Water jet attitude detection and calibration device

Abstract

The utility model relates to a water jet attitude detection and calibration device, which relates to the technical field of water-guided laser processing and high-pressure water jet cutting, and comprises an angle adjusting device, a water jet attitude detection and calibration device and a water jet attitude detection and calibration device, the detection module comprises two groups of correlation type photoelectric sensors, and two correlation type photoelectric sensors are longitudinally distributed in each group; when a receiver of the correlation type photoelectric sensor detects that the light intensity reaches a preset light intensity threshold value, a signal is sent out; one group of correlation type photoelectric sensors emit linear light along the X axis of the machine tool, and the other group of correlation type photoelectric sensors emit linear light along the Y axis of the machine tool; and the position adjusting device enables the water jet to pass through the two machine tool Y-axes along the machine tool X-axis and enables the water jet to pass through the two machine tool X-axes along the machine tool Y-axis. According to the utility model, the correlation type photoelectric sensor is used for replacing the combination of a CCD (Charge Coupled Device) camera and a sharp mechanical structure, the reaction is more sensitive, the detection efficiency and the detection precision are higher, and the water jet attitude calibration device is suitable for multiple times of rapid water jet attitude calibration in a long-time operation scene of a water-guided laser machine tool.

Description

Technical Field

[0001] This utility model relates to the field of water-guided laser and high-pressure water jet cutting technology, and in particular to a water jet attitude detection and calibration device. Background Technology

[0002] Water-guided laser machine tools are a new type of processing equipment that combines lasers and high-speed water jets. The principle is to use water jets as the guiding medium for lasers, guiding the laser to the surface of the material to cut. At the same time, the water jets can also continuously cool the cutting area and effectively remove debris.

[0003] The intersection point between the water jet and the machining surface in this machine tool must be precisely calibrated to avoid affecting machining accuracy. Calibration includes attitude calibration and position calibration. Attitude calibration adjusts the water jet as parallel as possible to the Z-axis of the machine tool's Cartesian coordinate system. Position calibration marks the intersection point of the water jet and the XY plane in the machine tool's Cartesian coordinate system as the machine tool coordinate. The water jet is generated by the machining head, and the shape and position of the machining head may change due to factors such as vibration, water pressure fluctuations, and temperature, leading to changes in the water jet's attitude and affecting the positional accuracy of the intersection point between the water jet and the machining surface. The direction and extent of this attitude change are uncertain; therefore, after the machine tool is put into use, the water jet needs to be calibrated regularly, with attitude calibration being the foundation.

[0004] Chinese patent CN107073502A discloses a method for determining the position of a liquid jet. This method requires a laser and a coaxial CCD camera. The method utilizes a sharp mechanical structure to contact the water jet, disrupting its surface and causing changes in the laser light intensity within the jet. The CCD camera, coaxial with the laser, detects these changes to determine if contact has occurred between the water jet and the sharp mechanical structure. When contact is confirmed, the position data is recorded. The method requires two or more sharp mechanical structures at different locations, and position data is measured for each. Trigonometric functions are used to calculate the spatial angle of the water jet, allowing for attitude calibration. This method is limited by the image processing speed of the CCD and the speed at which the water jet contacts the sharp mechanical structure; each measurement and calibration process takes several minutes to over ten minutes, resulting in low efficiency. Utility Model Content

[0005] In view of the shortcomings of related technologies, this utility model provides a water jet attitude detection and calibration device, which uses a through-beam photoelectric sensor to replace the combination of CCD camera and sharp mechanical structure, so as to solve the technical problem of low water jet attitude calibration efficiency.

[0006] This utility model provides a water jet attitude detection and calibration device, comprising:

[0007] Angle adjustment device, used to adjust the water outlet angle of the processing head;

[0008] The detection module includes two sets of through-beam photoelectric sensors, with two through-beam photoelectric sensors distributed longitudinally in each set. Each through-beam photoelectric sensor includes a transmitter and a receiver. The receiver emits a signal when it detects that the light intensity reaches a preset light intensity threshold. One set of through-beam photoelectric sensors emits line light along the X-axis of the machine tool, and the other set of through-beam photoelectric sensors emits line light along the Y-axis of the machine tool.

[0009] The position adjustment device drives the processing head or detection module to move horizontally, so that the water jet passes along the X-axis of the machine tool and through the two Y-axis of the machine tool.

[0010] In some embodiments, the two through-beam photoelectric sensors that emit light along the X-axis of the machine tool are of the same model, and the other two through-beam photoelectric sensors are of the same model.

[0011] In some embodiments, two transmitters emitting line light along the X-axis of the machine tool are located at a first height and a second height, respectively, and two other transmitters are located at the first height and the second height, respectively.

[0012] In some embodiments, the distance between the first height and the second height is 8-16 mm.

[0013] In some embodiments, the angle adjustment device has two driving directions: one driving direction drives the machining head to rotate around the Y-axis of the machine tool, and the other driving direction drives the machining head to rotate around the X-axis of the machine tool.

[0014] In some embodiments, the angle adjustment device includes:

[0015] Two universal joints are provided.

[0016] The first telescopic motor extends in a direction parallel to the X-axis of the machine tool, and its output end is connected to the machining head via a universal joint.

[0017] The second telescopic motor extends in a direction parallel to the Y-axis of the machine tool, and its output end is connected to the machining head via another universal joint.

[0018] In some embodiments, the angle adjustment device further includes a mounting base for mounting the machining head and connecting to two universal joints.

[0019] In some embodiments, the position adjustment device is a multi-axis linkage system of the machine tool.

[0020] In some embodiments, the diameter of the line light emitted by the transmitter is 0.1-1 mm.

[0021] In some embodiments, the device further includes a controller electrically connected to the angle adjustment device, the position adjustment device, and the detection module.

[0022] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0023] 1. This utility model uses a through-beam photoelectric sensor instead of a combination of a CCD camera and a sharp mechanical structure, which is more sensitive, has higher detection efficiency and accuracy, and is suitable for multiple rapid water jet attitude calibrations in long-term operation scenarios of water-guided laser machine tools.

[0024] 2. This utility model decomposes the deflection angle of the water jet into components of two planes: the YOZ plane and the XOZ plane of the machine tool, and measures and calibrates them separately. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0026] Figure 1 This is a schematic diagram of the structure of the water jet attitude detection and calibration device of this utility model;

[0027] Figure 2 This is a schematic diagram of the detection module in this utility model;

[0028] Figure 3 This is a schematic diagram of the water jet's projection onto the YOZ and XOZ planes of the machine tool.

[0029] Figure 4 This is a schematic diagram showing the positive and negative states of α in this utility model;

[0030] Figure 5 This is a schematic diagram showing the positive and negative states of β in this utility model;

[0031] Figure 6 A schematic diagram of the water jet detection status when α is a positive number;

[0032] Figure 7 A schematic diagram of the water jet detection status when α is negative;

[0033] Figure 8 This is a schematic diagram of the water jet's movement path.

[0034] In the diagram: 11. Transmitter; 12. Receiver; 13. Machine tool X-axis light; 14. Machine tool Y-axis light; 2. Machining head; 3. Multi-axis linkage system; 41. First telescopic motor; 42. Second telescopic motor; 5. Controller; 6. Water jet. Detailed Implementation

[0035] The technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0036] In the description of this utility model, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0037] The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature.

[0038] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0039] The term "machine tool" refers to a machine tool that performs cutting based on high-pressure water jets or water-guided lasers.

[0040] The term "processing head" refers to the device that generates a water jet in high-pressure water jet cutting technology or the device that couples a water jet and a laser in water-guided laser cutting technology.

[0041] like Figure 1 As shown in the embodiment of the water jet attitude detection and calibration device of this utility model, the water jet attitude detection and calibration device includes at least:

[0042] Angle adjustment device is used to adjust the water outlet angle of processing head 2.

[0043] The detection module includes two sets of through-beam photoelectric sensors, with two through-beam photoelectric sensors distributed longitudinally in each set. Each through-beam photoelectric sensor includes a transmitter 11 and a receiver 12. The receiver 12 emits a signal when it detects that the light intensity reaches a preset light intensity threshold. One set of through-beam photoelectric sensors emits line light along the X-axis of the machine tool, and the other set of through-beam photoelectric sensors emits line light along the Y-axis of the machine tool.

[0044] The position adjustment device is used to drive the processing head 2 or the detection module to move horizontally, so that the water jet passes through the two machine tool Y axis light 14 along the machine tool X axis and the two machine tool X axis light 13 along the machine tool Y axis.

[0045] The origin of the machine tool is O. The basic method used by the above device includes: using a position adjustment device to make the water jet 6 pass through two machine tool X-axis optical beams 13 along the machine tool Y-axis, and recording the machine tool Y-axis coordinates of the processing head 2 when the receivers 12 corresponding to the two optical beams emit signals. The longitudinal distance between the two receivers 12 is a. The machine tool Y-axis coordinate corresponding to the upper machine tool X-axis optical beam 13 is Y1, and the machine tool Y-axis coordinate corresponding to the lower machine tool X-axis optical beam 13 is Y2. The angle β between the water jet 6 in the machine tool YOZ plane and the machine tool Z-axis is calculated by inverse trigonometric function, β=arctan[(Y2-Y1) / a]. The water jet 6 is directed along the X-axis of the machine tool by the position adjustment device, passing through two Y-axis light beams 14. The X-axis coordinates of the machining head 2 are recorded when the receivers 12 of the two light beams emit signals. The longitudinal distance between the two receivers 12 is c. The X-axis coordinate of the upper Y-axis light beam 14 is X1, and the X-axis coordinate of the lower Y-axis light beam 14 is X2. The angle α between the water jet 6 and the Z-axis of the machine tool in the XOZ plane is calculated by the inverse trigonometric function. α = arctan[(X2-X1) / c].

[0046] By adjusting the water outlet angle of the processing head 2 based on α and β, the attitude calibration of the water jet 6 can be completed.

[0047] The through-beam photoelectric sensor in the above-mentioned device is an existing product, and the specific structure and principle of its transmitter 11 and receiver 12 will not be described in detail here. The position adjustment device is the multi-axis linkage system 3 of the machine tool, or a cross slide, or a drive device with the same effect as a cross slide. The multi-axis linkage system 3 here can realize the relative movement of the workpiece and the water jet on the X-axis and Y-axis of the machine tool. The multi-axis linkage system 3 is a common structure of machine tools in the field of cutting processing, and its structural principle will not be described in detail.

[0048] The aforementioned device uses a through-beam photoelectric sensor instead of a combination of a CCD camera and a sharp mechanical structure, resulting in a more sensitive response, higher detection efficiency and accuracy. It is suitable for performing multiple rapid water jet attitude calibrations in long-term operation scenarios of water-guided laser machine tools.

[0049] Furthermore, the position adjustment device only drives the processing head 2 to move.

[0050] Furthermore, the position adjustment device is the machine tool's multi-axis linkage system 3.

[0051] Furthermore, when there is no obstruction between the receiver 12 and the corresponding transmitter 11, the light intensity detected by the receiver 12 is the initial light intensity, and the light intensity threshold ranges from 60% to 90% of the initial light intensity.

[0052] In some embodiments, the two radio-type photoelectric sensors emitting line light along the X-axis of the machine tool are of the same model, and the other two through-beam photoelectric sensors are of the same model, in order to reduce the computational complexity of α and β.

[0053] In some embodiments, the two transmitters 11 along the X-ray emission line are located at a first height and a second height, respectively, and two other transmitters 11 are located at the first height and the second height, respectively, so that a and c are the same, and there is no need to measure a and c separately.

[0054] Currently, the diameter of the water jet 6 in water-guided laser machine tools is generally 40-120 μm. Based on this parameter, in some embodiments, the diameter of the line beam emitted by the transmitter 11 is 0.1-1 mm to ensure that the receiver 12 has high detection sensitivity. Among existing through-beam photoelectric sensors, fiber optic sensors provided by Keyence can meet the above-mentioned line beam diameter requirements, such as the FU-58 fiber optic sensor.

[0055] Furthermore, the length of the water jet 6 in current water-guided laser machine tools is generally 40-120mm. Based on this parameter, the distance between the first height and the second height is 8-16mm to obtain better measurement accuracy, so that the adjustment accuracy of attitude calibration can ultimately limit b and d to below 10μm.

[0056] For example, when the through-beam photoelectric sensor is an FU-58 fiber optic sensor, and the distance between the first height and the second height is 10 mm, the adjustment accuracy of attitude calibration can ultimately limit b and d to below 4 μm.

[0057] During detection, the driving speed of the first driving device 31 and the second driving device 32 should be as fast as possible without affecting the detection accuracy. For example, when the through-beam photoelectric sensor is an FU-58 fiber optic sensor, the driving speed of the first driving device 31 and the second driving device 32 is 1 mm / s.

[0058] In some embodiments, the angle adjustment device has two driving directions: one driving direction drives the machining head 2 to rotate around the Y-axis of the machine tool, and the other driving direction drives the machining head 2 to rotate around the X-axis of the machine tool.

[0059] In some embodiments, the angle adjustment device includes:

[0060] Two universal joints are provided. Universal joints are common parts in this field and will not be described in detail here. Universal joints are not shown in the figure.

[0061] The first telescopic motor 41 extends in a direction parallel to the X-axis of the machine tool, and its output end is connected to the machining head via a universal joint.

[0062] The second telescopic motor 42 extends in a direction parallel to the Y-axis of the machine tool, and its output end is connected to the machining head via another universal joint.

[0063] The first telescopic motor 41 and the second telescopic motor 42 are common motors in this field, and their structures will not be described in detail here.

[0064] Furthermore, the angle adjustment device also includes a mounting base 43 for mounting the machining head 2. Two universal joints connect the machining head 2 via the mounting base 43.

[0065] In other embodiments, the angle adjustment device includes:

[0066] The first rotary motor is used to drive the machining head to rotate around the X-axis or Y-axis of the machine tool.

[0067] The second rotary motor is used to drive the first rotary motor to rotate around the Y-axis or X-axis of the machine tool.

[0068] The first and second rotary motors are common motors in this field, and their structures will not be described in detail here. The first and second rotary motors are not shown in the figure.

[0069] In some embodiments, the device further includes a controller 5 electrically connected to the angle adjustment device, the position adjustment device, and the detection module.

[0070] The basic steps for using the water jet attitude detection and calibration device of this utility model are as follows:

[0071] S1. Make the water jet 6 pass through the two X-axis optical beams 13 of the machine tool along the Y-axis of the machine tool. Record the Y-axis coordinates of the processing head 2 of the machine tool when the receivers 12 of the two optical beams emit signals respectively. Based on the longitudinal distance between the two receivers 12 and the recorded Y-axis coordinates of the two machine tools, calculate the angle β between the water jet 6 and the Z-axis of the machine tool in the YOZ plane of the machine tool.

[0072] The water jet 6 is made to pass along the X-axis of the machine tool through two Y-axis light beams 14 of the machine tool. The X-axis coordinates of the processing head 2 of the machine tool are recorded when the receivers 12 of the two light beams emit signals. Based on the longitudinal distance between the two receivers 12 and the recorded X-axis coordinates of the two machine tools, the angle α between the water jet 6 and the Z-axis of the machine tool in the XOZ plane of the machine tool is calculated.

[0073] S2. Adjust the water outlet angle of processing head 2 based on α and β.

[0074] S3. Repeat S1-S2 until the distance between the Y-axis coordinates of the two machine tools and the distance between the X-axis coordinates of the two machine tools are both less than or equal to the preset distance threshold.

[0075] Step S1 is as follows:

[0076] The water jet 6 is directed along the machine tool Y-axis by the positioning adjustment device to pass through two machine tool X-axis optical beams 13. The machine tool Y-axis coordinates of the processing head 2 are recorded when the receivers 12 corresponding to the two optical beams emit signals. The longitudinal distance between the two receivers 12 is a. The machine tool Y-axis coordinate corresponding to the upper machine tool X-axis optical beam 13 is Y1, and the machine tool Y-axis coordinate corresponding to the lower machine tool X-axis optical beam 13 is Y2. The angle β between the water jet 6 and the machine tool Z-axis in the machine tool YOZ plane is calculated by inverse trigonometric function, β=arctan[(Y2-Y1) / a]. The water jet 6 is directed along the X-axis of the machine tool by the position adjustment device, passing through two Y-axis light beams 14. The X-axis coordinates of the machining head 2 are recorded when the receivers 12 of the two light beams emit signals. The longitudinal distance between the two receivers 12 is c. The X-axis coordinate of the upper Y-axis light beam 14 is X1, and the X-axis coordinate of the lower Y-axis light beam 14 is X2. The angle α between the water jet 6 and the Z-axis of the machine tool in the XOZ plane is calculated by the inverse trigonometric function. α = arctan[(X2-X1) / c].

[0077] For example Figure 3 In the diagram, AB represents the water jet 6, which is decomposed into the projection EF on the YOZ plane of the machine tool and the projection CD on the XOZ plane of the machine tool. α is the angle between the projection CD of the water jet 6 on the XOZ plane of the machine tool and the Z-axis of the machine tool, and β is the angle between the projection EF of the water jet 6 on the YOZ plane of the machine tool and the Z-axis of the machine tool.

[0078] Furthermore, such as Figure 4 , 5 As shown, α has a positive or negative sign to confirm whether the deflection direction of the water jet 6 is in the positive or negative direction of the machine tool's X-axis. β also has a positive or negative sign to confirm whether the deflection direction of the water jet 6 is in the positive or negative direction of the machine tool's Y-axis.

[0079] like Figure 4 and Figure 6 As shown, when X2 > X1, α is a positive number, and the deflection direction of the water jet 6 is in the positive X-axis direction of the machine tool. Figure 4 and Figure 7 As shown, when X2 < X1, α is negative, and the deflection direction of the water jet 6 is in the negative X-axis direction of the machine tool. Figure 5 As shown, when Y2 > Y1, β is positive, and the deflection direction of the water jet 6 is in the positive Y-axis direction of the machine tool. Figure 5As shown, when Y2 < Y1, β takes a negative value, and the deflection direction of the water jet 6 is in the negative direction of the Y-axis of the machine tool. Figure 6 , Figure 7 In the middle, v represents the direction of travel of the water jet 6.

[0080] When α is positive, the first telescopic motor 41 drives the angle adjustment device, which in turn drives the processing head 2 to rotate counterclockwise |α| in the XOZ plane of the machine tool.

[0081] When α is negative, the first telescopic motor 41 drives the angle adjustment device, which in turn drives the processing head 2 to rotate clockwise |α| in the XOZ plane of the machine tool.

[0082] When β is positive, the second telescopic motor 42 drives the angle adjustment device, which in turn drives the processing head 2 to rotate counterclockwise |β| in the YOZ plane of the machine tool.

[0083] When β is negative, the second telescopic motor 42 drives the angle adjustment device, which in turn drives the processing head 2 to rotate clockwise |β| in the YOZ plane of the machine tool.

[0084] Position calibration can be performed simultaneously with attitude calibration, using the following method:

[0085] The machine tool coordinates (X0, Y0) of the line-optical intersection point in the XOY plane of the above-mentioned water jet attitude detection and calibration device are determined in advance using mechanical or optical methods.

[0086] Record the coordinates (Xa, Ya) of the last intersection of the water jet with the machine tool's X-axis light, and the coordinates (Xb, Yb) of the last intersection of the water jet with the machine tool's Y-axis light. This yields the coordinates (Xb, Ya) of the intersection point of the two vertical beams at the same horizontal position in the XOY plane. Using (Xb, Ya) as a reference, perform a coordinate transformation to complete the position correction. Intersection point coordinates from either the first or second height can be used; the error is within a controllable range.

[0087] like Figure 6 As shown, since the light intensity of the water jet 6 will first weaken and then strengthen during the process of passing through the line light, the water jet 6 may emit two signals when passing through a line light once. The coordinates of the processing head 2 when the first signal is emitted are taken as the machine tool Y-axis coordinates or machine tool X-axis coordinates collected in S1.

[0088] For example, the preset light intensity threshold in a through-beam photoelectric sensor is 75% of the initial light intensity. Taking the water jet 6 passing through the X-axis light 13 of a machine tool in a single pass as an example, the light intensity detected by the receiver 12 first decreases from 100% of the initial light intensity to below 75% of the initial light intensity. During this period, the receiver 12 sends a signal once. Subsequently, the light intensity detected by the receiver 12 gradually recovers from below 75% of the initial light intensity to 100% of the initial light intensity. During the recovery process, the receiver 12 sends a signal again. Based on the signal sent during the period when the light intensity decreases, the corresponding Y-axis coordinate of the machining head 2 is acquired.

[0089] The water jet 6 moves along a rectangular path, intersecting each line beam twice per revolution. This fully utilizes the detection space of the through-beam photoelectric sensor, shortens the time interval between two adjacent S1 steps, and further improves the efficiency of detection and calibration. Figure 8 As shown.

[0090] α can be measured when the water jet 6 moves between P1 and P2, or between P3 and P4. β can be measured when the water jet 6 moves between P2 and P3, or between P4 and P1.

[0091] Furthermore, it is preferable for the water jet 6 to have a square movement path.

[0092] Furthermore, the water jet 6 can also move back and forth between any two adjacent sides of the square. For example, it can move back and forth between P1 and P2, and between P2 and P3.

[0093] Steps S1-S3 are stored in the controller 5 as a program. The controller 5 is electrically connected to the angle adjustment device, the position adjustment device, and the detection module. The controller 5 executes steps S1-S3 based on the stored program. Through program control, the accuracy and efficiency of detection and calibration are further improved.

[0094] Furthermore, steps S1-S3 are stored in controller 5 in the form of a PLC program.

[0095] Controller 5 reads the coordinates of machining head 2 from the machine tool's control system CNC.

[0096] Figure 8 The movement path of the water jet 6 is square.

[0097] Furthermore, the through-beam photoelectric sensor is an FU-58 fiber optic sensor, and the side length of the square is 20mm.

[0098] Through the description of several embodiments of the water jet attitude detection and calibration device and method of this utility model, it can be seen that the embodiments of the water jet attitude detection and calibration device and method of this utility model have at least one or more of the following advantages:

[0099] 1. This utility model uses a through-beam photoelectric sensor instead of a combination of a CCD camera and a sharp mechanical structure, which is more sensitive, has higher detection efficiency and accuracy, and is suitable for multiple rapid water jet attitude calibrations in long-term operation scenarios of water-guided laser machine tools.

[0100] 2. This utility model decomposes the deflection angle of the water jet 6 into components of two planes: the YOZ plane of the machine tool and the XOZ plane of the machine tool, and measures and calibrates them separately.

[0101] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0102] The above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. A water jet attitude detection and calibration device, characterized in that, include: Angle adjustment device, used to adjust the water outlet angle of the processing head; The detection module includes two sets of through-beam photoelectric sensors, with two through-beam photoelectric sensors distributed longitudinally in each set; A through-beam photoelectric sensor includes a transmitter and a receiver. The receiver emits a signal when it detects that the light intensity reaches a preset light intensity threshold. One set of through-beam photoelectric sensors emits line light along the X-axis of the machine tool, and another set of through-beam photoelectric sensors emits line light along the Y-axis of the machine tool. The position adjustment device drives the processing head or detection module to move horizontally, so that the water jet passes along the X-axis of the machine tool and through the two Y-axis of the machine tool.

2. The water jet attitude detection and calibration device according to claim 1, characterized in that, The two through-beam photoelectric sensors that emit light along the X-axis of the machine tool are of the same model, as are the other two through-beam photoelectric sensors.

3. The water jet attitude detection and calibration device according to claim 2, characterized in that, The two transmitters that emit light along the X-axis of the machine tool are located at the first height and the second height, respectively, and the other two transmitters are located at the first height and the second height, respectively.

4. The water jet attitude detection and calibration device according to claim 3, characterized in that, The distance between the first and second heights is 8-16mm.

5. The water jet attitude detection and calibration device according to claim 1, characterized in that, The angle adjustment device has two driving directions: one drives the machining head to rotate around the Y-axis of the machine tool, and the other drives the machining head to rotate around the X-axis of the machine tool.

6. The water jet attitude detection and calibration device according to claim 5, characterized in that, The angle adjustment device includes: two universal joints; a first telescopic motor with its telescopic direction parallel to the X-axis of the machine tool, and its output end connected to the machining head through a universal joint; and a second telescopic motor with its telescopic direction parallel to the Y-axis of the machine tool, and its output end connected to the machining head through another universal joint.

7. The water jet attitude detection and calibration device according to claim 6, characterized in that, The angle adjustment device also includes: a mounting base for mounting the machining head, which connects to two universal joints.

8. The water jet attitude detection and calibration device according to claim 1, characterized in that, The position adjustment device is part of the machine tool's multi-axis linkage system.

9. The water jet attitude detection and calibration device according to claim 1, characterized in that, The diameter of the light emitted by the transmitter is 0.1-1mm.

10. The water jet attitude detection and calibration device according to claim 1, characterized in that, Also includes: The controller is electrically connected to the angle adjustment device, the position adjustment device, and the detection module.

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