A method and apparatus for cutting a circle

Abstract

The application relates to the cutting field, in particular to a cutting circle method and device. The method comprises the following steps: establishing a cutting coordinate system; obtaining the center position and diameter of a cutting circle; determining the cutting track of the cutting circle based on the center position and diameter of the cutting circle; determining the rotation angle during cutting based on the diameter of the cutting circle; rotating the cutting equipment around the Z axis of the cutting coordinate system by a compensation angle in a target rotation direction based on the rotation angle; the target rotation direction is the reverse direction of the cutting direction; and cutting the cutting circle along the cutting track based on the cutting equipment. The cutting circle method and device provided in the application create a cutting coordinate system, rotate the cutting equipment around the Z axis of the cutting coordinate system by a compensation angle in a target rotation direction, so that the cutting equipment rotates around the same direction during the cutting process, and the problem that vibration caused by the forward and reverse rotation of the cutting equipment leads to cutting defects is solved.

Description

Technical Field

[0001] This application relates to the field of cutting, and in particular to a method and apparatus for cutting a circle. Background Technology

[0002] Cutting technology, as an advanced processing technology, is widely used in industrial fields such as automobiles, electronics, electrical appliances, aviation, metallurgy, and machinery manufacturing. It plays an increasingly important role in improving product quality, increasing labor productivity, reducing processing costs, and reducing material consumption.

[0003] However, cutting quality remains a significant challenge in existing cutting technologies, such as the inability to meet requirements for the size of the cut circular hole and the presence of cutting defects. When a cutting device cuts a complete circle in the same posture, cutting defects can occur because there is gear backlash in the reducer of the cutting device. When the rotating shaft of the cutting device rotates from forward to reverse, or vice versa, it causes slight vibration of the cutting device body, resulting in the actual cutting trajectory deviating from the theoretical cutting trajectory and producing cutting quality defects. Summary of the Invention

[0004] The technical problem this application aims to solve is how to avoid cutting defects caused by slight vibrations generated by the forward and reverse rotation of the rotating shaft during the operation of the cutting equipment.

[0005] To address the aforementioned technical problems, in a first aspect, embodiments of this application disclose a method for cutting a circle, comprising:

[0006] A cutting coordinate system is established with the focal position of the cutting head of the cutting device as the origin and the target direction of the cutting device as the coordinate axis.

[0007] Obtain the center position and diameter of the cutting circle;

[0008] Based on the center position and diameter of the cutting circle, the cutting trajectory of the cutting circle is determined;

[0009] The rotation angle during cutting is determined based on the diameter of the cutting circle.

[0010] Based on the rotation angle, the cutting device is rotated around the Z-axis of the cutting coordinate system by a compensation angle in the target rotation direction; the target rotation direction is the opposite direction of the cutting direction.

[0011] The cutting device cuts the cutting circle along the cutting trajectory.

[0012] Furthermore, the step of cutting the cutting circle along the cutting trajectory using the cutting device includes,

[0013] Move the focus of the cutting head of the cutting device to the center of the cutting circle;

[0014] The cutting device, after being moved, cuts the cutting circle along the cutting trajectory.

[0015] Furthermore, the method also includes:

[0016] Based on the center position and diameter of the cutting circle, determine the cutting start point, cutting auxiliary point and cutting end point of the cutting trajectory;

[0017] Based on the cutting coordinate system, determine the coordinates corresponding to the cutting start point, the cutting auxiliary point, and the cutting end point.

[0018] Furthermore, determining the cutting trajectory of the cutting circle based on its center position and diameter includes,

[0019] A transition circle is determined with half the diameter of the cutting circle as its diameter; the arc of the transition circle passes through the center of the cutting circle.

[0020] Based on the coordinates corresponding to the cutting start point, the cutting auxiliary point, and the cutting end point, the transition circle is decomposed into a preset number of arcs;

[0021] The center of the cutting circle is taken as the cutting starting point;

[0022] The cutting trajectory is constructed based on the cutting starting point and the preset number of arcs.

[0023] Furthermore, the cutting device is a robot, and determining the rotation angle during cutting based on the diameter of the cutting circle includes:

[0024] Based on the diameter of the cutting circle, determine the forward and reverse rotation angles of the robot's target axis;

[0025] The rotation angle of the target axis of the robot is determined based on the forward rotation angle and the reverse rotation angle.

[0026] Furthermore, the step of rotating the cutting device around the Z-axis of the cutting coordinate system in the target rotation direction based on the rotation angle includes:

[0027] Based on the rotation angle, the cutting angle of each trajectory point corresponding to each rotation angle during the target axis rotation of the robot is determined, and the cutting angle is the rotation angle of the cutting device around the Z-axis of the cutting coordinate system;

[0028] Based on the cutting angle of each trajectory point, the cutting device is rotated around the Z-axis of the cutting coordinate system in the target direction to compensate for the angle.

[0029] Furthermore, determining the cutting angle of each trajectory point corresponding to each rotation angle during the target axis rotation of the robot, based on the rotation angle, includes:

[0030] Determine the target number for each trajectory point;

[0031] Calculate the ratio of the rotation angle to the number of targets;

[0032] The ratio is used as the cutting angle corresponding to each trajectory point.

[0033] Furthermore, the method also includes,

[0034] Based on the cutting angle of each trajectory point, the compensation angle is determined. The magnitude of the compensation angle is equal to the magnitude of the cutting angle, and the direction of the compensation angle is opposite to the direction of the cutting angle.

[0035] Secondly, embodiments of this application disclose an apparatus for cutting a circle, comprising:

[0036] The coordinate system establishment module is used to establish a cutting coordinate system with the focal position of the cutting head of the cutting device as the coordinate origin and the target direction of the cutting device as the coordinate axis.

[0037] The acquisition module is used to obtain the center position and diameter of the cutting circle;

[0038] The first determining module is used to determine the cutting trajectory of the cutting circle based on the center position and diameter of the cutting circle;

[0039] The second determining module is used to determine the rotation angle during cutting based on the diameter of the cutting circle;

[0040] A rotation compensation module is used to rotate the cutting device around the Z-axis of the cutting coordinate system by a target rotation direction based on the rotation angle; the target rotation direction is the opposite direction of the cutting direction.

[0041] The cutting module is used to cut the cutting circle along the cutting trajectory based on the cutting device.

[0042] Furthermore, the cutting module also includes:

[0043] An adjustment module is used to move the focus of the cutting head of the cutting device to the center of the cutting circle;

[0044] An execution module is used to cut the cutting circle along the cutting trajectory based on the moved cutting device.

[0045] By adopting the above technical solution, the method and apparatus for cutting circles described in the embodiments of this application have the following beneficial effects:

[0046] This embodiment of the application establishes a cutting coordinate system with the focal position of the cutting head of the cutting device as the origin and the target direction of the cutting device as the coordinate axis. It obtains the center position and diameter of the cutting circle; determines the cutting trajectory of the cutting circle based on the center position and diameter; determines the rotation angle during cutting based on the diameter of the cutting circle; and rotates the cutting device around the Z-axis of the cutting coordinate system according to the target rotation direction to compensate for the rotation angle. The target rotation direction is the opposite direction of the cutting direction. The cutting device cuts the cutting circle along the cutting trajectory. By establishing a cutting coordinate system and rotating the cutting device around the Z-axis of the cutting coordinate system according to the target rotation direction to compensate for the rotation angle, the cutting device always rotates in the same direction during the cutting process. This avoids slight vibrations caused by forward and reverse rotation of the cutting device, resulting in a smoother cutting trajectory, preventing cutting quality defects, and improving cutting quality. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart illustrating a method for cutting a circle according to an embodiment of this application;

[0049] Figure 2-1 This is a schematic diagram of a cutting coordinate system according to an embodiment of this application. Figure 1 ;

[0050] Figure 2-2 This is a second schematic diagram of a cutting coordinate system according to an embodiment of this application;

[0051] Figure 2-3 This is a schematic diagram of a cutting coordinate system according to an embodiment of this application. Figure 3 ;

[0052] Figure 3 This is a schematic diagram of the cutting trajectory according to one embodiment of this application;

[0053] Figure 4 This is a schematic diagram of the target axis of a robot according to an embodiment of this application;

[0054] Figure 5 This is a schematic diagram of the posture of a cutting tool according to an embodiment of this application;

[0055] Figure 6This is a schematic diagram of the structure of a device for cutting a circle according to an embodiment of this application. Detailed Implementation

[0056] The technical solutions of the embodiments of this application 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 application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0057] The term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this application. In the description of this application, it should be understood that the terms "upper," "lower," "top," "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0058] On the one hand, embodiments of this application provide a method for cutting a circle, as shown in the attached figure. Figure 1 As shown, it includes:

[0059] S101: Establish a cutting coordinate system with the focal position of the cutting head of the cutting device as the origin and the target direction of the cutting device as the coordinate axis;

[0060] In this embodiment of the application, the cutting equipment may be a CNC cutting machine or a manual cutting machine, and the cutting method may be flame cutting, plasma cutting, laser cutting, water jet cutting, etc. The following uses the laser cutting of an industrial robot as an example to further illustrate the method of cutting a circle in this application.

[0061] In industrial robot applications, the main factors affecting changes in robot trajectory are the coordinates of trajectory points, the tool coordinate system, and the workpiece coordinate system. Generally, modifying the robot's motion trajectory is achieved by changing the coordinate values ​​of trajectory points.

[0062] During the use of industrial robots, different tools are often installed on the end flange of the robot to meet actual production needs. In order to accurately control the position and posture of the tool movement, it is necessary to calibrate the coordinate system of the tool. This application establishes a cutting coordinate system, with the origin of the cutting coordinate system set at the focal point of the laser cutting head. When the laser cutting machine cuts plates of different materials and thicknesses, the focal point of the laser beam will be set at different locations to achieve better cutting results. During cutting, it is only necessary to move the laser focal point to the center of the cutting circle, and then cut the cutting circle along the cutting trajectory based on the moved position.

[0063] Alternatively, one method for establishing a cutting coordinate system is as follows:

[0064] A cutting coordinate system is established with the focal point of the laser beam as the origin and the jet direction of the laser beam as the positive Z-axis, as shown in the attached figure. Figure 2-1 , 2-2 As shown in Figure 2-3, the direction of the cutting coordinate system changes with the direction of the laser beam. The movement of the cutting coordinate system is based on the direction of the laser beam. After establishing the cutting coordinate system, the robot's control point can be transferred to the focal point of the laser beam. During teaching, the posture of the cutting tool can be easily adjusted by keeping the control point unchanged, making the trajectory of the arc more accurate during interpolation calculations.

[0065] S102: Obtain the center position and diameter of the cutting circle;

[0066] S103: Determine the cutting trajectory of the cutting circle based on the center position and diameter of the cutting circle;

[0067] In this embodiment of the application, in order to make the cutting trajectory of the circle more accurate and improve the cutting quality, before cutting, the starting point, auxiliary point, and ending point of the cutting trajectory are determined according to the center position and diameter of the circle. Then, according to the established cutting coordinate system, the coordinates corresponding to the starting point, auxiliary point, and ending point are determined. (See attached...) Figure 3 As shown:

[0068] Figure 3 The circle with the larger diameter is the cutting circle, and the circle with the smaller diameter is the transition circle. Optionally, since the center of the cutting circle coincides with the origin of the cutting coordinate system, the center of the cutting circle is chosen as the starting point for cutting. This facilitates the calculation of the coordinates corresponding to the cutting auxiliary points and the cutting end point. When the center of the cutting circle is changed, the coordinate values ​​of the cutting circle and the transition circle remain unchanged. When the diameter of the cutting circle is changed, the coordinates corresponding to each cutting auxiliary point are also adjusted accordingly.

[0069] The cutting coordinate system consists of the focal position (X, Y, Z) of the cutting tool and the posture (A, B, C) of the cutting tool. Among them, A (rotation angle of the cutting tool around the Z-axis of the cutting coordinate system), B (rotation angle of the cutting tool around the Y-axis of the cutting coordinate system), and C (rotation angle of the cutting tool around the X-axis of the cutting coordinate system) are used to represent the posture of the cutting tool. The values ​​of A, B, and C can also be modified manually, through simulation software, or through on-site calibration.

[0070] Assuming the diameter of the tangent circle is D, the coordinates (X, Y, Z, A, B, C) from point P1 to point P8 are:

[0071] P1={-D / 4,-D / 4,0,0,0,0}

[0072] P2={0,-D / 2,0,0,0,0}

[0073] P3={D / 2,0,0,0,0,0}

[0074] P4={0,D / 2,0,0,0,0}

[0075] P5={-D / 2,0,0,0,0,0}

[0076] P6={0,-D / 2,0,0,0,0}

[0077] P7={D / 4,-D / 4,0,0,0,0}

[0078] P8 = {0, 0, 0, 0, 0, 0}

[0079] Therefore, when only the center position and orientation of the cutting circle are modified, the coordinate values ​​of the arc remain unchanged. Changes in the robot trajectory are due to changes in the cutting coordinate system. When it is necessary to modify the size of the cutting circle, only the diameter D of the cutting circle needs to be modified, and the coordinates of points P1 to P8 are automatically calculated according to the above formula.

[0080] In this embodiment of the application, a feasible method for determining the cutting trajectory of a cutting circle is as follows: Half the diameter of the cutting circle is used as the diameter of the transition circle, and to facilitate the calculation of the coordinate values ​​of the transition circle, the arc of the transition circle passes through the center of the cutting circle; based on the cutting start point, the cutting auxiliary point, and the cutting end point, the cutting trajectory can be decomposed into a preset number of arcs. During cutting, the cutting device uses the center of the cutting circle as the cutting start point, and constructs the cutting trajectory based on the cutting start point and the preset number of arcs. For example... Figure 3The cutting start point, cutting auxiliary point, and cutting end point divide the cutting trajectory into four semicircles. The cutting trajectory starts at the center P0 of the cutting circle, passes through the four semicircles, and reaches the cutting end point P8. The cutting trajectory is P0-P1-P2-P3-P4-P5-P6-P7-P8. Setting the cutting start point and cutting end point inside the cutting circle can prevent cutting defects caused by excessive energy at the cutting start point and cutting end point.

[0081] S104: Determine the rotation angle during cutting based on the diameter of the cutting circle;

[0082] Industrial robots are generally six-degree-of-freedom serial robots, as shown in the attached image. Figure 4 As shown, during the cutting process, the robot's target axis will rotate from forward to reverse, or vice versa. The angles of forward and reverse rotation are related to the diameter of the cutting circle. Based on the diameter of the cutting circle, the forward and reverse rotation angles of the robot's target axis can be determined, thus determining the rotation angle of the robot's target axis. The robot's target axis is thus defined. Figure 4 Axis 1 (1) is used to rotate the robot in a direction parallel to the robot's chassis. For example, when cutting a certain cutting circle, the robot's target axis first rotates 50 degrees clockwise and then 50 degrees counterclockwise to complete the cutting. In this case, the rotation angle of the robot's target axis during the cutting process is 100 degrees.

[0083] S105: Based on the rotation angle, rotate the cutting device around the Z-axis of the cutting coordinate system by a compensation angle in the target rotation direction; the target rotation direction is the opposite direction of the cutting direction;

[0084] Based on the rotation angle of the robot's target axis during the cutting process, the cutting angle of each trajectory point corresponding to each rotation angle of the robot's target axis during the rotation process is determined. The cutting angle is the rotation angle of the cutting tool around the Z-axis of the cutting coordinate system, which is used to represent the posture of the cutting tool. It can be determined by calculating the ratio of the rotation angle to the number of targets at each trajectory point, and using the ratio as the cutting angle corresponding to each trajectory point. The cutting angle of each trajectory point is determined according to the principle of average distribution of the rotation angle.

[0085] In traditional cutting methods, the robot's target axis rotates clockwise and counterclockwise, while the cutting tool's posture remains constant during the cutting process, easily leading to cutting quality defects. To reduce these defects, this application describes a cutting tool whose posture can change at different positions during the cutting process, as shown in the attached figure. Figure 5 As shown.

[0086] Based on the cutting angle of each trajectory point, determine the compensation angle. Optionally, the size of the compensation angle is equal to the size of the cutting angle, and the direction of the compensation angle is opposite to the direction of the cutting angle.

[0087] The cutting tool is rotated around the Z-axis of the cutting coordinate system in the direction of the target rotation to compensate for the angle, so that the robot's target axis can rotate in the same direction during the cutting process. The cutting tool also has a working space to change different postures during the cutting process, avoiding cutting defects caused by the robot's target axis reversing, and improving the cutting quality.

[0088] S106: The cutting circle is cut along the cutting trajectory based on the cutting device.

[0089] This embodiment of the application establishes a cutting coordinate system with the focal position of the cutting head of the cutting device as the origin and the target direction of the cutting device as the coordinate axis. It obtains the center position and diameter of the cutting circle; determines the cutting trajectory of the cutting circle based on the center position and diameter; determines the rotation angle during cutting based on the diameter of the cutting circle; and rotates the cutting device around the Z-axis of the cutting coordinate system according to the target rotation direction to compensate for the rotation angle. The target rotation direction is the opposite direction of the cutting direction. The cutting device cuts the cutting circle along the cutting trajectory. By establishing a cutting coordinate system and rotating the cutting device around the Z-axis of the cutting coordinate system according to the target rotation direction to compensate for the rotation angle, the cutting device always rotates in the same direction during the cutting process. This avoids slight vibrations caused by forward and reverse rotation of the cutting device, resulting in a smoother cutting trajectory, preventing cutting quality defects, and improving cutting quality.

[0090] On the other hand, embodiments of this application also provide a device for cutting a circle, as shown in the attached figure. Figure 6 As shown, it includes:

[0091] The coordinate system establishment module 601 is used to establish a cutting coordinate system with the focal position of the cutting head of the cutting device as the coordinate origin and the target direction of the cutting device as the coordinate axis.

[0092] The acquisition module 602 is used to acquire the center position and diameter of the cutting circle;

[0093] The first determining module 603 is used to determine the cutting trajectory of the cutting circle based on the center position and diameter of the cutting circle;

[0094] The second determining module 604 is used to determine the rotation angle during cutting based on the diameter of the cutting circle;

[0095] The rotation compensation module 605 is used to rotate the cutting device around the Z-axis of the cutting coordinate system by a target rotation angle based on the rotation angle; the target rotation direction is the opposite direction of the cutting direction.

[0096] The cutting module 606 is used to cut the cutting circle along the cutting trajectory based on the cutting device.

[0097] In some embodiments, the cutting module 606 further includes:

[0098] An adjustment module is used to move the focus of the cutting head of the cutting device to the center of the cutting circle;

[0099] An execution module is used to cut the cutting circle along the cutting trajectory based on the moved cutting device.

[0100] In some embodiments, the apparatus for cutting a circle further includes:

[0101] The third determining module is used to determine the cutting start point, cutting auxiliary point and cutting end point of the cutting trajectory based on the center position and diameter of the cutting circle;

[0102] The fourth determining module is used to determine the coordinates corresponding to the cutting start point, the cutting auxiliary point, and the cutting end point based on the cutting coordinate system.

[0103] In some embodiments, the first determining module 603 further includes:

[0104] The transition circle determination module is used to determine a transition circle with a diameter of half the diameter of the cutting circle; the arc of the transition circle passes through the center of the cutting circle.

[0105] The decomposition module is used to decompose the transition circle into a preset number of arcs based on the coordinates corresponding to the cutting start point, the cutting auxiliary point, and the cutting end point.

[0106] The cutting start point determination module is used to determine the center position of the cutting circle as the cutting start point;

[0107] The cutting trajectory determination module is used to construct the cutting trajectory based on the cutting starting point and the preset number of arcs.

[0108] In some embodiments, the second determining module 604 includes:

[0109] The forward and reverse rotation angle determination module is used to determine the forward and reverse rotation angles of the robot's target axis based on the diameter of the cutting circle.

[0110] A rotation angle determination module is used to determine the rotation angle of the target axis of the robot based on the forward rotation angle and the reverse rotation angle.

[0111] In some embodiments, the rotation compensation module 605 includes:

[0112] The cutting angle determination module is used to determine the cutting angle of each trajectory point corresponding to each rotation angle during the rotation of the target axis of the robot, based on the rotation angle. The cutting angle is the rotation angle of the cutting device around the Z-axis of the cutting coordinate system.

[0113] The compensation module is used to rotate the cutting device around the Z-axis of the cutting coordinate system in the target direction to compensate for the cutting angle based on the cutting angle of each trajectory point.

[0114] In some embodiments, the cutting angle determination module includes:

[0115] The first calculation module is used to determine the target quantity of each trajectory point;

[0116] The second calculation module is used to calculate the ratio of the rotation angle to the number of targets;

[0117] The confirmation module is used to use the ratio as the cutting angle corresponding to each trajectory point.

[0118] In some embodiments, the apparatus for cutting a circle further includes:

[0119] The compensation angle determination module is used to determine the compensation angle based on the cutting angle of each trajectory point. The magnitude of the compensation angle is equal to the magnitude of the cutting angle, and the direction of the compensation angle is opposite to the direction of the cutting angle.

[0120] The apparatus and method embodiments in this application are based on the same inventive concept.

[0121] This embodiment of the application establishes a cutting coordinate system with the focal position of the cutting head of the cutting device as the origin and the target direction of the cutting device as the coordinate axis. It obtains the center position and diameter of the cutting circle; determines the cutting trajectory of the cutting circle based on the center position and diameter; determines the rotation angle during cutting based on the diameter of the cutting circle; and rotates the cutting device around the Z-axis of the cutting coordinate system according to the target rotation direction to compensate for the rotation angle. The target rotation direction is the opposite direction of the cutting direction. The cutting device cuts the cutting circle along the cutting trajectory. By establishing a cutting coordinate system and rotating the cutting device around the Z-axis of the cutting coordinate system according to the target rotation direction to compensate for the rotation angle, the cutting device always rotates in the same direction during the cutting process. This avoids slight vibrations caused by forward and reverse rotation of the cutting device, resulting in a smoother cutting trajectory, preventing cutting quality defects, and improving cutting quality.

[0122] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technological improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method of cutting a circle, characterized in that, The method comprises: establishing a cutting coordinate system with the cutting head focal point position of the cutting device as the coordinate origin and the target direction of the cutting device as the coordinate axis; obtaining the center position and diameter of the cutting circle; determining the cutting track of the cutting circle based on the center position and diameter of the cutting circle; determining the rotation angle during cutting based on the diameter of the cutting circle; determining the cutting angle of each track point corresponding to each rotation angle during the rotation of the cutting device based on the rotation angle; the cutting angle is the rotation angle of the cutting device around the Z-axis of the cutting coordinate system; determining the compensation angle based on the cutting angle of each track point; the size of the compensation angle is equal to the size of the cutting angle, and the direction of the compensation angle is opposite to the direction of the cutting angle; rotating the cutting device around the Z-axis of the cutting coordinate system by the compensation angle in the target rotation direction; the target rotation direction is the opposite direction of the cutting direction; cutting the cutting circle along the cutting track based on the cutting device.

2. The method of cutting a circle according to claim 1, wherein, The cutting device cuts the cutting circle along the cutting track based on the cutting device, comprises, moving the cutting head focal point of the cutting device to the center position of the cutting circle; cutting the cutting circle along the cutting track based on the cutting device after movement.

3. The method of cutting a circle according to claim 1, wherein, The method further comprises: determining the cutting start point, cutting auxiliary point and cutting end point of the cutting track based on the center position and diameter of the cutting circle; determining the coordinates corresponding to the cutting start point, cutting auxiliary point and cutting end point respectively based on the cutting coordinate system.

4. The method of cutting a circle according to claim 3, wherein, The cutting device cuts the cutting circle along the cutting track based on the cutting device, comprises, determining a transition circle with one-half of the diameter of the cutting circle as the diameter; the arc of the transition circle passes through the center position of the cutting circle; decomposing the transition circle into a preset number of arcs based on the coordinates corresponding to the cutting start point, cutting auxiliary point and cutting end point respectively; taking the center position of the cutting circle as the cutting start point; constructing the cutting track according to the cutting start point and the preset number of arcs.

5. The method of cutting a circle according to claim 1, wherein, The cutting device is a robot, and determining the rotation angle during cutting based on the diameter of the cutting circle comprises, determining the forward rotation angle and reverse rotation angle of the target shaft of the robot based on the diameter of the cutting circle; determining the rotation angle of the target shaft of the robot based on the forward rotation angle and the reverse rotation angle.

6. The method of cutting a circle according to claim 5, wherein, The cutting device cuts the cutting circle along the cutting track based on the cutting device, comprises, determining the cutting angle of each track point corresponding to each rotation angle during the rotation of the target shaft of the robot based on the rotation angle.

7. The method of cutting a circle according to claim 6, wherein, The cutting device cuts the cutting circle along the cutting track based on the cutting device, comprises, determining the target number of the track points; calculating the ratio of the rotation angle to the target number; taking the ratio as the cutting angle corresponding to each track point.

8. An apparatus for cutting a circle, characterized in that comprises: The coordinate system establishing module is configured to establish a cutting coordinate system with a focal point position of a cutting head of the cutting device as a coordinate origin and a target direction of the cutting device as a coordinate axis; The acquisition module is configured to acquire a center position and a diameter of the cutting circle; The first determination module is configured to determine a cutting track of the cutting circle based on the center position and the diameter of the cutting circle; The second determination module is configured to determine a rotation angle during cutting based on the diameter of the cutting circle; The rotation compensation module is configured to determine a cutting angle of each track point corresponding to each rotation angle of the cutting device during rotation based on the rotation angle; The cutting angle is a rotation angle of the cutting device around a Z axis of the cutting coordinate system; Based on the cutting angle of each track point, a compensation angle is determined, the compensation angle has a same size as the cutting angle, and a direction of the compensation angle is opposite to a direction of the cutting angle; the cutting device is rotated by the compensation angle around the Z axis of the cutting coordinate system in a target rotation direction; the target rotation direction is a reverse direction of a cutting direction; The cutting module is configured to cut the cutting circle along the cutting track based on the cutting device.

9. The apparatus for cutting a circle according to claim 8, wherein, The cutting module includes: The adjustment module is configured to move a focal point of a cutting head of the cutting device to the center position of the cutting circle; The execution module is configured to cut the cutting circle along the cutting track based on the cutting device after the movement.

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