation angle of the A-axis, adjust the mechanical zero-point position of the A-axis to compensate for the deviation;

[0022] Place a metal sheet directly below the vertical cutting head after A-axis zero-position compensation, and record the position of the cutting head at this time as the zero position after compensation;

[0023] After compensation and reaching the zero position, the cutting head is controlled to move downwards, and the third distance from the nozzle to the metal plate surface is obtained using a capacitive sensor.

[0024] Then, control the cutting head to move horizontally to the left by a third preset distance and then move it downwards. Use a capacitive sensor to obtain the fourth distance from the nozzle to the metal plate surface.

[0025] The second horizontal height difference is obtained based on the difference between the third and fourth distances;

[0026] After the cutting head returns to the zero position after compensation, the Z-axis is controlled to move downward until the nozzle contacts the metal plate. The capacitive sensor obtains the third Z-axis height value of the nozzle from the metal plate surface at this time.

[0027] After manually rotating the A-axis clockwise by the first preset angle, control the Z-axis to move downwards until the nozzle contacts the metal plate again. The capacitive sensor obtains the fourth Z-axis height value of the cutting head nozzle from the metal plate surface at this time.

[0028] Based on the obtained third distance, fourth distance, third Z-axis height value, fourth Z-axis height value, second horizontal height difference, nozzle diameter, and first preset angle, the actual distance from the lower surface of the laser nozzle to the A-axis rotation center is calculated and recorded as the second rod length.

[0029] The present invention is further configured such that S3 includes:

[0030] With the laser cutting head in a vertical position, place a metal sheet directly below the nozzle and record the cutting head position as zero.

[0031] Control the cutting head to move to the first preset height position above the surface of the metal sheet, and start the fiber laser; control the cutting head to move along the Y-axis to perform laser marking, forming the first scribing line on the metal sheet; after the laser marking is completed, turn off the laser and raise the Z-axis to the zero position;

[0032] After rotating the C-axis 180°, the follow-up control cutter head moves to the first preset height position from the surface of the metal sheet, the fiber laser is started, and the cutter head is controlled to move along the Y-axis again to perform laser marking, forming a second scribing line on the sheet. After the laser marking is completed, the laser is turned off.

[0033] Measure the first distance in the X direction between the center of the first scribing line and the center of the second scribing line on the metal sheet.

[0034] According to the first distance, a first rod length from the laser beam exit point to the center of the C-axis rotation is calculated.

[0035] The S4 further includes:

[0036] In the vertical state of the laser cutting head, the metal plate is placed directly below the nozzle, and the position of the cutting head at this time is recorded as zero position.

[0037] The cutting head is controlled to move to a first preset height position away from the surface of the metal plate, the fiber laser is started, and the cutting head is controlled to move along the X-axis direction for laser marking to form a third scribe line on the metal plate.

[0038] After rotating the C-axis by 180°, the cutting head is controlled to move to the first preset height position away from the surface of the metal plate, the fiber laser is started, and the cutting head is controlled to move along the X-axis direction again for laser marking to form a fourth scribe line on the plate.

[0039] The second distance between the centers of the third scribe line and the fourth scribe line in the Y direction on the metal plate is measured.

[0040] According to the first rod length and the second distance, the angle deviation of the actual zero position of the C-axis relative to the theoretical zero position is calculated, which is recorded as the C-axis zero position deviation angle.

[0041] The application further provides that the process of inputting the obtained A-axis zero position deviation angle, the second rod length, the first rod length, and the C-axis zero position deviation angle into the numerical control system includes:

[0042] The four parameters are input into the RTCP parameter calculation unit in the numerical control system through the man-machine interaction interface, and the numerical control system automatically completes parameter analysis and compensation matrix calculation, generates an RTCP compensation matrix, and applies it to real-time control of the five-axis linkage machining process.

[0043] The four parameters include the A-axis zero position deviation angle, the second rod length, the first rod length, and the C-axis zero position deviation angle.

[0044] The application further provides that the parameter analysis includes rotating compensation transformation of the A-axis zero position deviation angle and the C-axis zero position deviation angle, and spatial vector correction of the second rod length and the first rod length in the machine tool coordinate system.

[0045] The application further provides that the method further includes performing calibration effectiveness verification after completing the RTCP compensation parameter configuration, and the steps include:

[0046] At the metal plate installation position used when the first rod length calibration operation is performed for the first time, the first rod length measurement operation is re-performed to obtain newly generated first verification scribe lines and second verification scribe lines;

[0047] A measured distance in the X direction between the first verification scribe line center point and the second verification scribe line center point is measured;

[0048] It is judged whether the measured distance exceeds a preset error tolerance interval based on the first rod length, and if the measured distance exceeds the preset error tolerance interval, it is determined that the current RTCP parameter calibration is invalid, and a recalibration instruction is generated.

[0049] The application further provides that the method further comprises collision protection logic during calibration, when the distance between the nozzle and the metal plate is less than a preset safety threshold, the numerical control system automatically stops the current Z axis downward movement, and an alarm signal is sent to avoid damage caused by the nozzle contacting.

[0050] The application provides a three-dimensional five-axis laser processing machine RTCP parameter calibration method, which comprises the following steps: S1: when the cutting head is in a vertical state, the A axis is symmetrically rotated to a preset angle, the height difference between the nozzle and the metal plate is measured by using a capacitive sensor, and the A axis zero position deviation angle is calculated; S2: based on the calibrated A axis zero position, the height difference between the nozzle and the metal plate is measured at the compensated zero position and the forward rotation preset angle, and the second rod length is calculated; S3: under the conditions of fixed X axis and Y axis feeding, the cutting head is controlled to perform scribing at C axis 0° and 180°, the distance between the two scribe lines is measured, and the first rod length is calculated; S4: under the condition of symmetric rotation angle of the C axis, two lines are cut at the same Y coordinate position, the distance change between the two scribe lines is calculated, and the symmetric error is analyzed to obtain the C axis zero position deviation angle; and S5: the A axis zero position deviation angle, the second rod length, the first rod length and the C axis zero position deviation angle are input into the numerical control system, the RTCP compensation parameters are automatically generated by the built-in calibration program of the numerical control system, and the calibration configuration is completed, and the beneficial effects include:

[0051] 1. Improve the calibration accuracy: by using the capacitive sensor to measure the height difference between the nozzle and the metal plate at the micron level, combined with multi-angle symmetric rotation and displacement sampling, the deviation caused by manual operation error, environmental interference or shaft system nonlinearity can be effectively suppressed, the high-precision inverse calculation of the A axis and C axis zero position deviation angle and the lengths of the two arm rods can be realized, and the spatial geometric consistency of the RTCP parameters can be significantly improved.

[0052] 2. Support multi-dimensional attitude error perception and correction: the proposed parameter calibration strategy not only considers the rotation axis zero position error, but also introduces the lengths of the two arm rods as physical geometric parameters, effectively compensates for the structural size changes caused by the assembly tolerance or wear of the mechanism, and makes the laser exit point always consistent with the contact path of the workpiece under five-axis linkage.

[0053] 3. The calibration result verification and tolerance discrimination mechanism: through the line retest and combined with the tolerance interval comparison, it can be judged whether the RTCP parameter configuration is effective, if the result is not up to standard, it can actively prompt to re-calibrate, form a closed loop verification process, improve the robustness and process consistency of the system to mis-calibration.

[0054] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, it can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor. In the drawings:

[0056] Figure 1 A flow chart of a three-dimensional five-axis laser processing machine tool RTCP parameter calibration method is shown for an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0057] The embodiments of the present application will be described below with reference to the drawings and preferred embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. The present application can also be implemented or applied by different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the protection scope of the present application.

[0058] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, and the diagrams only show the components related to the present application, not the number, shape and size of the components when actually implemented. The type, number and proportion of each component in actual implementation can be arbitrarily changed, and the component layout type can also be more complex.

[0059] In the following description, numerous specific details are discussed in order to provide a thorough understanding of the embodiments of the application. However, it will be apparent to one skilled in the art that the embodiments of the application can be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the embodiments of the application.

[0060] A three-dimensional five-axis laser processing machine tool RTCP parameter calibration method, as shown in Figure 1 , comprising:

[0061] S1: in the vertical state of the cutting head, symmetrically rotate the A-axis to a preset angle, measure the height difference between the nozzle and the metal plate by using the capacitive sensor, and calculate the A-axis zero deviation angle;

[0062] S2: based on the calibrated A-axis zero position, measure the height difference between the nozzle and the metal plate at the preset angle after the compensation and the forward rotation, and calculate the second rod length;

[0063] S3: under the conditions of X-axis fixation and Y-axis feeding, control the cutting head to draw lines at C-axis 0° and 180°, measure the distance between the two lines, and calculate the first rod length;

[0064] S4: under the condition of symmetric rotation angle of the C-axis, cut two lines at the same Y coordinate position, obtain the C-axis zero deviation angle by calculating the distance change between the two lines and analyzing the symmetry error;

[0065] S5: input the A-axis zero deviation angle, the second rod length, the first rod length and the C-axis zero deviation angle obtained into the numerical control system, automatically generate the RTCP compensation parameters by the built-in calibration program of the numerical control system, and complete the calibration configuration.

[0066] The application further provides that the S1 comprises:

[0067] In the vertical state of the laser cutting head, the metal plate is placed directly below the nozzle, and the position of the cutting head at this time is recorded as the zero position;

[0068] After controlling the cutting head to move horizontally to the right by a first preset distance and then move downward, the first distance from the nozzle to the metal plate surface is obtained by using the capacitive sensor;

[0069] Then, after controlling the cutting head to move horizontally to the left by a second preset distance from the zero position and then move downward, the second distance from the nozzle to the metal plate surface is obtained by using the capacitive sensor;

[0070] The first horizontal height difference is obtained according to the difference between the first distance and the second distance;

[0071] The mobile cutting head returns to zero position, the A shaft is manually rotated clockwise by a first preset angle, the Z shaft is controlled to move downwards until the nozzle contacts the metal plate, the first Z shaft height value at this time is obtained through the motor encoder when the capacitive sensor triggers the plate contact signal;

[0072] The mobile cutting head returns to zero position, the A shaft is manually rotated clockwise by a first preset angle, the Z shaft is controlled to move downwards until the nozzle contacts the metal plate, the first Z shaft height value at this time is obtained through the motor encoder when the capacitive sensor triggers the plate contact signal;

[0073] According to the acquired first distance, second distance, first Z-axis height value, second Z-axis height value, first horizontal height difference, nozzle diameter and initial rod length information, the angle deviation of the actual zero position of the A-axis relative to the theoretical zero position is calculated, which is recorded as the A-axis zero position deviation angle. Specifically, based on a three-dimensional five-axis laser processing machine tool, the high-precision calculation of the A-axis zero position deviation angle is completed by the cooperation of the capacitive sensor and the encoder feedback. On the premise that the laser cutting head is in a vertical state, first, place a metal plate directly below the nozzle, and record the spatial coordinates of the cutting head at this time as the zero reference point; control the cutting head to move horizontally to the right along the X-axis to the first preset distance position, then control the Z-axis to descend, measure the distance from the nozzle end face to the metal plate surface by means of the capacitive sensor, obtain the first height value of the measurement point, and record it as the first distance; return the cutting head to the zero position, and move it horizontally to the left along the X-axis to the second preset distance position, then control the Z-axis to descend again and obtain the second height value of the nozzle to the metal plate surface by the capacitive sensor, which is recorded as the second distance; based on the above first distance and second distance, the height change between the two measurement points is calculated, which is defined as the first horizontal height difference, which is used to represent whether there is a slight tilt in the posture of the cutting head in the vertical state, and the calculation logic of the first horizontal height difference is: ΔH = H1-H2, ΔH is the first horizontal height difference, H1 is the first distance, and H2 is the second distance; perform a symmetrical angle rotation operation to move the cutting head back to the zero position, manually rotate the A-axis clockwise to the first preset angle, control the Z-axis to move downward until the nozzle contacts the metal plate, the capacitive sensor triggers the bump plate signal, and the corresponding Z-axis height is recorded by the servo motor encoder, which is recorded as the first Z-axis height value; move the cutting head back to the zero position, manually rotate the A-axis counterclockwise to the first preset angle position, control the Z-axis to descend again to trigger the bump plate signal, and record the second Z-axis height value at this moment; based on the known nozzle diameter, first horizontal height difference, first distance, second distance, first Z-axis height value, second Z-axis height value and initial arm rod length, combined with the spatial offset effect caused by the height change of the nozzle after the rotation of both sides, a spatial geometric model is established, the angle deviation between the A-axis rotation center and the actual rotation track can be deduced by using trigonometric functions combined with rod length correction, by solving the model, the angle deviation of the actual zero position of the A-axis relative to the theoretical zero position is obtained, that is, the A-axis zero position deviation angle, the calculation logic of the A-axis zero position deviation angle is: α = arcsin(ΔZ1 / (2*L*sinθ-D*cosθ)), α is the A-axis zero position deviation angle, ΔZ1 is the height offset after the symmetrical rotation of the cutting head, L is the initial arm rod length, θ is the first preset angle, and D is the nozzle diameter; the calculation logic of ΔZ1 is: ΔZ1 = Z1-(Z2-ΔH), Z1 is the first Z-axis height value, and Z2 is the second Z-axis height value; the A-axis zero position deviation angle is used to represent the difference between the vertical reference position of the cutting head and the geometric center of the actual rotation axis, which is an important parameter basis for realizing the RTCP space compensation.

[0074] The application is further configured that the S2 comprises:

[0075] According to the obtained deviation angle of the A-axis zero position, the mechanical zero position of the A-axis is adjusted to compensate for the deviation;

[0076] A metal plate is placed directly below the vertical cutting head after the A-axis zero position is compensated, and the position of the cutting head at this time is recorded as the compensated zero position;

[0077] In the compensated zero position state, the cutting head is controlled to move downward, and the third distance from the nozzle to the metal plate surface is obtained by using the capacitive sensor;

[0078] After the cutting head is controlled to move horizontally to the left by a third preset distance and then move downward, the fourth distance from the nozzle to the metal plate surface is obtained by using the capacitive sensor;

[0079] The second horizontal height difference is obtained according to the difference between the third distance and the fourth distance;

[0080] The cutting head is moved back to the compensated zero position, and the Z-axis is controlled to move downward until the nozzle contacts the metal plate, and the third Z-axis height value of the nozzle from the metal plate is obtained by the capacitive sensor;

[0081] After the A-axis is manually rotated clockwise by a first preset angle, the Z-axis is controlled to move downward until the nozzle contacts the metal plate again, and the fourth Z-axis height value of the nozzle from the metal plate is obtained by the capacitive sensor;

[0082] According to the third distance, the fourth distance, the third Z-axis height value, the fourth Z-axis height value, the second horizontal height difference, the nozzle diameter and the first preset angle, the actual distance from the lower surface of the laser nozzle to the A-axis rotation center is calculated, which is recorded as the second rod length; Specifically, in order to further improve the overall accuracy of the RTCP parameter calibration, and compensate for the geometric parameter offset of the mechanism caused by assembly error or use wear, after the calculation of the A-axis zero deviation angle and its compensation, the second rod length is solved; The mechanical zero point of the A-axis is adjusted and compensated according to the A-axis zero deviation angle value α calculated in S1, so that the cutting head is aligned with the theoretical rotation center in the vertical state, and this state is taken as the compensated zero position; In the compensated zero position state, a metal plate with calibrated levelness is placed directly below the laser nozzle, and this position is recorded as the height reference for subsequent Z-axis movement; In the vertical state of the cutting head, the cutting head is controlled to move downward, and the third distance from the nozzle to the metal plate is measured by using the capacitive sensor; Then move the third preset distance along the X-axis horizontal direction to the left, and then control the cutting head to move downward, and the fourth distance from the nozzle to the metal plate is measured by using the capacitive sensor; The second horizontal height difference is calculated according to the third distance and the fourth distance, and the calculation logic of the second horizontal height difference is: ΔH2=H3-H4, ΔH2 is the second horizontal height difference, H3 is the third distance, and H4 is the fourth distance; The second horizontal height difference ΔH2 is used to compensate the influence of the metal plate unevenness or the nozzle non-axis symmetry on the subsequent Z-axis height comparison; Move the cutting head back to the compensated zero position, control the Z-axis to move downward until the nozzle contacts the metal plate, and then obtain the third Z-axis height value of the nozzle from the metal plate by using the capacitive sensor, then rotate the A-axis clockwise by the first preset angle manually, and then control the Z-axis to move downward again until the nozzle recontacts the metal plate, and the capacitive sensor obtains the fourth Z-axis height value of the cutting head nozzle from the metal plate; Based on the third Z-axis height value, the fourth Z-axis height value and the horizontal height difference correction, the real Z-direction offset is calculated, and the specific calculation logic is: ΔZ2=(Z3-ΔH2)-Z4, ΔZ2 is the height offset of the cutting head under the conditions of not rotating and rotating the A-axis, Z3 is the third Z-axis height value, ΔH2 is the second horizontal height difference, Z4 is the fourth Z-axis height value, and ΔZ2 is used to reflect the Z-direction space offset of the nozzle due to the inconsistent rotation radius after the A-axis is rotated;According to the third distance, the fourth distance, the third Z-axis height value, the fourth Z-axis height value, the second horizontal height difference, the nozzle diameter and the first preset angle, the actual distance from the lower surface of the laser nozzle to the A-axis rotation center is calculated, that is, the second rod length, and the calculation logic of the second rod length is: L2=(D*sin theta+Delta Z2) / (1-cos theta), L2 is the second rod length, and the second rod length L2 closer to the actual structure assembly can be obtained through the calculation formula, the estimation deviation of the rod length caused by the assembly error of the upper and lower arm rods, the use wear or the manufacturing tolerance is effectively compensated, the spatial consistency of the laser exit point in the A-axis rotation process in the five-axis laser processing and the workpiece path fitting precision are ensured, and the error accumulation can be significantly reduced in the multi-angle complex machining task.

[0083] The S3 further comprises:

[0084] In the vertical state of the laser cutting head, the metal plate is placed directly below the nozzle, and the position of the cutting head at this time is recorded as zero position;

[0085] The cutting head is controlled to move to a first preset height position away from the surface of the metal plate, the fiber laser is started, the cutting head is controlled to move along the Y-axis direction for laser marking, the first scribe line is formed on the metal plate, after the laser marking is completed, the laser is turned off, and the Z-axis is lifted to the zero position;

[0086] After the C-axis is rotated by 180 degrees, the cutting head is controlled to move to the first preset height position away from the surface of the metal plate, the fiber laser is started, and the cutting head is controlled to move along the Y-axis direction again for laser marking, the second scribe line is formed on the plate, and after the laser marking is completed, the laser is turned off;

[0087] The first distance between the center of the first scribe line and the center of the second scribe line on the metal plate in the X direction is measured;

[0088] According to the first distance, the actual distance from the laser beam exit point to the C-axis rotation center is calculated, which is recorded as the first rod length; specifically, after the A-axis zero deviation angle and the second rod length are calibrated, in order to further realize the full parameter modeling of the spatial geometric structure of the five-axis laser cutting head, the embodiment provides a method for calculating the first rod length, which is used to represent the actual distance from the laser beam exit point to the C-axis rotation center, that is, the offset distance of the point relative to the C-axis rotation center in the X-Y plane; under the condition that the cutting head is ensured to be in a vertical state, a metal plate with a known level is placed directly below the nozzle, and the current cutting head center position is recorded as zero; the cutting head is controlled to move downward, so that the lower end of the nozzle is away from the metal plate surface by a first preset height, such as 2 mm, which is used to ensure the consistency of laser focusing, the fiber laser is started, and the cutting head is controlled to move uniformly along the positive direction of the Y-axis to perform laser marking, thereby forming a first line on the surface of the metal plate; after the marking is completed, the laser is turned off, and the Z-axis is controlled to return to the zero position; the C-axis is manually or automatically controlled to rotate 180° around its axis, which makes the center point of the laser nozzle rotate half a circle around the center point of the C-axis; at this time, since the exit point of the laser beam is not located at the C-axis rotation center, the nozzle will be symmetrically offset in the X-axis direction after rotation; the above steps are repeated, the nozzle is controlled to be lowered again to the first preset height above the metal plate surface, the laser is started, and the second laser marking is performed along the same Y-axis direction, thereby forming a second line on the surface of the metal plate; after completion, the laser is turned off; the distance between the first line center and the second line center on the metal plate in the X-axis direction is accurately measured by a microscopic imaging system or image processing software, which is recorded as the first distance; the calculation logic of the first distance is: Δx=x2-x1, Δx is the first distance, x2 is the coordinate value of the second line center in the X-axis direction, and x1 is the coordinate value of the first line center in the X-axis direction; since the two laser markings occur before and after the C-axis rotation by 180°, and the marking directions are the same, the actual distance from the laser beam exit point to the C-axis rotation center, that is, the first rod length, can be obtained by the following formula: L1=Δx / 2, L1 is the first rod length; through the above steps, the structural offset error between the fixed position of the laser and the C-axis rotation center is compensated, thereby realizing the consistency alignment of the laser exit point on the workpiece surface in the C-axis rotation state, and significantly improving the five-axis linkage machining precision.

[0089] The application further provides that the S4 comprises:

[0090] In the vertical state of the laser cutting head, a metal plate is placed directly below the nozzle, and the position of the cutting head at this time is recorded as zero;

[0091] The cutting head is moved to a first preset height position away from the surface of the metal plate, a fiber laser is started, the cutting head is controlled to move along the X-axis direction for laser marking, a third scribe line is formed on the metal plate, after the laser marking is completed, the laser is turned off, and the Z-axis is lifted to a zero position;

[0092] After the C-axis is rotated by 180°, the cutting head is moved to the first preset height position away from the surface of the metal plate, the fiber laser is started, the cutting head is controlled to move along the X-axis direction again for laser marking, a fourth scribe line is formed on the plate, and after the laser marking is completed, the laser is turned off;

[0093] A second distance in the Y direction between the center of the third scribe line and the center of the fourth scribe line on the metal plate is measured;

[0094] According to the obtained first rod length and second interval, the angle deviation of the actual zero position of the C-axis relative to the theoretical zero position is calculated, which is denoted as the C-axis zero position deviation angle; in order to further improve the machining consistency and trajectory tracking accuracy of the five-axis linkage laser processing system under the control of the space posture, the embodiment provides a method for calculating the C-axis actual zero position deviation angle, and the quantitative compensation of the angle error of the C-axis rotation center around the Z-axis is completed; under the premise of ensuring the vertical state of the laser cutting head and the non-rotation of the C-axis, that is, in the theoretical zero position, the metal plate is placed directly below the nozzle, and the current cutting head center is recorded as the zero position; the cutting head is controlled to move downward, so that the lower end of the nozzle is away from the surface of the metal plate by a first preset height, which is used to ensure the laser focusing stability and the scribing consistency, the fiber laser is started, and the cutting head is controlled to move uniformly along the X-axis direction to complete a laser marking process, forming a third scribe extending along the X-axis, after completion, the laser is turned off, and the Z-axis is lifted to the zero position, preparing for the rotation operation; the C-axis is controlled to rotate by 180°, so that the cutting head rotates symmetrically around the C-axis rotation center, then the nozzle is controlled to be lowered to the same first preset height away from the surface of the metal plate, ensuring that the laser focal length remains consistent, the laser is started again, and the cutting head is moved along the same X-axis direction as the previous step to complete a second laser marking process, forming a fourth scribe extending along the X-axis on the metal plate, and the laser is turned off after marking; the third scribe center and the fourth scribe center on the metal plate in the Y-axis direction are extracted and measured using a precise image processing system or a microscopic measuring device, and are denoted as a second interval, the calculation logic of the second interval is: Δy=y2-y1, Δy is the second interval, y2 is the coordinate value of the fourth scribe center in the Y-axis direction, and y1 is the coordinate value of the third scribe center in the Y-axis direction; the second interval is derived from the non-zero offset of the laser beam exit point relative to the C-axis rotation center, and after 180° rotation, the exit direction appears symmetric deviation in the Y-axis, thereby generating displacement difference in the Y-axis in the X-axis marking path; according to the obtained first rod length and second interval, the angle deviation of the actual zero position of the C-axis relative to the theoretical zero position is calculated, and the calculation logic of the C-axis zero position deviation angle is: β=arcsin(Δy / (2*L1)), β is the C-axis zero position deviation angle; through the calibration method of the embodiment, the zero position deviation angle of the C-axis in the vertical state can be accurately inverted, and the space error in the five-axis linkage path planning process is compensated, and the trajectory consistency of the laser exit point in the rotation control process is improved.

[0095] The application is further provided that the process of inputting the obtained A-axis zero deviation angle, the second rod length, the first rod length and the C-axis zero deviation angle into the numerical control system comprises: inputting the four parameters into the RTCP parameter calculation unit in the numerical control system through the human-machine interface, and the numerical control system automatically completes parameter analysis and compensation matrix calculation, generates the RTCP compensation matrix and applies it to the real-time control of the five-axis linkage machining process; the four parameters include the A-axis zero deviation angle, the second rod length, the first rod length and the C-axis zero deviation angle; the application is further provided that the parameter analysis includes rotating compensation transformation of the A-axis zero deviation angle and the C-axis zero deviation angle, and space vector correction of the second rod length and the first rod length in the machine tool coordinate system; specifically, first, through the human-machine interface (HMI) configured by the numerical control system, the operator sequentially enters the four key geometric compensation parameters in the designated input interface, which are: the A-axis zero deviation angle obtained through step S1, the second rod length measured through step S2, the first rod length calibrated through step S3 and the C-axis zero deviation angle obtained through step S4, the above four parameters have a unique input domain in the input interface, and the numerical control system will automatically pass them to the internal RTCP parameter calculation unit after parameter input, the RTCP parameter calculation unit is pre-provided with a compensation matrix construction logic module for geometric modeling and space solution of the input angle deviation and structural length parameters. According to the five-axis linkage structure relationship, the system automatically completes the rotating correction of the A-axis and C-axis deviation angle, the translation compensation of the two rod lengths, and generates the RTCP compensation matrix which is real-time adapted to the device posture, for subsequent processing process calling, the RTCP compensation matrix is constructed by the A-axis rotating compensation matrix, the C-axis rotating compensation matrix and the rod length offset translation matrix, wherein the A-axis rotating compensation matrix is a rotating matrix around the fixed X-axis, which is defined as: R a (-α a ) is the A-axis rotating compensation matrix, α a is the A-axis zero deviation angle; the C-axis rotating compensation matrix corresponds to the offset angle of the laser nozzle around the vertical C-axis, and the rotating correction matrix is established by rotating around the Z-axis, which is defined as: Rc(-α c ) is the C-axis rotating compensation matrix, α c is the C-axis zero deviation angle; the rod length offset translation matrix is the position offset of the laser exit point caused by the difference between the actual length and the theoretical length of the two arm rods in the cutting head mechanism, which is defined as: T(L1,L2) is the rod length offset translation matrix; the final RTCP compensation matrix is the product of the above three matrices, and the sequence is rotating first and then translating, and the specific expression is: M=T(L1,L2)·Rc(-αc)·R a (-αa ), M is an RTCP compensation matrix; the RTCP compensation matrix is embedded into the motion control instruction, and real-time compensation is performed before the execution of each frame of five-axis motion instruction, so that the laser exit point and the theoretical path are consistent during the machining process, and the influence of the rotation axis error and the arm length manufacturing error on the path precision is inhibited.

[0096] The application further provides that the method further comprises, after the RTCP compensation parameter configuration is completed, performing calibration validity verification, and the steps comprise:

[0097] When the first rod length calibration operation is performed for the first time, the first rod length measurement operation is performed again at the installation position of the metal plate, and a newly generated first verification line and a second verification line are obtained;

[0098] The measured distance between the center points of the first verification line and the second verification line in the X direction is measured;

[0099] It is judged whether the measured distance exceeds a preset error tolerance interval based on the first rod length, and if the measured distance exceeds the preset error tolerance interval, it is determined that the RTCP parameter calibration is invalid, and a recalibration instruction is generated; specifically, in the embodiment, in order to further ensure the accuracy and adaptability of the set A-axis zero position deviation angle, C-axis zero position deviation angle, first rod length and second rod length RTCP compensation parameters, the application sets a process for verifying the validity of the calibration result, and the specific operation steps are as follows: first, the metal plate to be verified is installed at the same position and clamping mode as when the first rod length calibration is performed for the first time, so that the reference relationship relative to the machine tool coordinate system remains unchanged; in the state that the RTCP compensation parameters have been configured, two line marking operations are performed, and the mode and the initial calibration step are consistent; the Z-axis contact depth is kept consistent before and after the control C-axis is rotated by 180 degrees, and a pair of new lines, i.e., a first verification line and a second verification line, are generated; the center coordinate points of the first verification line and the second verification line are extracted respectively by using an image recognition module, a photoelectric detection device or a high-resolution visual positioning system, and especially the coordinate components in the X-axis direction are recorded and The measured distance between the two is calculated: wherein, Δy (v) is the measured distance, is the coordinate value of the center of the second verification line in the X-axis direction, is the coordinate value of the center of the first verification line in the X-axis direction; a set of allowed error tolerance intervals [-∈, +∈] is preset based on the currently input first rod length L1 as a reference, wherein ∈ is a preset error tolerance threshold, which is usually set according to the structure accuracy of the machine tool, such as 0.02 mm, and if the measured distance Δy (v) satisfies: |Δy (v)-2L1·sin(θ)|≤∈, it is determined that the RTCP parameter calibration result is valid, otherwise, it is considered that the current input parameter has deviation or the compensation matrix has misfit risk; if the above judgment fails, that is, the measured distance exceeds the allowable tolerance range, the numerical control system immediately sends a calibration failure notification signal and generates an instruction sequence to re-execute the calibration process, guiding the user or system to start the calibration operation again to avoid the deviation of the exit point path in the subsequent five-axis machining.

[0100] The application further provides that the method further comprises collision protection logic in the calibration process, when the distance between the nozzle and the metal plate detected by the capacitive sensor is less than a preset safety threshold, the numerical control system automatically stops the current Z-axis downward movement and sends an alarm signal to avoid damage to the nozzle; specifically, in the RTCP parameter calibration process of the embodiment, to prevent the laser cutting head nozzle from being damaged or measuring abnormally due to posture error, initial position offset or environmental disturbance during the downward movement in the Z-axis direction, real-time collision protection logic is provided; specifically, in each step involving Z-axis downward movement and approaching the metal plate surface, the capacitive sensor is called to monitor the relative distance between the lower end of the nozzle and the surface of the metal plate in real time, when the real-time distance is detected to be less than the preset safety threshold, the numerical control system determines that there is a collision risk, automatically stops the current Z-axis downward movement, and enters the protection state; the safety threshold is the minimum safety distance preset by the system, and the value range is usually set to 0.1-0.3 mm, and the specific value is set according to the structure size of the cutting head nozzle, the detection sensitivity of the capacitive sensor and the surface state of the metal plate and other factors, during the Z-axis downward movement, the capacitive sensor continuously obtains the current distance value at a fixed time period and reports it to the numerical control module in real time, if the current distance is less than the above-mentioned preset safety threshold, the control system immediately stops outputting the downward movement instruction to the Z-axis driving mechanism, and triggers the alarm program, displays the collision warning prompt information through the human-machine interface, records the alarm time and the corresponding position data for subsequent backtracking and maintenance, and the system can also set an automatic backoff distance, so that the nozzle is withdrawn a certain height along the Z-axis, to avoid being in a potential contact state for a long time, and further ensure the safety of the laser cutting assembly.

[0101] The above-described embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, the above-described embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are wholly or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server, or data center to another via wired (for example, infrared, wireless, microwave, etc.) or wireless means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, or the like, which includes one or more available medium collections. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0102] It should be understood that the term "and / or" herein merely describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after it, but it can also represent an "and / or" relationship. The specific meaning can be understood according to the context before and after it.

[0103] In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or the like means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0104] It should be understood that in various embodiments of the present application, the size of the sequence number of the above-described processes does not mean the order of execution, and the execution order of the processes should be determined according to their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0105] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0106] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0107] In several embodiments provided in the present application, it should be understood that the disclosed system can be implemented in other ways. For example, the above-described device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0108] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0109] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit.

[0110] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0111] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for calibrating RTCP parameters of a three-dimensional five-axis laser processing machine tool, characterized in that, include: S1: With the cutting head in a vertical position, rotate the A-axis symmetrically to a preset angle, and use a capacitive sensor to measure the height difference between the nozzle and the metal plate respectively, and calculate the zero-position deviation angle of the A-axis. S2: Based on the calibrated A-axis zero position, after compensation and under the preset positive rotation angle, measure the height difference between the nozzle and the metal plate, and calculate the length of the second rod; S3: With the X-axis fixed and the Y-axis feed, control the cutting head to scribing at 0° and 180° on the C-axis, measure the distance between the two scribing lines, and calculate the length of the first rod. S4: Under the condition of symmetrical rotation angle along the C-axis, cut two lines at the same Y-coordinate position, and obtain the zero-position deviation angle of the C-axis by calculating the change in the distance between the two lines and analyzing the symmetry error. S5: Input the obtained A-axis zero-position deviation angle, second rod length, first rod length, and C-axis zero-position deviation angle into the CNC system. The CNC system's built-in calibration program will automatically generate RTCP compensation parameters and complete the calibration configuration.

2. The method for calibrating RTCP parameters of a three-dimensional five-axis laser processing machine tool according to claim 1, characterized in that, S1 includes: With the laser cutting head in a vertical position, place a metal sheet directly below the nozzle and record the cutting head position as zero. After controlling the cutting head to move horizontally to the right by a first preset distance, it moves downward. The first distance between the nozzle and the metal plate surface is obtained using a capacitive sensor. Then, control the cutting head to move horizontally to the left from the zero position by a second preset distance and then move it downwards. Use a capacitive sensor to obtain the second distance between the nozzle and the metal plate surface. The first horizontal height difference is obtained based on the difference between the first distance and the second distance; Move the cutting head back to zero, manually rotate the A-axis clockwise by the first preset angle, and control the Z-axis to move downward until the nozzle contacts the metal plate. When the capacitive sensor triggers the contact signal, the first Z-axis height value is obtained through the motor encoder. Move the cutting head back to zero, manually rotate the A-axis counterclockwise by the first preset angle, and control the Z-axis to move downward until the nozzle contacts the metal plate. When the capacitive sensor triggers the plate contact signal, the second Z-axis height value is obtained through the motor encoder. Based on the obtained first distance, second distance, first Z-axis height value, second Z-axis height value, first horizontal height difference, nozzle diameter, and initial rod length information, the angular deviation of the actual zero position of the A-axis relative to the theoretical zero position is calculated and denoted as the A-axis zero position deviation angle.

3. The method for calibrating RTCP parameters of a three-dimensional five-axis laser processing machine tool according to claim 1, characterized in that, S2 includes: Based on the obtained zero-point deviation angle of the A-axis, adjust the mechanical zero-point position of the A-axis to compensate for the deviation; Place a metal sheet directly below the vertical cutting head after A-axis zero-position compensation, and record the position of the cutting head at this time as the zero position after compensation; After compensation and reaching the zero position, the cutting head is controlled to move downwards, and the third distance from the nozzle to the metal plate surface is obtained using a capacitive sensor. Then, control the cutting head to move horizontally to the left by a third preset distance and then move it downwards. Use a capacitive sensor to obtain the fourth distance from the nozzle to the metal plate surface. The second horizontal height difference is obtained based on the difference between the third and fourth distances; After the cutting head returns to the zero position after compensation, the Z-axis is controlled to move downward until the nozzle contacts the metal plate. The capacitive sensor obtains the third Z-axis height value of the nozzle from the metal plate surface at this time. After manually rotating the A-axis clockwise by the first preset angle, control the Z-axis to move downwards until the nozzle contacts the metal plate again. The capacitive sensor obtains the fourth Z-axis height value of the cutting head nozzle from the metal plate surface at this time. Based on the obtained third distance, fourth distance, third Z-axis height value, fourth Z-axis height value, second horizontal height difference, nozzle diameter, and first preset angle, the actual distance from the lower surface of the laser nozzle to the A-axis rotation center is calculated and recorded as the second rod length.

4. The method for calibrating RTCP parameters of a three-dimensional five-axis laser processing machine tool according to claim 1, characterized in that, S3 includes: With the laser cutting head in a vertical position, place a metal sheet directly below the nozzle and record the cutting head position as zero. Control the cutting head to move to the first preset height position above the surface of the metal sheet, and start the fiber laser; control the cutting head to move along the Y-axis to perform laser marking, forming the first scribing line on the metal sheet; after the laser marking is completed, turn off the laser and raise the Z-axis to the zero position; After rotating the C-axis 180°, the follow-up control moves the cutting head to the first preset height position away from the surface of the metal sheet, starts the fiber laser, and controls the cutting head to move along the Y-axis again to perform laser marking, forming a second scribing line on the sheet. After the laser marking is completed, the laser is turned off. Measure the first distance in the X direction between the center of the first scribing line and the center of the second scribing line on the metal sheet. The actual distance from the laser beam emission point to the C-axis rotation center is calculated based on the obtained first spacing and is denoted as the first rod length.

5. The method for calibrating RTCP parameters of a three-dimensional five-axis laser processing machine tool according to claim 1, characterized in that, S4 includes: With the laser cutting head in a vertical position, place a metal sheet directly below the nozzle and record the cutting head position as zero. Control the cutting head to move to the first preset height position from the surface of the metal plate, start the fiber laser, control the cutting head to move along the X-axis to perform laser marking, form the third scribing line on the metal plate, after the laser marking is completed, turn off the laser and raise the Z-axis to the zero position; After rotating the C-axis 180°, the follow-up control moves the cutting head to the first preset height position away from the surface of the metal sheet, starts the fiber laser, and controls the cutting head to move along the X-axis again to perform laser marking, forming the fourth scribing line on the sheet. After the laser marking is completed, the laser is turned off. Measure the second distance in the Y direction between the center of the third and fourth scribing lines on the metal sheet; Based on the obtained first rod length and second spacing, the angular deviation of the actual zero position of the C-axis relative to the theoretical zero position is calculated and denoted as the C-axis zero position deviation angle.

6. The method for calibrating RTCP parameters of a three-dimensional five-axis laser processing machine tool according to claim 1, characterized in that, The process of inputting the obtained A-axis zero-position deviation angle, second rod length, first rod length, and C-axis zero-position deviation angle into the CNC system includes: The four parameters are input into the RTCP parameter calculation unit inside the CNC system through the human-machine interface. The CNC system automatically completes parameter parsing and compensation matrix calculation, generates the RTCP compensation matrix, and applies it to the real-time control of the five-axis linkage machining process. The four parameters include the A-axis zero-position deviation angle, the second rod length, the first rod length, and the C-axis zero-position deviation angle.

7. The method for calibrating RTCP parameters of a three-dimensional five-axis laser processing machine tool according to claim 6, characterized in that, The parameter analysis includes rotational compensation transformation of the zero-position deviation angles of the A-axis and C-axis, and spatial vector correction of the second rod length and the first rod length in the machine tool coordinate system.

8. The method for calibrating RTCP parameters of a three-dimensional five-axis laser processing machine tool according to claim 1, characterized in that, The method further includes performing calibration validity verification after completing the RTCP compensation parameter configuration, the steps of which include: At the metal plate mounting position used in the first pole length calibration operation, the first pole length measurement operation is performed again to obtain the newly generated first and second verification lines. Measure the actual distance in the X direction between the center point of the first verification line and the center point of the second verification line; Determine whether the measured distance exceeds the preset error tolerance range based on the first pole length. If it exceeds the preset error tolerance range, determine that the current RTCP parameter calibration is invalid and generate a recalibration command.

9. The method for calibrating RTCP parameters of a three-dimensional five-axis laser processing machine tool according to claim 1, characterized in that, The method also includes collision protection logic during the calibration process. When the capacitive sensor detects that the distance between the nozzle and the metal plate is less than a preset safety threshold, the CNC system automatically stops the current Z-axis downward movement and issues an alarm signal to avoid nozzle contact damage.

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