Nozzle outer diameter calibration method and system of laser cutting head

Abstract

This invention provides a method, system, electronic device, and computer-readable storage medium for calibrating the outer diameter of a laser cutting head nozzle. By placing the tube in its initial state, a set of points with the same Y-coordinate on the upper surface is defined as a calibration auxiliary line. When the tube is in its initial state, the laser cutting head is in the calibration posture, and the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, the basic Z-coordinate of the nozzle is obtained. The first theoretical Z-coordinate of the nozzle is predicted when the tube is in the first state, the laser cutting head is in the calibration posture, and the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface. By placing the tube in the first state and the laser cutting head in the calibration posture, and ensuring the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, the first actual Z-coordinate of the nozzle is obtained. Based on the first theoretical Z-coordinate and the first actual Z-coordinate, the outer diameter of the nozzle is calibrated. Therefore, this invention improves the calibration accuracy of the nozzle outer diameter.

Description

Technical Field

[0001] This invention relates to the field of laser cutting technology, and in particular to a method, system, electronic device, and computer-readable storage medium for calibrating the nozzle outer diameter of a laser cutting head. Background Technology

[0002] In the technology of laser cutting pipe processing, in order to eliminate the influence of pipe bending, dimensional tolerance and clamping positioning deviation, a contact probe is usually used to make the nozzle of the cutting head touch the surface of the pipe to obtain the actual coordinates of the edge or center of the pipe, thereby achieving error compensation.

[0003] However, the nozzle tip is not an ideal geometric point, but rather a circular end face with a certain width. When the nozzle contacts the pipe surface, the actual contact point is located at the tangent point between the outer circle of the nozzle tip and the pipe surface, not at the central axis of the nozzle. Therefore, to accurately convert the coordinates of the contact point to the coordinates of the nozzle center, the key parameter of the nozzle outer diameter must be known in advance. Currently, the main methods for obtaining the nozzle outer diameter include direct measurement with calipers and estimation using empirical ratios. When measuring with calipers, because the nozzle tip is usually machined with rounded corners, the measuring jaws of the calipers are difficult to accurately lock at the theoretical contact point between the nozzle and the pipe, often falling outside the rounded corners, resulting in an overestimation of the measurement. Empirical ratio estimation calculates the outer diameter by multiplying the known nozzle inner diameter by an empirical coefficient, but the ratio of the inner and outer diameters of nozzles of different models and batches is not fixed, and the empirical coefficient lacks accuracy, failing to meet the needs of high-precision machining scenarios. Summary of the Invention

[0004] This invention provides a method, system, electronic device, and computer-readable storage medium for calibrating the outer diameter of a laser cutting head nozzle, thereby improving the calibration accuracy of the nozzle outer diameter.

[0005] According to a first aspect of the present invention, the present invention provides a method for calibrating the nozzle outer diameter of a laser cutting head, comprising: The pipe is set in an initial state, wherein the pipe includes an upper surface parallel to the X-axis and Y-axis. The upper surface is set as a calibration auxiliary surface, and the set of points with the same Y-coordinate in the calibration auxiliary surface is determined as a calibration auxiliary line. The Y-axis is the extension direction of the pipe, the Z-axis is the height direction, and the X-axis, Y-axis, and Z-axis are orthogonal to each other. With the pipe in its initial state and the laser cutting head in a calibration posture, the nozzle is aligned with the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface to obtain the basic Z coordinate of the nozzle. The laser cutting head in the calibration posture is parallel to the Z axis. Based on the basic Z coordinate, predict the first theoretical Z coordinate of the nozzle on the Z axis when the pipe is in the first state and the laser cutting head is in the calibration posture, the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and the first state is formed by the pipe rotating by a preset first rotation angle in the initial state. The pipe is placed in the first state and the laser cutting head is placed in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and the first actual Z coordinate of the nozzle is obtained. The outer diameter of the nozzle is calibrated based on the first theoretical Z-coordinate and the first actual Z-coordinate.

[0006] Optionally, before placing the pipe in the first state and the laser cutting head in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and obtaining the first actual Z coordinate of the nozzle, the method further includes: based on the basic Z coordinate, calculating the first X-axis coordinate of the nozzle when the pipe is in the first state and the laser cutting head is in the calibration posture, and the nozzle corresponds to the midpoint of the calibration auxiliary line.

[0007] Optionally, the preset first rotation angle is 45°, and the method for calibrating the outer diameter of the nozzle based on the first theoretical Z coordinate and the first actual Z coordinate includes: obtaining the outer diameter of the nozzle based on the difference between the first theoretical Z coordinate and the first actual Z coordinate.

[0008] Optionally, it may further include: Based on the basic Z coordinate, the second theoretical Z coordinate of the nozzle on the Z axis is predicted when the pipe is in the second state and the laser cutting head is in the calibration posture, the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface. The second state is formed by the pipe rotating at a preset second rotation angle in the initial state. The preset second rotation angle is opposite to the preset first rotation angle in direction and has the same angle magnitude. The pipe is placed in the second state and the laser cutting head is placed in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and the second actual Z coordinate of the nozzle is obtained; The outer diameter of the nozzle is calibrated based on the first theoretical Z-coordinate and the first actual Z-coordinate, further comprising calibrating the outer diameter of the nozzle based on the first theoretical Z-coordinate, the first actual Z-coordinate, the second theoretical Z-coordinate, and the second actual Z-coordinate.

[0009] Optionally, before placing the pipe in the second state and the laser cutting head in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and obtaining the second actual Z coordinate of the nozzle, the method includes: calculating the second X-axis coordinate of the nozzle when the pipe is in the second state and the laser cutting head is in the calibration posture, and the nozzle corresponds to the midpoint of the calibration auxiliary line, based on the basic Z coordinate.

[0010] Optionally, the preset second rotation angle is 45°. Based on the first theoretical Z-coordinate, the first actual Z-coordinate, the second theoretical Z-coordinate, and the second actual Z-coordinate, the outer diameter of the nozzle is calibrated, including: The first outer diameter of the nozzle is obtained based on the difference between the first theoretical Z coordinate and the first actual Z coordinate. The second outer diameter of the nozzle is obtained based on the difference between the second theoretical Z-coordinate and the second actual Z-coordinate. The outer diameter of the nozzle is obtained based on the average value of the first outer diameter and the second outer diameter.

[0011] Optionally, the tubing is a square or rectangular tube.

[0012] According to a second aspect of the present invention, the present invention provides a nozzle outer diameter calibration system for a laser cutting head, for implementing the nozzle outer diameter calibration method for a laser cutting head as described above, comprising: The position initialization module is used to set the pipe in an initial state. In the initial state, the pipe includes an upper surface parallel to the X-axis and Y-axis. The upper surface is set as a calibration auxiliary surface, and the set of points with the same Y-coordinate in the calibration auxiliary surface is determined as calibration auxiliary lines. The Y-axis is the extension direction of the pipe, the Z-axis is the height direction, and the X-axis, Y-axis, and Z-axis are orthogonal to each other. The basic coordinate acquisition module is used to obtain the basic Z coordinate of the nozzle when the pipe is in its initial state and the laser cutting head is in a calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface. The laser cutting head in the calibration posture is parallel to the Z axis. The theoretical coordinate acquisition module is used to predict, based on the basic Z coordinate, the first theoretical Z coordinate of the nozzle on the Z axis when the pipe is in a first state and the laser cutting head is in a calibrated posture, the nozzle corresponds to the midpoint of the calibrated auxiliary line and contacts the calibrated auxiliary surface, the first state is formed by the pipe rotating by a preset first rotation angle in the initial state; The actual coordinate acquisition module is used to place the pipe in the first state and the laser cutting head in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and to acquire the first actual Z coordinate of the nozzle. The outer diameter calibration module is used to calibrate the outer diameter of the nozzle based on the first theoretical Z coordinate and the first actual Z coordinate.

[0013] According to a third aspect of the present invention, an electronic device is provided, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the nozzle outer diameter calibration method for a laser cutting head as described in any of the preceding claims.

[0014] According to a fourth aspect of the present invention, a computer-readable storage medium is provided having a program stored thereon, which, when executed by a processor, implements the nozzle outer diameter calibration method for a laser cutting head as described in any of the preceding claims.

[0015] Compared with the prior art, the technical solution of the embodiments of the present invention has the following beneficial effects: In the laser cutting head nozzle outer diameter calibration method, system, electronic device, and computer-readable storage medium of the present invention, the tube is set in an initial state, which includes an upper surface parallel to the X and Y axes. This upper surface is designated as a calibration auxiliary surface. The set of points with the same Y coordinate on the calibration auxiliary surface is defined as the calibration auxiliary line. The Y-axis represents the extension direction of the tube, the Z-axis represents the height direction, and the X, Y, and Z axes are orthogonal to each other. With the tube in its initial state and the laser cutting head in the calibration posture, the nozzle is aligned with the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface to obtain the nozzle's base diameter. The basic Z-coordinate is used to calibrate the laser cutting head, which is parallel to the Z-axis in the calibration posture. Based on the basic Z-coordinate, the theoretical Z-coordinate of the nozzle on the Z-axis is predicted when the pipe is in the first state and the laser cutting head is in the calibration posture, with the nozzle corresponding to the midpoint of the calibration auxiliary line and in contact with the calibration auxiliary surface. The first state is formed by rotating the pipe from its initial state by a preset first rotation angle. The pipe is placed in the first state and the laser cutting head is in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and in contact with the calibration auxiliary surface, and the first actual Z-coordinate of the nozzle is obtained. Based on the first theoretical Z-coordinate and the first actual Z-coordinate, the outer diameter of the nozzle is calibrated. Thus, by contact measurement and calculation between the nozzle and the pipe in the initial state and the pipe rotated by a certain angle relative to the initial state, the outer diameter of the nozzle is calibrated, avoiding the measurement deviation of the outer diameter of the nozzle caused by the rounded corner structure of the nozzle end when directly measuring the nozzle tip with calipers, thereby improving the calibration accuracy of the outer diameter of the nozzle. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a method for calibrating the nozzle outer diameter of a laser cutting head according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the calibration auxiliary line and the nozzle when the pipe is in its initial state and the laser cutting head is in the calibration posture, according to an embodiment of the present invention. Figure 3 This is a flowchart illustrating a method for calibrating the nozzle outer diameter of a laser cutting head according to an embodiment of the present invention. Figure 2 ; Figure 4 This is a schematic diagram of the structure of the calibration auxiliary line and the nozzle when the pipe is in the first state and the laser cutting head is in the calibration posture, according to an embodiment of the present invention. Figure 5 This is a flowchart illustrating another method for calibrating the nozzle outer diameter of a laser cutting head provided in an embodiment of the present invention. Figure 1 ; Figure 6 This is a flowchart illustrating another method for calibrating the nozzle outer diameter of a laser cutting head provided in an embodiment of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the structure of the calibration auxiliary line and the nozzle when the pipe is in the second state and the laser cutting head is in the calibration posture, according to an embodiment of the present invention. Figure 8 This is a schematic diagram of the structure of a nozzle outer diameter calibration system for a laser cutting head provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0018] As described in the background section, the present invention aims to solve the technical problem of improving the calibration accuracy of nozzle outer diameter.

[0019] In view of this, the present invention provides a method for calibrating the outer diameter of a laser cutting head nozzle. The method involves placing the tubing in an initial state, where the tubing includes an upper surface parallel to the X and Y axes. This upper surface is designated as a calibration auxiliary surface. The set of points with the same Y coordinate on the calibration auxiliary surface is defined as the calibration auxiliary line. The Y-axis represents the extension direction of the tubing, the Z-axis represents the height direction, and the X, Y, and Z axes are orthogonal to each other. With the tubing in its initial state and the laser cutting head in a calibration posture, the nozzle is aligned with the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface. The basic Z coordinate of the nozzle is obtained, and the calibration is performed. The laser cutting head is parallel to the Z-axis in the specified orientation. Based on the basic Z-coordinate, the theoretical Z-coordinate of the nozzle on the Z-axis is predicted when the pipe is in the first state and the laser cutting head is in the calibrated orientation, with the nozzle corresponding to the midpoint of the calibration auxiliary line and in contact with the calibration auxiliary surface. The first state is formed by rotating the pipe from its initial state by a preset first rotation angle. The pipe is placed in the first state with the laser cutting head in the calibrated orientation, and the nozzle is aligned to the midpoint of the calibration auxiliary line and in contact with the calibration auxiliary surface to obtain the first actual Z-coordinate of the nozzle. Based on the first theoretical Z-coordinate and the first actual Z-coordinate, the outer diameter of the nozzle is calibrated. Thus, by measuring and calculating the contact between the nozzle and the pipe in its initial state and the pipe rotated by a certain angle relative to its initial state, the outer diameter of the nozzle is calibrated. This avoids the measurement deviation of the nozzle outer diameter caused by the rounded corner structure of the nozzle tip when directly measuring the nozzle tip with calipers, significantly improving the calibration accuracy of the nozzle outer diameter.

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0021] The terms “first,” “second,” “third,” and “fourth,” etc. (if present), in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the 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 a 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.

[0022] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0023] To make the above-mentioned objectives, 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.

[0024] Please refer to Figure 1 One embodiment of the present invention provides a method for calibrating the nozzle outer diameter of a laser cutting head, which may include: S100: Set the pipe to the initial state. In the initial state, the pipe includes an upper surface parallel to the X-axis and Y-axis. Set the upper surface as the calibration auxiliary surface. Determine the set of points with the same Y-coordinate in the calibration auxiliary surface as the calibration auxiliary line. The Y-axis is the extension direction of the pipe, the Z-axis is the height direction, and the X-axis, Y-axis and Z-axis are orthogonal to each other.

[0025] In this embodiment, the pipe can be a square pipe or a rectangular pipe. Of course, the present invention is not limited to this. In one example, the pipe can also be a polygonal pipe, as long as the pipe has a horizontal plane.

[0026] S200: With the pipe in its initial state and the laser cutting head in the calibration posture, align the nozzle with the midpoint of the calibration auxiliary line and make it contact the calibration auxiliary surface to obtain the basic Z coordinate of the nozzle. The laser cutting head in the calibration posture is parallel to the Z axis.

[0027] In this embodiment, please refer to Figure 2 In the calibration posture, the laser cutting head 10 has the tip of nozzle 20 perpendicular to the Z-axis. With the pipe in its initial state, the calibration auxiliary line 30 is also perpendicular to the Z-axis, and the center of the tip of nozzle 20 corresponds to the midpoint A of the calibration auxiliary line 30. This can be understood as follows: the tip of nozzle 20 is parallel to the calibration auxiliary line 30, and along the Z-axis, the midpoint of the tip of nozzle 20 is located above the midpoint A of the calibration auxiliary line 30. Here, the outer diameter R of the nozzle is the radius of the tip of nozzle 20.

[0028] S300: Based on the basic Z coordinate, predict the first theoretical Z coordinate of the nozzle on the Z axis when the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface in the first state of the pipe and the laser cutting head is in the calibration posture. The first state is formed by the pipe rotating at a preset first rotation angle in the initial state.

[0029] In one alternative implementation, the first theoretical Z-coordinate of the nozzle on the Z-axis can be: the Z-axis coordinate of the midpoint of the calibration auxiliary line of the pipe in the first state.

[0030] In one alternative implementation, please refer to Figure 3 Before obtaining the first actual Z-coordinate of the nozzle by placing the pipe in the first state and the laser cutting head in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, the process may further include: S401: Based on the basic Z-coordinate, calculate the first X-axis coordinate of the nozzle when the pipe is in the first state and the laser cutting head is in the calibration posture, and the nozzle corresponds to the midpoint of the calibration auxiliary line.

[0031] In this embodiment, aligning the nozzle with the midpoint of the calibration auxiliary line may include: moving the laser cutting head so that the X coordinate of the nozzle is the first X-axis coordinate.

[0032] S400: Place the pipe in the first state and the laser cutting head in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and obtain the first actual Z coordinate of the nozzle.

[0033] As an optional implementation, the preset first rotation angle is 45°.

[0034] In this embodiment, the preset first rotation angle is set to 45°. This angle ensures that after the pipe rotates, the height change of the calibration auxiliary line in the Z-axis direction is moderate. This ensures that there is sufficient displacement difference between the first theoretical Z-coordinate and the first actual Z-axis coordinate for calculating the outer diameter when calibrating the nozzle outer diameter later. It also avoids the nozzle contact point from deviating from the midpoint range of the calibration auxiliary line due to an excessively large pipe rotation angle, thereby ensuring the safety of the calibration process and the accuracy of the measurement.

[0035] In this embodiment, please refer to Figure 4 The pipe is placed in a first state (the first state is formed by rotating the pipe from its initial state by a preset first rotation angle ∠40°) and the laser cutting head 10 is in a calibration posture, with the nozzle 20 corresponding to and contacting the midpoint A of the calibration auxiliary line 30. At this time, along the Z-axis, the circle at the end of the nozzle 20 is located at the midpoint A of the calibration auxiliary line 30. Since the end of the nozzle 20 is not an ideal geometric point, in the first state, the edge of the end of the nozzle 20 in the calibration posture contacts the calibration auxiliary line 30, thus the center of the nozzle end cannot contact the midpoint of the calibration auxiliary line. Here, the nozzle outer diameter R is the radius of the end of the nozzle 20.

[0036] S500: Based on the first theoretical Z-coordinate and the first actual Z-coordinate, calibrate the outer diameter of the nozzle.

[0037] As an example, S500, the method for calibrating the outer diameter of the nozzle based on the first theoretical Z coordinate and the first actual Z coordinate may include: S501: obtaining the outer diameter of the nozzle based on the difference between the first theoretical Z coordinate and the first actual Z coordinate.

[0038] In this embodiment, since the first rotation angle is 45°, there is a definite geometric correspondence between the difference between the first theoretical Z coordinate and the first actual Z coordinate and the outer diameter of the nozzle. Therefore, the outer diameter of the nozzle can be directly obtained by calculating this difference.

[0039] In this embodiment, the nozzle outer diameter is calibrated by contact measurement and calculation between the nozzle and the pipe in the initial state and the pipe rotated at a certain angle relative to the initial state. This avoids the measurement deviation of the nozzle outer diameter caused by the rounded corner structure of the nozzle end when directly measuring the nozzle tip with calipers. Therefore, the nozzle outer diameter calibration method of the laser cutting head in this embodiment significantly improves the calibration accuracy of the nozzle outer diameter.

[0040] In another embodiment of the present invention, please refer to Figure 5 The method for calibrating the nozzle outer diameter of a laser cutting head may further include: S411: Based on the basic Z coordinate, predict the second theoretical Z coordinate of the nozzle on the Z axis when the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface in the second state of the pipe and the laser cutting head in the calibration posture. The second state is formed by rotating the pipe in the initial state by a preset second rotation angle; wherein the preset second rotation angle is opposite to the preset first rotation angle in direction and has the same angle magnitude.

[0041] In one optional embodiment, the second theoretical Z-coordinate of the nozzle on the Z-axis can be: the Z-axis coordinate of the midpoint of the calibration auxiliary line of the pipe in the second state. In another optional embodiment, please refer to... Figure 6 Before obtaining the second actual Z coordinate of the nozzle, the process may include: S4121: Based on the basic Z coordinate, calculate the second X-axis coordinate of the nozzle when the nozzle corresponds to the midpoint of the calibration auxiliary line and the laser cutting head is in the calibration posture, with the pipe in the second state and the laser cutting head in the calibration posture.

[0042] In this embodiment, aligning the nozzle with the midpoint of the calibration auxiliary line may include: moving the laser cutting head so that the X coordinate of the nozzle is the second X-axis coordinate.

[0043] S412: Place the pipe in the second state and the laser cutting head in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and obtain the second actual Z coordinate of the nozzle.

[0044] As an optional implementation, the preset second rotation angle is 45°.

[0045] In this embodiment, the preset second rotation angle is set to 45°. This angle ensures that after the pipe rotates, the height change of the calibration auxiliary line in the Z-axis direction is moderate. This guarantees that there is sufficient displacement difference between the second theoretical Z-coordinate and the second actual Z-axis coordinate for calculating the outer diameter of the nozzle during subsequent calibration, while also preventing the nozzle contact point from deviating from the midpoint of the calibration auxiliary line due to an excessively large pipe rotation angle. This ensures the safety of the calibration process and the accuracy of the measurement.

[0046] In this embodiment, please refer to Figure 7 The pipe is placed in the second state (the second state is formed by rotating the pipe from the initial state by a preset second rotation angle ∠50) and the laser cutting head 10 is in the calibration posture, with the nozzle 20 corresponding to and contacting the midpoint A of the calibration auxiliary line 30. At this time, along the Z-axis, the center of the end of the nozzle 20 is located at the midpoint A of the calibration auxiliary line 30. Since the end of the nozzle 20 is not an ideal geometric point, in the second state, with the laser cutting head 10 in the calibration posture, the edge of the end of the nozzle 20 contacts the calibration auxiliary line 30 (and also the calibration auxiliary surface), thus the center of the end of the nozzle 20 cannot contact the midpoint of the calibration auxiliary line 30. Here, the nozzle outer diameter R is the radius of the end of the nozzle 20.

[0047] In an optional embodiment, S500, the outer diameter of the nozzle is calibrated based on the first theoretical Z coordinate and the first actual Z coordinate, and may further include: S510, the outer diameter of the nozzle is calibrated based on the first theoretical Z coordinate, the first actual Z coordinate, the second theoretical Z coordinate, and the second actual Z coordinate.

[0048] In an optional embodiment, S510, calibrating the nozzle's outer diameter based on the first theoretical Z-coordinate, the first actual Z-coordinate, the second theoretical Z-coordinate, and the second actual Z-coordinate may include: S511: Obtain the first outer diameter of the nozzle based on the difference between the first theoretical Z coordinate and the first actual Z coordinate.

[0049] S512: Obtain the second outer diameter of the nozzle based on the difference between the second theoretical Z-coordinate and the second actual Z-coordinate.

[0050] S513: Obtain the nozzle outer diameter based on the average of the first outer diameter and the second outer diameter.

[0051] In this embodiment, since the preset second rotation angle and the preset first rotation angle have opposite directions and the same angle, the measurements of the nozzle's outer diameter when the pipe is in the first state and when the pipe is in the second state can be cross-checked, improving the reliability of the nozzle's outer diameter calibration results. Furthermore, averaging the two nozzle outer diameter calibration results can eliminate random errors and symmetric systematic errors in the nozzle outer diameter calibration, thereby significantly improving the calibration accuracy of the nozzle outer diameter.

[0052] In this embodiment, the nozzle outer diameter is calibrated by contact measurement and calculation between the nozzle and the pipe in its initial state and the pipe rotated at a certain angle relative to its initial state. This avoids the measurement deviation of the nozzle outer diameter caused by the rounded corner structure of the nozzle end when directly measuring the nozzle tip with calipers. Therefore, the present invention significantly improves the calibration accuracy of the nozzle outer diameter.

[0053] In this embodiment, the calibration error range of the nozzle outer diameter is controlled within -0.1mm to 0.1mm. Compared to the traditional methods of directly measuring the nozzle outer diameter with vernier calipers and estimating the nozzle outer diameter using empirical values ​​(where the error range of the direct measurement method is 1mm to 1mm and the empirical estimation method is also 1mm to 1mm), this embodiment significantly improves the calibration accuracy of the nozzle outer diameter, meeting the precision requirements of high-precision laser cutting and providing reliable parameter assurance for subsequent cutting head positioning, pipe error compensation, and high-quality cutting.

[0054] Accordingly, please refer to Figure 8 The present invention also provides a nozzle outer diameter calibration system for a laser cutting head, used to implement the above-described method for calibrating the outer diameter of a laser cutting head nozzle, and may include: The position initialization module 100 is used to set the pipe in an initial state. In the initial state, the pipe includes an upper surface parallel to the X-axis and Y-axis. The upper surface is set as a calibration auxiliary surface. The set of points with the same Y-coordinate in the calibration auxiliary surface is determined as the calibration auxiliary line. The Y-axis is the extension direction of the pipe, the Z-axis is the height direction, and the X-axis, Y-axis and Z-axis are orthogonal to each other.

[0055] The basic coordinate acquisition module 200 is used to obtain the basic Z coordinate of the nozzle by aligning the nozzle with the midpoint of the calibration auxiliary line and contacting the calibration auxiliary surface when the pipe is in its initial state and the laser cutting head is in the calibration posture. The laser cutting head in the calibration posture is parallel to the Z axis.

[0056] The theoretical coordinate acquisition module 300 is used to predict the first theoretical Z coordinate of the nozzle on the Z axis when the pipe is in the first state and the laser cutting head is in the calibration posture, the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface. The first state is formed by the pipe rotating at a preset first rotation angle in the initial state.

[0057] The actual coordinate acquisition module 400 is used to place the pipe in the first state and the laser cutting head in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and to acquire the first actual Z coordinate of the nozzle.

[0058] The outer diameter calibration module 500 is used to calibrate the outer diameter of the nozzle based on the first theoretical Z coordinate and the first actual Z coordinate.

[0059] As can be seen, the present invention calibrates the nozzle outer diameter by contact measurement and calculation between the nozzle and the pipe in the initial state and the pipe rotated at a certain angle relative to the initial state. This avoids the measurement deviation of the nozzle outer diameter caused by the rounded corner structure of the nozzle end when directly measuring the nozzle tip with calipers, and significantly improves the calibration accuracy of the nozzle outer diameter.

[0060] Please refer to Figure 9 The present invention also provides an electronic device, including: a memory 620, a processor 610, and a program stored in the memory 620 and executable on the processor 610. When the processor 610 executes the program, it implements the nozzle outer diameter calibration method of the laser cutting head as described above.

[0061] In this embodiment, the processor 610 can communicate with the memory 620 via the bus 630.

[0062] This invention also provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the nozzle outer diameter calibration method for a laser cutting head as described above.

[0063] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calibrating the outer diameter of a laser cutting head nozzle, characterized in that, include: The pipe is set in an initial state, wherein the pipe includes an upper surface parallel to the X-axis and Y-axis. The upper surface is set as a calibration auxiliary surface, and the set of points with the same Y-coordinate in the calibration auxiliary surface is determined as a calibration auxiliary line. The Y-axis is the extension direction of the pipe, the Z-axis is the height direction, and the X-axis, Y-axis, and Z-axis are orthogonal to each other. With the pipe in its initial state and the laser cutting head in a calibration posture, the nozzle is aligned with the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface to obtain the basic Z coordinate of the nozzle. The laser cutting head in the calibration posture is parallel to the Z axis. Based on the basic Z coordinate, predict the first theoretical Z coordinate of the nozzle on the Z axis when the pipe is in the first state and the laser cutting head is in the calibration posture, the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and the first state is formed by the pipe rotating by a preset first rotation angle in the initial state. The pipe is placed in the first state and the laser cutting head is placed in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and the first actual Z coordinate of the nozzle is obtained. The outer diameter of the nozzle is calibrated based on the first theoretical Z-coordinate and the first actual Z-coordinate.

2. The method for calibrating the nozzle outer diameter of a laser cutting head as described in claim 1, characterized in that, Before placing the pipe in the first state and the laser cutting head in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and before obtaining the first actual Z coordinate of the nozzle, the method further includes: based on the basic Z coordinate, calculating the first X-axis coordinate of the nozzle when the pipe is in the first state and the laser cutting head is in the calibration posture, and the nozzle corresponds to the midpoint of the calibration auxiliary line.

3. The method for calibrating the nozzle outer diameter of a laser cutting head as described in claim 1, characterized in that, The preset first rotation angle is 45°, and the method for calibrating the outer diameter of the nozzle based on the first theoretical Z coordinate and the first actual Z coordinate includes: obtaining the outer diameter of the nozzle based on the difference between the first theoretical Z coordinate and the first actual Z coordinate.

4. The method for calibrating the nozzle outer diameter of a laser cutting head as described in claim 1, characterized in that, Further includes: Based on the basic Z coordinate, the second theoretical Z coordinate of the nozzle on the Z axis is predicted when the pipe is in the second state and the laser cutting head is in the calibration posture, the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface. The second state is formed by the pipe rotating at a preset second rotation angle in the initial state. The preset second rotation angle is opposite to the preset first rotation angle in direction and has the same angle magnitude. The pipe is placed in the second state and the laser cutting head is placed in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and the second actual Z coordinate of the nozzle is obtained; The outer diameter of the nozzle is calibrated based on the first theoretical Z-coordinate and the first actual Z-coordinate, further comprising calibrating the outer diameter of the nozzle based on the first theoretical Z-coordinate, the first actual Z-coordinate, the second theoretical Z-coordinate, and the second actual Z-coordinate.

5. The method for calibrating the nozzle outer diameter of a laser cutting head as described in claim 4, characterized in that, Before placing the pipe in the second state and the laser cutting head in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and obtaining the second actual Z coordinate of the nozzle, the process includes: based on the basic Z coordinate, calculating the second X-axis coordinate of the nozzle when the pipe is in the second state and the laser cutting head is in the calibration posture, and the nozzle corresponds to the midpoint of the calibration auxiliary line.

6. The method for calibrating the nozzle outer diameter of a laser cutting head as described in claim 4, characterized in that, The preset second rotation angle is 45°. Based on the first theoretical Z-coordinate, the first actual Z-coordinate, the second theoretical Z-coordinate, and the second actual Z-coordinate, the outer diameter of the nozzle is calibrated, including: The first outer diameter of the nozzle is obtained based on the difference between the first theoretical Z coordinate and the first actual Z coordinate. The second outer diameter of the nozzle is obtained based on the difference between the second theoretical Z-coordinate and the second actual Z-coordinate. The outer diameter of the nozzle is obtained based on the average value of the first outer diameter and the second outer diameter.

7. The method for calibrating the nozzle outer diameter of a laser cutting head as described in claim 1, characterized in that, The tubing is either square or rectangular.

8. A nozzle outer diameter calibration system for a laser cutting head, used to implement the nozzle outer diameter calibration method for a laser cutting head according to any one of claims 1-7, characterized in that, include: The position initialization module is used to set the pipe in an initial state. In the initial state, the pipe includes an upper surface parallel to the X-axis and Y-axis. The upper surface is set as a calibration auxiliary surface. The set of points with the same Y-coordinate in the calibration auxiliary surface is determined as calibration auxiliary lines. The Y-axis is the extension direction of the pipe, the Z-axis is the height direction, and the X-axis, Y-axis, and Z-axis are orthogonal to each other. The basic coordinate acquisition module is used to obtain the basic Z coordinate of the nozzle when the pipe is in its initial state and the laser cutting head is in a calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface. The laser cutting head in the calibration posture is parallel to the Z axis. The theoretical coordinate acquisition module is used to predict, based on the basic Z coordinate, the first theoretical Z coordinate of the nozzle on the Z axis when the pipe is in a first state and the laser cutting head is in a calibrated posture, the nozzle corresponds to the midpoint of the calibrated auxiliary line and contacts the calibrated auxiliary surface, the first state is formed by the pipe rotating by a preset first rotation angle in the initial state; The actual coordinate acquisition module is used to place the pipe in the first state and the laser cutting head in the calibration posture, so that the nozzle corresponds to the midpoint of the calibration auxiliary line and contacts the calibration auxiliary surface, and acquire the first actual Z coordinate of the nozzle; The outer diameter calibration module is used to calibrate the outer diameter of the nozzle based on the first theoretical Z coordinate and the first actual Z coordinate.

9. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the nozzle outer diameter calibration method of the laser cutting head according to any one of claims 1-7.

10. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed by the processor, it implements the nozzle outer diameter calibration method of the laser cutting head according to any one of claims 1-7.

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