Seven-axis engraving robot joint shaft and turntable synchronous monitoring method

Abstract

The application discloses a kind of seven-axis engraving robot joint shaft and synchronous monitoring method of rotary table, it is related to industrial robot technical field, comprising: when the numerical control system is started, run system macro file to carry out dynamic detection, ensure that rotary table and joint shaft are in task before movement coordination consistent.In the dynamic detection process, when the cutter approaches rotary table, the relative position of cutter and rotary table is detected in real time by sensor, and the data is transmitted to control system, and the cutter speed is dynamically adjusted according to the feedback data, to ensure that the rotary table slot is approached with smooth speed.Judge whether the cutter is accurately placed in the slot: if it is accurately placed and no collision occurs, it is determined that the rotary table and joint shaft are synchronous;Otherwise, it is determined that the rotary table and joint shaft are not synchronous and trigger system alarm, record error log and prompt operator to repair.Through dynamic detection and real-time adjustment of cutter speed, ensure that the joint shaft and rotary table movement is synchronous, improve processing accuracy and operation stability, while reducing equipment wear and tear and improving operation safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, in particular to a seven-axis engraving robot joint shaft and turntable synchronous monitoring method. BACKGROUND

[0002] In the existing seven-axis engraving robot, the turntable and the six-axis are independent parts, each turntable has a slot, and we can choose the opposite four-edge slot of the turntable. In the process of robot cutting, the joint shaft of the robot body needs to be kept synchronous with the turntable in the cutting process, so as to realize the precise control of the motion of the robot by the numerical control system. It is necessary to monitor the joint shaft and the turntable synchronously: the present technology is based on adding a system macro in the system to run the system macro file, moving a tool smaller than the four-edge slot to the position of the four-edge slot of the robot, detecting the distance between the tool shaft and the four-edge slot of the turntable to judge whether the position of the joint shaft and the turntable is synchronous. SUMMARY

[0003] Based on the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a seven-axis engraving robot joint shaft and turntable synchronous monitoring method to solve the above technical problems.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a seven-axis engraving robot joint shaft and turntable synchronous monitoring method, comprising:

[0005] When the seven-axis engraving robot numerical control system is started, the tool is replaced with a tool smaller than the turntable slot, and a system macro file for detecting whether the turntable and the joint shaft are synchronous is run for dynamic detection; the system macro file is used to ensure that the movement between the turntable and the joint shaft is coordinated and consistent before the seven-axis robot starts to execute any task or processing operation;

[0006] During the dynamic detection process, when the tool approaches the turntable, the relative position between the tool and the turntable is detected in real time by the sensor, and the data is transmitted to the control system;

[0007] The control system dynamically adjusts the movement speed of the tool according to the sensor feedback data to ensure that the tool approaches the turntable slot at a smooth speed;

[0008] The sensor judges whether the tool is accurately placed in the turntable slot: if the tool is accurately placed in the slot and no collision occurs, it is judged that the turntable and the joint shaft are synchronous; if the tool cannot be accurately placed in the slot or collision occurs, it is judged that the turntable and the joint shaft are not synchronous, and the system alarm is triggered;

[0009] After the system alarm is triggered, the control system records the error log and prompts the operator to adjust or repair.

[0010] The application is further configured that the system macro file execution inspection and calibration step comprises:

[0011] Position detection, the actual position of the turntable and the joint shaft is detected by a sensor or an encoder, and compared with the expected position;

[0012] Speed matching, the speed of the turntable and the joint shaft when rotating or moving is detected by a sensor or an encoder, to ensure that the speed of the turntable and the joint shaft when rotating or moving is consistent;

[0013] Error correction, when any synchronization error is detected, automatic correction or manual adjustment by the operator is performed.

[0014] The application is further configured that the control system dynamically adjusts the movement speed of the tool according to the sensor feedback data, comprising:

[0015] After the control system receives the feedback data of the sensor, it is judged whether the relative distance between the tool and the turntable is less than the set safety range;

[0016] When it is less than the set safety range, according to the preset control algorithm, the best opportunity and deceleration rate of the tool deceleration are calculated, by real-time detection of the current of the joint shaft and the rotation torque of the turntable, when the rotation torque is greater than the preset threshold, an alarm is given, to ensure that the tool can move at a slower and more stable speed when it reaches the turntable, avoiding impact, damage or precision reduction caused by too high speed;

[0017] As the tool continues to approach, the control system gradually adjusts the output of the motor, so that the speed of the tool gradually decreases, to ensure that the tool can accurately reach the specified position and cooperate with the turntable.

[0018] The application is further configured that when the speed is matched, the angular velocity data of the joint shaft is obtained through the joint shaft sensor, and the angular velocity data of the turntable is obtained through the turntable sensor, to ensure the time sequence consistency of the collected data, by real-time comparison of the collected angular velocity data of the joint shaft and the turntable, and calculation of the speed difference;

[0019] When there is a speed difference in error correction, based on the size of the speed difference, the driving parameters of the joint shaft or the turntable are dynamically adjusted, wherein when the joint shaft angular velocity is too high, the driving current is reduced; when the turntable angular velocity is too high, the rotation torque is reduced.

[0020] The application is further configured that when the driving parameters of the joint shaft or the turntable are dynamically adjusted, the driving parameters of the joint shaft and the turntable are adjusted by the PID control algorithm, wherein the proportional term is used to ensure the response speed, the integral term is used to eliminate long-term error, and the differential term is used to prevent over-regulation.

[0021] The application is further configured to calculate the optimal timing and deceleration rate of the tool according to a preset control algorithm, including:

[0022] When the relative distance between the tool and the rotary table slot is less than the set safety range, the optimal timing and target deceleration rate of the tool are calculated in real time;

[0023] The target deceleration rate is calculated according to the current speed and the relative distance;

[0024] The optimal timing is calculated according to the current speed and the target deceleration rate;

[0025] When the optimal timing is reached, the control system sends a deceleration signal to the joint shaft driver, and dynamically adjusts the driving current to gradually reduce the tool speed, ensuring smooth movement.

[0026] The application is further configured to calculate the target deceleration rate according to the current speed and the relative distance, and the calculation logic is: Wherein, a opt is the target deceleration rate, d(t) is the relative distance at time t, v(t) is the speed at time t, v target is the target speed, and v dec is the allowable speed of the tool when reaching the rotary table;

[0027] The optimal timing is calculated according to the current speed and the target deceleration rate, and the calculation logic is: Wherein, t dec is the optimal timing.

[0028] The application is further configured to generate an alarm signal after triggering the system alarm, and the alarm signal includes an audible and visual signal prompt and a control system error log record, so as to facilitate subsequent analysis and maintenance by the operator.

[0029] The application provides a seven-axis engraving robot joint shaft and turntable synchronous monitoring method, which comprises the following steps: when the seven-axis engraving robot numerical control system is started, a tool smaller than the turntable groove is replaced, a system macro file for detecting whether the turntable and the joint shaft are synchronous is run, and dynamic detection is performed; the system macro file is used to ensure that the movement between the turntable and the joint shaft is coordinated and consistent before the seven-axis robot starts to perform any task or processing operation; during the dynamic detection process, the relative position between the tool and the turntable is detected in real time through a sensor when the tool approaches the turntable, and data is transmitted to a control system; the control system dynamically adjusts the movement speed of the tool according to the sensor feedback data, so as to ensure that the tool approaches the turntable groove at a stable speed; whether the tool is accurately placed in the turntable groove is judged through the sensor; if the tool is accurately placed in the groove and no collision occurs, it is judged that the turntable and the joint shaft are synchronous; if the tool cannot be accurately placed in the groove or collision occurs, it is judged that the turntable and the joint shaft are not synchronous, and a system alarm is triggered; after the system alarm is triggered, the control system records error logs and prompts an operator to make adjustments or repairs, and the beneficial effects include:

[0030] 1. Improve the synchronization and processing precision of the robot: by embedding checking and calibration steps in the system macro file, the movement synchronization between the joint shaft and the turntable of the seven-axis engraving robot is monitored and corrected. Through real-time detection and comparison of position and speed by sensors or encoders, the speed consistency of the joint shaft and the turntable during rotation or movement is ensured, avoiding processing errors and equipment damage caused by asynchronization;

[0031] 2. Dynamic detection and real-time adjustment improve the stability of operation: during dynamic detection, the relative position between the tool and the turntable groove is monitored in real time by the sensor, and the tool speed is adjusted by the control system feedback to ensure that the tool approaches the groove at a stable speed. By setting a safety range and a warning mechanism, the system can effectively avoid impact, damage or reduced processing precision caused by excessive speed;

[0032] 3. Reduce equipment damage and improve safety: by real-time detection of the current of the joint shaft and the rotation torque of the turntable, and combined with the preset threshold value for alarm, potential risks can be quickly identified and the protection mechanism is triggered to avoid damage to the machine and workpiece caused by equipment overload or abnormal operation, ensuring the service life of the equipment and the safety of the operator.

[0033] The above description is only a summary of the technical solutions of the application. In order to more clearly understand the technical means of the application, the application can be implemented according to the content of the specification, and in order to make the above and other purposes, features and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor. In the drawings:

[0035] Figure 1 A flow chart of a seven-axis engraving robot joint shaft and turntable synchronous monitoring method is shown for an exemplary embodiment of the present application.

[0036] Figure 2 An application scenario diagram of a seven-axis engraving robot joint shaft and turntable synchronous monitoring method is shown for an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0037] The embodiments of the present application will be described below with reference to the drawings and preferred embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. The present application can also be implemented or applied by different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, and are not intended to limit the protection scope of the present application.

[0038] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, and only the components related to the present application are shown in the diagrams, not the number, shape and size of the components when actually implemented. The actual implementation of each component may be arbitrarily changed in type, number and proportion, and the layout pattern of the components may also be more complex.

[0039] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application, however, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details, and in other embodiments, the known structures and devices are shown in the form of block diagrams rather than in the form of details, to avoid making the embodiments of the present application difficult to understand.

[0040] A seven-axis engraving robot joint shaft and turntable synchronous monitoring method, as shown in Figure 1 includes:

[0041] When the seven-axis engraving robot numerical control system is started, the tool is replaced with a tool smaller than the turret slot, and a system macro file for detecting whether the turret and the joint shaft are synchronous is run for dynamic detection; the system macro file is used to ensure that the movement between the turret and the joint shaft is coordinated before the seven-axis robot starts to execute any task or processing operation;

[0042] During the dynamic detection process, when the tool approaches the turret, the relative position between the tool and the turret is detected in real time by a sensor, and the data is transmitted to the control system;

[0043] The control system dynamically adjusts the movement speed of the tool according to the sensor feedback data to ensure that the tool approaches the turret slot at a smooth speed;

[0044] The sensor is used to determine whether the tool is accurately placed in the turret slot: if the tool is accurately placed in the slot and no collision occurs, it is determined that the turret and the joint shaft are synchronous; if the tool cannot be accurately placed in the slot or collision occurs, it is determined that the turret and the joint shaft are not synchronous, and a system alarm is triggered;

[0045] After the system alarm is triggered, the control system records error logs and prompts the operator to make adjustments or repairs.

[0046] When the robot numerical control system is started, an initialization step is performed, and a system macro for detecting whether the turret and the joint shaft are synchronous is run, the main purpose of the system macro is to ensure that the movement between the turret and the joint shaft of the robot is coordinated before the robot starts to execute any task or processing operation.

[0047] As shown in Figure 2 , the turret is usually a rotating platform in the robot system, used to support workpieces or tools for multi-angle processing or operation, and the joint shaft is a rotating or moving component in the robot arm, which works together to achieve various complex actions of the robot. If the turret and the joint shaft are not synchronized, the robot may not be accurately positioned and moved, resulting in processing errors, workpiece damage or even damage to the robot itself.

[0048] The application further provides that the system macro file execution inspection and calibration steps include:

[0049] Position detection, the actual position of the turret and the joint shaft is detected by a sensor or encoder, and compared with the expected position;

[0050] Speed matching, the speed of the turret and the joint shaft when rotating or moving is detected by a sensor or encoder to ensure that the speed of the turret and the joint shaft when rotating or moving is consistent;

[0051] Error correction, when any synchronization error is detected, automatic correction or manual adjustment by the operator is prompted.

[0052] The application is further configured to dynamically adjust the movement speed of the tool according to the sensor feedback data, including:

[0053] After the control system receives the feedback data of the sensor, it is determined whether the relative distance between the tool and the rotary table is less than the set safety range; specifically, the safety range is a dynamically set distance threshold, which ensures that the tool has enough reaction time when approaching the rotary table, avoiding collision caused by misoperation or excessive speed;

[0054] When it is less than the set safety range, according to the preset control algorithm, the best opportunity and deceleration rate of the tool are calculated, and when the rotary torque is greater than the preset threshold by real-time detection of the current of the joint shaft and the rotary torque of the rotary table, an alarm is given to ensure that the tool can move at a slower and more stable speed when it reaches the rotary table, avoiding collision, damage or precision reduction caused by excessive speed;

[0055] As the tool continues to approach, the control system gradually adjusts the output of the motor to gradually reduce the speed of the tool, so as to ensure that the tool can accurately reach the specified position and cooperate with the rotary table.

[0056] The application is further configured to obtain the angular velocity data of the joint shaft through the joint shaft sensor and the angular velocity data of the rotary table through the rotary table sensor when matching the speed, to ensure the time sequence consistency of the collected data, and to compare the collected angular velocity data of the joint shaft and the rotary table in real time and calculate the speed difference.

[0057] When there is a speed difference during error correction, the driving parameters of the joint shaft or the rotary table are dynamically adjusted based on the size of the speed difference, wherein when the joint shaft angular velocity is too high, the driving current is reduced; when the rotary table angular velocity is too high, the rotary torque is reduced.

[0058] The application is further configured to adjust the driving parameters of the joint shaft and the rotary table through a PID control algorithm when dynamically adjusting the driving parameters of the joint shaft or the rotary table, wherein the proportional term is used to ensure response speed, the integral term is used to eliminate long-term errors, and the differential term is used to prevent over-adjustment. Specifically, PID control (proportional-integral-differential control) is a closed-loop control algorithm widely used in industrial automation scenarios. Its basic function is to dynamically adjust the control output according to the deviation of the system (i.e., the difference between the actual value and the desired value) to achieve the steady-state control goal of the system. The proportional term (P): linearly adjusts the output according to the current size of the deviation, which is used to quickly respond to changes in the deviation. The integral term (I): the deviation is accumulated and summed, which is used to eliminate long-term deviations and ensure that the system can return to the target value. The differential term (D): adjusts the output according to the rate of change of the deviation, which is used to suppress over-adjustment caused by sudden changes. When dynamically adjusting the driving parameters of the joint shaft and the rotary table, the application optimizes the driving current and rotational torque in real time through the PID control algorithm, the proportional term ensures that the system can respond quickly when a speed or position deviation is detected; the integral term eliminates long-term cumulative errors in the driving parameters, avoiding the running deviation of the rotary table or the joint shaft; and the differential term suppresses the shock or over-adjustment problem that may occur during the adjustment of the driving current or torque.

[0059] The application is further configured to calculate the optimal timing and deceleration rate of the tool according to a preset control algorithm, including:

[0060] When the relative distance between the tool and the rotary table slot is less than the set safety range, the optimal time and target deceleration rate of the tool are calculated.

[0061] The target deceleration rate is calculated according to the current speed and the relative distance; the application is further configured to calculate the target deceleration rate according to the current speed and the relative distance, and the calculation logic is: wherein a opt is the target deceleration rate, d(t) is the relative distance at time t, v(t) is the speed at time t, and v target is the target speed, which is the allowable speed of the tool when reaching the rotary table;

[0062] The optimal time is calculated according to the current speed and the target deceleration rate; the optimal time is calculated according to the current speed and the target deceleration rate, and the calculation logic is: wherein t dec is the optimal time;

[0063] When the optimal time point is reached, the control system sends a deceleration signal to the driver of the joint shaft, and dynamically adjusts the driving current to gradually reduce the speed of the tool, ensuring smooth movement.

[0064] The application is further configured to generate an alarm signal after triggering the system alarm, the alarm signal including an audible and visual signal prompt and a control system error log record for subsequent analysis and maintenance by an operator.

[0065] The above-described embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, the above-described embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another, for example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wired (such as infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. containing one or more available medium collections. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0066] It should be understood that the term "and / or" herein merely describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone, where A and B can be singular or plural. In addition, the character " / " herein generally represents that the associated objects before and after are an "or" relationship, but can also represent an "and / or" relationship, which can be understood according to the context before and after.

[0067] In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0068] It should be understood that the size of the sequence number of the above processes does not mean the order of execution in various embodiments of the present application, and the execution order of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0069] Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0070] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0071] In several embodiments provided in the present application, it should be understood that the disclosed system can be implemented in other ways. For example, the above-described device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0072] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0073] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0074] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the technical solutions that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0075] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for synchronous monitoring of joint axes and turntable of a seven-axis carving robot, characterized in that, include: When the CNC system of the seven-axis engraving robot is powered on, the cutting tool is replaced with a tool smaller than the rotary table slot, and the system macro file for detecting whether the rotary table and the joint axis are synchronized is run to perform dynamic detection; the system macro file is used to ensure that the movement between the rotary table and the joint axis is coordinated and consistent before the seven-axis robot starts to execute any task or machining operation. During dynamic detection, when the tool approaches the turntable, the relative position between the tool and the turntable is detected in real time by sensors, and the data is transmitted to the control system. The control system dynamically adjusts the movement speed of the tool based on sensor feedback data to ensure that the tool approaches the rotary table slot at a stable speed. The system uses sensors to determine whether the tool is accurately placed in the turntable slot: if the tool is accurately placed in the slot and there is no collision, the turntable and the joint axis are considered synchronized; if the tool is not accurately placed in the slot or there is a collision, the turntable and the joint axis are considered out of sync, and a system alarm is triggered. After the system alarm is triggered, the control system records the error log and prompts the operator to make adjustments or perform maintenance.

2. The method for synchronous monitoring of joint axes and turntable of a seven-axis carving robot according to claim 1, characterized in that, The system macro file execution check and calibration steps include: Position detection involves using sensors or encoders to detect the actual position of the turntable and joint axes and comparing it with the expected position. Speed ​​matching is achieved by detecting the speed of the turntable and joint axes during rotation or movement using sensors or encoders to ensure that the speeds of the turntable and joint axes are consistent during rotation or movement. Error correction: When any synchronization error is detected, it will automatically correct or prompt the operator to make manual adjustments.

3. The method for synchronous monitoring of joint axes and turntable of a seven-axis carving robot according to claim 1, characterized in that, The control system dynamically adjusts the movement speed of the tool based on sensor feedback data, including: After receiving feedback data from the sensors, the control system determines whether the relative distance between the tool and the rotary table is less than the set safety range. When the speed is less than the set safety range, the optimal timing and speed reduction rate of the tool deceleration are calculated according to the preset control algorithm. By detecting the current of the joint axis and the rotation torque of the turntable in real time, an alarm is triggered when the rotation torque is detected to be greater than the preset threshold. This is to ensure that the tool can reach the turntable at a slower and more stable speed, so as to avoid impact, damage or decrease in accuracy caused by excessive speed. As the cutting tool continues to approach, the control system gradually adjusts the motor output to reduce the tool's speed, ensuring that the tool can accurately reach the designated position and cooperate with the turntable.

4. The method for synchronous monitoring of joint axes and turntable of a seven-axis carving robot according to claim 2, characterized in that, During speed matching, the angular velocity data of the joint axis is obtained through the joint axis sensor, and the angular velocity data of the turntable is obtained through the turntable sensor to ensure the consistency of the timing of the collected data. The speed difference is calculated by comparing the collected angular velocity data of the joint axis and the turntable in real time. During error correction, when a speed difference exists, the drive parameters of the joint axis or turntable are dynamically adjusted based on the magnitude of the speed difference. Specifically, when the angular velocity of the joint axis is too high, the drive current is reduced; when the angular velocity of the turntable is too high, the rotational torque is reduced.

5. The method for synchronous monitoring of joint axes and turntable of a seven-axis carving robot according to claim 4, characterized in that, When dynamically adjusting the drive parameters of the joint axis or turntable, the drive parameters of the joint axis and turntable are adjusted by the PID control algorithm. The proportional term is used to ensure the response speed, the integral term is used to eliminate long-term errors, and the derivative term is used to prevent over-adjustment.

6. The method for synchronous monitoring of joint axes and turntable of a seven-axis carving robot according to claim 3, characterized in that, Based on a preset control algorithm, the optimal timing and rate of tool deceleration are calculated, including: When the distance is less than the set safety range, the relative distance between the tool and the rotary table slot is obtained in real time, and the optimal time and target deceleration rate for the tool to decelerate are calculated. Calculate the target deceleration rate based on the current speed and relative distance; Calculate the optimal time based on the current speed and the target deceleration rate; When the optimal timing point is reached, the control system sends a deceleration signal to the joint axis driver and dynamically adjusts the drive current to gradually reduce the tool speed, ensuring a smooth movement process.

7. The method for synchronous monitoring of joint axes and turntable of a seven-axis carving robot according to claim 6, characterized in that, The target deceleration rate is calculated based on the current speed and relative distance. The calculation logic is as follows: Among them, a opt Let d(t) be the target deceleration rate, d(t) be the relative distance at time t, and v(t) be the velocity at time t. target The target speed is the speed at which the tool is allowed to reach the rotary table. The optimal time is calculated based on the current speed and the target deceleration rate. The calculation logic is as follows: Among them, t dec This is the optimal time.

8. The method for synchronous monitoring of joint axes and turntable of a seven-axis carving robot according to claim 1, characterized in that, After the system alarm is triggered, an alarm signal is generated, which includes audible and visual prompts and control system error log records, so that operators can perform subsequent analysis and maintenance.

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