Method and system for correcting nozzle model
By obtaining the Z-axis coordinates of the cutting head at different yaw angles and fitting the nozzle radius model, the problem of inaccurate nozzle height under the capacitor calibration method was solved, achieving higher precision bevel cutting and nozzle protection.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI FRIENDESS CNC TECH CO LTD
- Filing Date
- 2025-12-26
- Publication Date
- 2026-05-05
AI Technical Summary
In the existing technology, the capacitor calibration method cannot accurately obtain the nozzle height under tilted conditions, resulting in low bevel cutting accuracy and potentially nozzle damage.
By obtaining the Z-axis coordinates of the cutting head when it contacts the upper surface of the plate at multiple different yaw angles, a yaw angle-nozzle radius model is fitted. The accurate nozzle radius is obtained using a contact-plate-collision method. A safe zone is set and a vibration suppression process is initiated to avoid nozzle collision with the plate.
It improves the precision of bevel cutting, avoids nozzle damage, and achieves a higher precision cutting effect.
Smart Images
Figure CN121979113A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of laser cutting, and in particular to a method and system for correcting nozzle models. Background Technology
[0002] In laser processing applications, the nozzle height between the cutting head nozzle and the workpiece material significantly impacts the actual cutting effect. Therefore, laser processing techniques impose requirements on this nozzle height. In practice, capacitance calibration is typically used to determine this height. However, capacitance calibration maps the capacitance value to the nozzle height when the cutting head is vertical. Since beveling involves processing sheet metal or pipes with the cutting head at an angle, the area between the nozzle and the material changes. This alters the actual capacitance and nozzle height relationship during beveling, leading to inaccurate nozzle height readings and affecting the cutting results.
[0003] In existing technologies, methods to improve bevel cutting accuracy involve first calibrating the nozzle using capacitance to follow it to a smaller nozzle height, and then moving it upwards to the target height. This aims to reduce the impact of inaccurate capacitance calibration. However, because the facing area between the nozzle and the sheet metal changes when the nozzle is tilted, an error in the nozzle height during the step of calibrating to a smaller nozzle height still exists. Furthermore, this error may cause the nozzle to hit the sheet metal, resulting in nozzle damage. Summary of the Invention
[0004] This invention provides a method for correcting a nozzle model to improve the accuracy of bevel cutting.
[0005] According to a first aspect of the present invention, a method for correcting a nozzle model is provided, comprising: The Z-axis coordinates of the rotation center of the cutting head are obtained when the cutting head contacts the upper surface of the plate at multiple different yaw angles. The upper surface of the plate is parallel to the machine tool plane, and the Z-axis is perpendicular to the upper surface of the plate. Based on the corresponding Z-axis coordinates obtained at different yaw angles, the nozzle radius at each different yaw angle is obtained. The nozzle radius under different yaw angles is fitted to obtain the yaw angle-nozzle radius model.
[0006] Optionally, when the cutting head contacts the upper surface of the plate at multiple different yaw angles, the Z-axis coordinate corresponding to the rotation center of the cutting head includes: The Z-axis coordinate corresponding to the rotation center when the nozzle of the cutting head contacts the upper surface of the plate when the yaw angle is 0° is obtained and used as the reference Z-axis coordinate. Obtain the Z-axis coordinates of the rotation center corresponding to the nozzle of the cutting head when it contacts the upper surface of the plate under multiple yaw angles that are not 0°.
[0007] Optionally, obtaining the nozzle radius at each different yaw angle based on the corresponding Z-axis coordinates obtained at each different yaw angle includes: The mechanical pendulum length of the cutting head is obtained, and the mechanical pendulum length is used to characterize the distance between the rotation center of the cutting head and the center of the nozzle; Based on the reference Z-axis coordinate Z0 and the mechanical pendulum length M, obtain the plate surface coordinates. ; Based on the plate coordinates, the mechanical pendulum length, and the Z-axis coordinates corresponding to multiple non-0° yaw angles, the nozzle radius corresponding to each non-0° yaw angle is obtained using the plate coordinate formula. The plate coordinate formula is: ,in, Used to characterize the coordinates of the plate surface The Z-axis coordinate is used to characterize the contact between the nozzle of the cutting head and the upper surface of the plate at various yaw angles that are not 0°. Used to characterize the length of a mechanical pendulum. Used to characterize the yaw angle Used to characterize nozzle radius.
[0008] Optionally, obtaining the Z-axis coordinates of the cutting head nozzle when it contacts the upper surface of the plate at any yaw angle other than 0° includes: The mechanical pendulum length of the cutting head is obtained, and the mechanical pendulum length is used to characterize the distance between the rotation center of the cutting head and the center of the nozzle; Position the cutting head in an initial position, which is above the plate material; The cutting head rotates and sways in a first direction to the sway angle, and the first direction is parallel to the upper surface of the plate. The cutting head moves a reset distance in the second direction. ,in, Used to characterize the length of the mechanical pendulum Used to characterize the yaw angle, the second direction and the first direction are two opposite directions; The cutting head moves along the negative Z-axis direction, so that the nozzle of the cutting head contacts the upper surface of the plate, and the Z-axis coordinate corresponding to the rotation center of the cutting head when the nozzle of the cutting head contacts the upper surface of the plate at the yaw angle is obtained. The negative Z-axis direction is perpendicular to the upper surface of the plate and is the direction closer to the plate.
[0009] Optionally, the speed at which the cutting head moves along the negative Z-axis ranges from 1 mm / s to 2 mm / s.
[0010] Optionally, the yaw angle can be in the range of 0° to 45°.
[0011] Optional, also includes: Based on any yaw angle, query the yaw angle-nozzle radius model to obtain the corresponding nozzle radius; Based on the yaw angle, the nozzle radius corresponding to the yaw angle, and the plate drawing, a safety zone is set, wherein the safety zone is located within the plate and the area of the safety zone is smaller than the area of the plate; Under hazardous conditions, the cutting head initiates a vibration suppression process or a height-following process, wherein the hazardous conditions are used to characterize the projection of the nozzle on the plate exceeding the safe zone.
[0012] Optionally, the method for determining that the nozzle of the cutting head is in contact with the upper surface of the plate includes: Obtain the calibration capacitance value between the nozzle and the upper surface of the plate; Based on the calibration capacitance value being 0 or the calibration capacitance value being greater than the capacitance threshold, it is determined that the nozzle of the cutting head is in contact with the upper surface of the plate.
[0013] Optionally, the method for obtaining the calibration capacitance value between the nozzle and the upper surface of the plate includes: based on a calibration capacitance model. The calibration capacitance value between the nozzle and the upper surface of the plate is obtained, where C is used to characterize the calibration capacitance value. Used to characterize the dielectric constant of a medium. The area of the nozzle facing the plate is used to characterize the electrostatic constant, and the distance between the nozzle and the upper surface of the plate is used to characterize the electrostatic constant.
[0014] According to a second aspect of the present invention, a corrective nozzle model system is proposed for implementing the above-described corrective nozzle model method, comprising: The coordinate acquisition module is used to acquire the Z-axis coordinate of the rotation center of the cutting head when the cutting head contacts the upper surface of the plate at multiple different yaw angles. The upper surface of the plate is parallel to the machine tool plane, and the Z-axis is perpendicular to the upper surface of the plate. The nozzle radius acquisition module is used to obtain the nozzle radius at different yaw angles based on the corresponding Z-axis coordinates obtained at different yaw angles. The model acquisition module is used to fit the nozzle radius under different yaw angles to obtain the yaw angle-nozzle radius model.
[0015] According to a third aspect of the present invention, an electronic device is provided, the electronic device including a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the above-described corrective nozzle model method.
[0016] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein a computer program is stored on the computer-readable storage medium, characterized in that the computer program, when executed by a processor, implements the above-described method for correcting nozzle models.
[0017] Compared with the prior art, the technical solution of the present invention has the following beneficial effects: In the nozzle model correction method provided by this invention, the Z-axis coordinates corresponding to the rotation center of the cutting head when it contacts the upper surface of the plate at multiple different yaw angles are obtained. This is achieved by using a contact-type contact plate method to obtain the Z-axis coordinates corresponding to the rotation center of the cutting head at different yaw angles, making the obtained Z-axis coordinates more accurate and thus improving the accuracy of the obtained yaw angle-nozzle radius model. Furthermore, after obtaining the nozzle radius at each different yaw angle based on the corresponding Z-axis coordinates, the nozzle radius at each different yaw angle is fitted to obtain the yaw angle-nozzle radius model. Therefore, based on the yaw angle-nozzle radius model, the corresponding nozzle radius can be obtained according to the actual yaw angle of the cutting head. Then, the height of the cutting head can be accurately adjusted according to the nozzle radius to achieve higher precision bevel cutting.
[0018] Furthermore, a safety zone is set based on the sway angle, the nozzle radius corresponding to the sway angle, and the sheet metal drawing. The safety zone is located within the sheet metal and its area is smaller than the area of the sheet metal. Under dangerous conditions, the cutting head initiates a vibration suppression process or a constant height following process. The dangerous conditions are used to characterize the projection of the nozzle on the sheet metal exceeding the safety zone. This prevents the cutting head from following downwards when it moves to the edge of the sheet metal, thus avoiding the nozzle hitting the sheet metal and causing nozzle damage. Attached Figure Description
[0019] Figure 1 This is a flowchart of the nozzle model correction method provided in the embodiments of the present invention; Figure 2 This is a schematic diagram showing the contact between the cutting head and the upper surface of the plate at a certain sway angle, according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the nozzle radius under different yaw angles of the cutting head, provided by an embodiment of the present invention; Figure 4 This is a schematic diagram of the corrective nozzle model system provided in an embodiment of the present invention. Detailed Implementation
[0020] As described in the background section, the accuracy of bevel cutting is low when using capacitance calibration.
[0021] In view of this, the present invention proposes a method for correcting a nozzle model, comprising: The Z-axis coordinates of the rotation center of the cutting head are obtained when the cutting head contacts the upper surface of the plate at multiple different yaw angles. The upper surface of the plate is parallel to the machine tool plane, and the Z-axis is perpendicular to the upper surface of the plate. Based on the corresponding Z-axis coordinates obtained at different yaw angles, the nozzle radius at each different yaw angle is obtained. The nozzle radius under different yaw angles is fitted to obtain the yaw angle-nozzle radius model.
[0022] By obtaining the Z-axis coordinates of the cutting head's rotation center when it contacts the upper surface of the plate at multiple different yaw angles—that is, by using a contact-type contact plate method to obtain the Z-axis coordinates of the cutting head's rotation center at different yaw angles—the obtained Z-axis coordinates are more accurate, thereby improving the accuracy of the obtained yaw angle-nozzle radius model. Furthermore, by obtaining the nozzle radius at each different yaw angle based on the corresponding Z-axis coordinates, and then fitting the nozzle radius at each different yaw angle to obtain the yaw angle-nozzle radius model, the nozzle radius can be obtained according to the actual yaw angle of the cutting head. Then, the height of the cutting head can be accurately adjusted based on the nozzle radius to achieve higher precision bevel cutting.
[0023] To make the above-mentioned objects, features, and beneficial effects of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. The terms "first," "second," "third," etc., in the specification, claims, and accompanying drawings of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0024] Please refer to Figure 1 and Figure 2 This invention provides a method for correcting a nozzle model, comprising: S1, obtain the Z-axis coordinates of the rotation center O of the cutting head when the cutting head contacts the upper surface of the plate at multiple different yaw angles θ. The upper surface of the plate is parallel to the machine tool plane, and the Z-axis is perpendicular to the upper surface of the plate. S2, based on the corresponding Z-axis coordinates obtained at different yaw angles θ, obtain the nozzle radius R at different yaw angles θ; S3, fit the nozzle radius R under different yaw angles θ to obtain the yaw angle-nozzle radius model.
[0025] The following describes each step of the above-mentioned method for correcting the nozzle model.
[0026] In this embodiment, S1 specifically includes: S11, obtain the Z-axis coordinate corresponding to the rotation center O when the nozzle of the cutting head contacts the upper surface of the plate when the yaw angle θ is 0°, and use it as the reference Z-axis coordinate; Here, the yaw angle θ is the angle between the central axis of the cutting head and the Z-axis, and the central axis is the line connecting the rotation center O of the cutting head and the center A of the nozzle. Therefore, when the yaw angle θ is 0°, the nozzle of the cutting head is vertically downward.
[0027] S12, obtain the Z-axis coordinate corresponding to the rotation center O when the nozzle of the cutting head contacts the upper surface of the plate under multiple yaw angles θ that are not 0°, and use it as the reference Z-axis coordinate Z0.
[0028] In this embodiment, obtaining the Z-axis coordinate of the cutting head nozzle when it contacts the upper surface of the plate at any yaw angle θ that is not 0° in S12 includes: S121, Obtain the mechanical pendulum length M of the cutting head. The mechanical pendulum length M is used to characterize the distance between the rotation center O of the cutting head and the center A of the nozzle. Among them, the mechanical pendulum length M of the cutting head can be directly measured.
[0029] S122, positioning the cutting head in the initial position, which is above the material; Specifically, when the cutting head is in its initial position, its vertical projection is located within the plate area.
[0030] S123, the cutting head rotates and swings in the first direction X to the swing angle θ, and the first direction X is parallel to the upper surface of the plate. S124, the cutting head moves the reset distance in the second direction. ,in, Used to characterize the length of a mechanical pendulum. Used to characterize the yaw angle, the second direction and the first direction X are two opposite directions; Specifically, when the cutting head rotates and yaws in the first direction X by a certain yaw angle θ, the displacement of the nozzle center A in the first direction X is: Therefore, after the cutting head rotates and yaws in the first direction X by a certain yaw angle θ, the cutting head moves in the second direction a distance to reset. This ensures that the center A of the nozzle is on the same vertical line as the initial position, so that when it comes into contact with the board later, it falls within a very small error range. That is, it ensures that the measurement conditions for obtaining the Z-axis coordinates when in contact with the upper surface of the board are consistent for any non-zero yaw angle θ and when the yaw angle θ is 0°. This makes the Z-axis coordinates of the cutting head nozzle when in contact with the upper surface of the board more accurate under any non-zero yaw angle θ.
[0031] S125, the cutting head moves along the negative Z-axis so that the nozzle of the cutting head contacts the upper surface of the board and obtains the Z-axis coordinate corresponding to the rotation center O of the cutting head when the nozzle of the cutting head contacts the upper surface of the board at the yaw angle θ. The negative Z-axis is perpendicular to the upper surface of the board and is the direction closer to the board.
[0032] In this embodiment, the yaw angle θ ranges from 0° to 45°.
[0033] Preferably, the yaw angles θ that are not 0° are equally spaced, so that the obtained data is uniform, and thus the obtained yaw angle-nozzle radius model is more accurate.
[0034] In this embodiment, the speed at which the cutting head moves along the negative Z-axis ranges from 1 mm / s to 2 mm / s. If the cutting head moves too fast, the nozzle may hit the plate, causing damage to the nozzle. If the cutting head moves too slowly, the operating efficiency will be low.
[0035] In this embodiment, the method for determining that the nozzle of the cutting head is in contact with the upper surface of the plate includes: obtaining the calibration capacitance value between the nozzle and the upper surface of the plate; and determining that the nozzle of the cutting head is in contact with the upper surface of the plate based on the calibration capacitance value being 0 or the calibration capacitance value being greater than the capacitance threshold.
[0036] As an example, the capacitance threshold is greater than the maximum calibration capacitance, which is the maximum value of the calibration capacitance between the nozzle and the plate during the entire calibration process.
[0037] The method for obtaining the calibration capacitance value between the nozzle and the upper surface of the plate includes: based on a calibration capacitance model. The calibration capacitance value between the nozzle and the upper surface of the plate is obtained, where C is used to characterize the calibration capacitance value. Used to characterize the dielectric constant of a medium. The area of the nozzle facing the plate is used to characterize the electrostatic constant, and the distance between the nozzle and the upper surface of the plate is used to characterize the electrostatic constant.
[0038] In this embodiment, S2 specifically includes: S21, Obtain the mechanical pendulum length M of the cutting head. The mechanical pendulum length M is used to characterize the distance between the rotation center O of the cutting head and the center A of the nozzle. S22, Obtain the plate coordinates based on the reference Z-axis coordinate Z0 and the mechanical pendulum length M. ; S23, based on the plate coordinates, the mechanical pendulum length M, and the Z-axis coordinates corresponding to multiple non-zero yaw angles θ, the nozzle radius R corresponding to each non-zero yaw angle θ is obtained using the plate coordinate formula. The plate coordinate formula is: ,in, Used to characterize the coordinates of the plate surface The Z-axis coordinate is used to characterize the contact between the nozzle of the cutting head and the upper surface of the plate at various yaw angles θ that are not 0°. Used to characterize the length of a mechanical pendulum. Used to characterize the yaw angle Used to characterize nozzle radius.
[0039] In this embodiment, S3 specifically involves linearly fitting the nozzle radius R under different yaw angles θ to obtain the yaw angle-nozzle radius model.
[0040] Because the nozzle contacts the upper surface of the material via one edge of the nozzle, this edge will become curved after wear. This causes the contact position between the nozzle and the upper surface of the material to deviate at different yaw angles, resulting in different measured nozzle radii. Please refer to [reference needed]. Figure 3 , Figure 3 The curved lines in the diagram represent the contact positions of the nozzle with the material at different yaw angles, as measured by the calibrated capacitor. R1 and R2 are the nozzle radii at two different yaw angles, and straight lines O-A1 and O-A2 are the central axes of the cutting head at these two different yaw angles. Furthermore, other errors, such as yaw angle errors and mechanical pendulum length errors, can also be coupled during the nozzle radius measurement process, all of which will lead to different nozzle radii measured at different yaw angles.
[0041] The yaw angle-nozzle radius model allows for accurate adjustment of the cutting head height. This includes: obtaining the nozzle radius R corresponding to any yaw angle θ; after the nozzle of the cutting head at that yaw angle θ contacts the upper surface of the material, moving it a preset distance along the positive Z-axis; and after the cutting head has moved the preset distance along the positive Z-axis, moving it an error distance along the negative Z-axis. This allows the vertical distance between the center A of the nozzle and the plate to be a preset distance, thus achieving higher precision beveling.
[0042] In this embodiment, the nozzle model correction method further includes: S4. Based on any yaw angle θ, query the yaw angle-nozzle radius model to obtain the corresponding nozzle radius R; S5. Based on the yaw angle θ, the nozzle radius R corresponding to the yaw angle θ, and the board drawing, set a safety zone. The safety zone is located within the board and the area of the safety zone is smaller than the area of the board. S6, Under hazardous conditions, the cutting head initiates a vibration suppression process or a height-following process. Hazardous conditions are used to characterize the projection of the nozzle on the sheet metal that exceeds the safe zone.
[0043] In summary, in the nozzle model correction method provided by this invention, the Z-axis coordinates corresponding to the rotation center O of the cutting head when it contacts the upper surface of the plate at multiple different yaw angles θ are obtained. This is achieved by using a contact-type contact plate method to obtain the Z-axis coordinates corresponding to the rotation center O of the cutting head at different yaw angles θ, making the obtained Z-axis coordinates more accurate and thus improving the accuracy of the obtained yaw angle-nozzle radius model. Furthermore, after obtaining the nozzle radius R at each different yaw angle θ based on the corresponding Z-axis coordinates, the nozzle radius R at each different yaw angle θ is fitted to obtain the yaw angle-nozzle radius model. Therefore, based on the yaw angle-nozzle radius model, the corresponding nozzle radius R can be obtained according to the actual yaw angle θ of the cutting head. Then, the height of the cutting head can be accurately adjusted according to the nozzle radius R to achieve higher precision bevel cutting.
[0044] Furthermore, a safety zone is set based on the yaw angle θ, the nozzle radius R corresponding to the yaw angle θ, and the sheet metal drawing. The safety zone is located within the sheet metal and its area is smaller than the area of the sheet metal. Under dangerous conditions, the cutting head initiates a vibration suppression process or a constant height following process. The dangerous conditions are used to characterize the projection of the nozzle on the sheet metal exceeding the safety zone. This prevents the cutting head from following downwards when it moves to the edge of the sheet metal, thus avoiding the phenomenon of the nozzle hitting the sheet metal and causing nozzle damage.
[0045] Please refer to Figure 2 and Figure 4 This invention also provides a nozzle model correction system for implementing the above-described nozzle model correction method. The nozzle model correction system includes a coordinate acquisition module, a nozzle radius acquisition module, and a model acquisition module.
[0046] The coordinate acquisition module is used to obtain the Z-axis coordinates of the rotation center O of the cutting head when the cutting head contacts the upper surface of the plate at multiple different yaw angles θ. The upper surface of the plate is parallel to the machine tool plane, and the Z-axis is perpendicular to the upper surface of the plate.
[0047] The nozzle radius acquisition module is used to obtain the nozzle radius R at different yaw angles θ based on the corresponding Z-axis coordinates obtained at different yaw angles θ.
[0048] The model acquisition module is used to fit the nozzle radius R under different yaw angles θ to obtain the yaw angle-nozzle radius model.
[0049] This invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory. When the processor executes the computer program, it implements the above-described method for correcting the nozzle model.
[0050] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for correcting the nozzle model.
[0051] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.
Claims
1. A method for correcting a nozzle model, characterized in that, include: The Z-axis coordinates of the rotation center of the cutting head are obtained when the cutting head contacts the upper surface of the plate at multiple different yaw angles. The upper surface of the plate is parallel to the machine tool plane, and the Z-axis is perpendicular to the upper surface of the plate. Based on the corresponding Z-axis coordinates obtained at different yaw angles, the nozzle radius at each different yaw angle is obtained. The nozzle radius under different yaw angles is fitted to obtain the yaw angle-nozzle radius model.
2. The method for correcting the nozzle model according to claim 1, characterized in that, The Z-axis coordinates corresponding to the rotation center of the cutting head when it contacts the upper surface of the plate at multiple different yaw angles include: The Z-axis coordinate corresponding to the rotation center when the nozzle of the cutting head contacts the upper surface of the plate when the yaw angle is 0° is obtained and used as the reference Z-axis coordinate. Obtain the Z-axis coordinates of the rotation center corresponding to the nozzle of the cutting head when it contacts the upper surface of the plate under multiple yaw angles that are not 0°.
3. The method for correcting the nozzle model according to claim 2, characterized in that, The step of obtaining the nozzle radius at different yaw angles based on the corresponding Z-axis coordinates obtained at different yaw angles includes: The mechanical pendulum length of the cutting head is obtained, and the mechanical pendulum length is used to characterize the distance between the rotation center of the cutting head and the center of the nozzle; Based on the reference Z-axis coordinate Z0 and the mechanical pendulum length M, obtain the plate surface coordinates. ; Based on the plate coordinates, the mechanical pendulum length, and the Z-axis coordinates corresponding to multiple non-0° yaw angles, the nozzle radius corresponding to each non-0° yaw angle is obtained using the plate coordinate formula. The plate coordinate formula is: ,in, Used to characterize the coordinates of the plate surface The Z-axis coordinate is used to characterize the contact between the nozzle of the cutting head and the upper surface of the plate at various yaw angles that are not 0°. Used to characterize the length of a mechanical pendulum. Used to characterize the yaw angle Used to characterize nozzle radius.
4. The method for correcting the nozzle model according to claim 2, characterized in that, Obtaining the Z-axis coordinate of the cutting head nozzle when it contacts the upper surface of the plate at any yaw angle other than 0° includes: The mechanical pendulum length of the cutting head is obtained, and the mechanical pendulum length is used to characterize the distance between the rotation center of the cutting head and the center of the nozzle; Position the cutting head in an initial position, which is above the plate material; The cutting head rotates and sways in a first direction to the sway angle, and the first direction is parallel to the upper surface of the plate. The cutting head moves a reset distance in the second direction. ,in, Used to characterize the length of the mechanical pendulum Used to characterize the yaw angle, the second direction and the first direction are two opposite directions; The cutting head moves along the negative Z-axis direction, so that the nozzle of the cutting head contacts the upper surface of the plate, and the Z-axis coordinate corresponding to the rotation center of the cutting head when the nozzle of the cutting head contacts the upper surface of the plate at the yaw angle is obtained. The negative Z-axis direction is perpendicular to the upper surface of the plate and is the direction closer to the plate.
5. The method for correcting the nozzle model according to claim 4, characterized in that, The speed at which the cutting head moves along the negative Z-axis ranges from 1 mm / s to 2 mm / s.
6. The method for correcting the nozzle model according to claim 1, characterized in that, The yaw angle ranges from 0° to 45°.
7. The method for correcting a nozzle model according to claim 1, characterized in that, Also includes: Based on any yaw angle, query the yaw angle-nozzle radius model to obtain the corresponding nozzle radius; Based on the yaw angle, the nozzle radius corresponding to the yaw angle, and the plate drawing, a safety zone is set, wherein the safety zone is located within the plate and the area of the safety zone is smaller than the area of the plate; Under hazardous conditions, the cutting head initiates a vibration suppression process or a height-following process, wherein the hazardous conditions are used to characterize the projection of the nozzle on the plate exceeding the safe zone.
8. The method for correcting a nozzle model according to any one of claims 1 to 7, characterized in that, The method for determining that the nozzle of the cutting head is in contact with the upper surface of the plate includes: Obtain the calibration capacitance value between the nozzle and the upper surface of the plate; Based on the calibration capacitance value being 0 or the calibration capacitance value being greater than the capacitance threshold, it is determined that the nozzle of the cutting head is in contact with the upper surface of the plate.
9. The method for correcting a nozzle model according to claim 8, characterized in that, The method for obtaining the calibration capacitance value between the nozzle and the upper surface of the plate includes: based on a calibration capacitance model. The calibration capacitance value between the nozzle and the upper surface of the plate is obtained, where C is used to characterize the calibration capacitance value. Used to characterize the dielectric constant of a medium. The area of the nozzle facing the plate is used to characterize the electrostatic constant, and the distance between the nozzle and the upper surface of the plate is used to characterize the electrostatic constant.
10. A nozzle correction model system for implementing the nozzle correction model method as described in any one of claims 1 to 9, characterized in that, include: The coordinate acquisition module is used to acquire the Z-axis coordinate of the rotation center of the cutting head when the cutting head contacts the upper surface of the plate at multiple different yaw angles. The upper surface of the plate is parallel to the machine tool plane, and the Z-axis is perpendicular to the upper surface of the plate. The nozzle radius acquisition module is used to obtain the nozzle radius at different yaw angles based on the corresponding Z-axis coordinates obtained at different yaw angles. The model acquisition module is used to fit the nozzle radius under different yaw angles to obtain the yaw angle-nozzle radius model.
11. An electronic device, the electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, When the processor executes the computer program, it implements the corrective nozzle modeling method as described in any one of claims 1 to 9.
12. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by a processor, it implements the corrective nozzle model method as described in any one of claims 1 to 9.