3D laser cutting robot

Abstract

The present invention belongs to the field of three-dimensional laser cutting technology, and in particular relates to a three-dimensional laser cutting robot, comprising a body, two robots, and a control platform. The robot includes a cutting head. The human-machine interface (HMI) system in the control platform is used to transmit control commands to an industrial computer. The industrial computer in the control platform is used to control a servo system through control commands to drive the cutting head on the robot to perform multi-directional movement on the body. The HMI system includes a process parameter module, a motion control module, and a status display module. The process parameter module is used for user input of process parameters, and the input process parameters are organized and assigned to corresponding PLC variables, which are then transmitted to the industrial computer. The motion control module is used to control the robot's motion mode and the processing parameter settings of the cutting head. The status display module is used to display the robot's operating status. The present invention can solve the problem of poor human-machine system coordinated control of three-dimensional laser cutting robots in the prior art.

Description

Technical Field

[0001] The present invention belongs to the technical field of three-dimensional laser cutting, and in particular relates to a three-dimensional laser cutting robot. Background Art

[0002] Laser cutting uses a high-power density laser beam to irradiate the material to be cut, so that the material is quickly heated to the vaporization temperature and evaporated to form holes. As the beam moves on the material, the holes continuously form a very narrow slit, completing the cutting of the material; and the three-dimensional laser cutting robot uses the flexible and fast movement performance of the industrial robot and laser cutting technology to achieve the cutting of the workpiece. The application prospects of the three-dimensional laser cutting robot are very broad, especially in three-dimensional workpiece processing companies such as automobile manufacturing, machinery manufacturing and metal processing. There are three-dimensional laser cutting robots. They are highly intelligent and can effectively save labor costs, material costs and time costs.

[0003] The current 3D laser cutting robot includes a cutting head, a tracking system, a laser and an industrial robot. The industrial robot controls the operation of the cutting head and the laser, and cuts the workpiece under the action of the tracking system, so that 3D laser cutting can be achieved. However, the existing technology has shortcomings in the coordinated control of the robot and the cutting head. This is because the control of the robot and the cutting head is usually automatically controlled by the human-machine system, and the human-machine system of the existing technology controls the robot and the cutting head by reading user instructions, such as reading design drawings to generate cutting trajectories. The material and processing parameters of the workpiece to be cut have a great influence on the cutting quality. The corresponding processing parameters and processing methods for workpieces of different materials are different. Therefore, it is necessary to input accurate data into the human-machine system to improve the cutting effect of the workpiece. At this time, the coordinated control of the robot, the cutting head and the laser thereon is particularly important. Summary of the Invention

[0004] The technical problem solved by the present invention is to provide a three-dimensional laser cutting robot to solve the problem of poor coordinated control of the human-machine system of the three-dimensional laser cutting robot in the prior art.

[0005] The basic solution provided by the present invention is: a three-dimensional laser cutting robot, comprising a body, two robots and a control platform, wherein the robots are located on the body and include a cutting head;

[0006] The control platform includes an industrial computer, a servo system, and an HMI system. The cutting head and servo system are both connected to the industrial computer. The HMI system performs logical control with the industrial computer via a PLC. The HMI system is used to transmit control commands to the industrial computer, and the industrial computer is used to control the servo system through the control commands to drive the cutting head on the robot to move in multiple directions on the body.

[0007] The HMI system includes a process parameter module, a motion control module and a status display module. The process parameter module is used for users to input process parameters, and the input process parameters are sorted and assigned to corresponding PLC variables, and then transmitted to the industrial computer. The motion control module is used to control the robot's motion mode and the cutting head's processing parameter settings; the status display module is used to display the robot's operating status.

[0008] The principle and effect of the present invention are as follows: the three-dimensional laser cutting robot includes a fuselage, two robots and a control platform. The fuselage serves as the operating platform of the three-dimensional laser cutting robot and can support various components. The two robots can increase the cutting efficiency. The control platform receives the HMI human-machine system command through the industrial computer to control the servo system to control the cutting head. The servo system has the advantages of fast response speed and high precision, and can realize the movement of the cutting head in all directions. In the HMI human-machine system, the process parameter module can realize the user's direct input according to the material and cutting parameters of the workpiece to ensure that the cutting quality of each workpiece is supported by accurate data. The motion control module is used to control the robot's motion mode and the cutting head's motion setting, which can realize the motion modification and correction of the robot and the cutting head, ensuring that its operation on the workpiece is in a low-error and adjustable state. The status display module can display the robot's operating status and provide timely feedback to the user so that the user can make timely adjustments according to the operating status.

[0009] Therefore, the advantages of the present invention are: the HMI human-machine system allows users to accurately coordinate control of the robot and the cutting head, ensuring that the cutting quality of each workpiece is supported by accurate data.

[0010] Furthermore, the process parameters in the process parameter module include basic cutting parameters and cutting methods. The basic cutting parameters include material parameters, laser parameters, auxiliary gas parameters and axis motion parameters. The cutting methods include standard cutting, fine cutting, marking and burning.

[0011] Furthermore, the motion control module includes a robot motion control unit and a motion parameter setting unit. The robot motion control unit is used to control the robot motion according to a preset robot motion mode, and the parameter setting unit is used to set cutting head processing parameters.

[0012] Furthermore, the control platform further includes an I / O port module and a laser module, the servo system includes a servo driver, a servo motor, and an encoder, the industrial computer is connected to the laser module, the servo driver, and the servo motor via the I / O port module, the servo motor is electrically connected to the servo driver, the laser module is mounted on a cutting head, the cutting head is controlled by the servo motor, the laser module is used for laser cutting, and the parameter setting unit is further used to set operating parameters of the laser module;

[0013] The servo driver is used to control the servo motor to drive the cutting head to move in multiple directions on the machine body according to the control command of the industrial computer. The encoder is installed on the servo motor. The encoder is used to receive the servo shaft position information of the servo motor and feed it back to the industrial computer.

[0014] Furthermore, the control platform also includes a dual cutting head control system. The two robots are robot one and robot two. The dual cutting head control system is used to coordinate the cutting heads on robot one and robot two. The dual cutting head control system includes:

[0015] An area division module is used to divide the cutting work area for robot 1 and robot 2, and to divide the cutting head motion path; the cutting head motion path includes multiple single-segment processing trajectories;

[0016] The path planning module is used to calculate the shortest distance between the end point of each single-segment processing trajectory and the starting point of the remaining single-segment processing trajectories using the shortest path method, generate the shortest transition trajectory path planning when Robot 1 and Robot 2 are cutting, and combine multiple single-segment processing trajectories to generate the optimal motion path of the cutting heads of Robot 1 and Robot 2;

[0017] The collision detection module is used to simulate the collision detection of two robotic cutting heads when they move on their respective planned motion paths and generate a coordination space with collision areas;

[0018] The collision avoidance optimization module is used to generate a first collision-free motion trajectory for robot 1 to avoid collision with the collision area in the coordination space by optimizing the cutting time, and to optimize the collision avoidance motion trajectory of robot 2 over time using the generated first collision-free motion trajectory as a constraint to generate a second collision-free motion trajectory.

[0019] Furthermore, the control platform also includes a cutting head height control system, which is used to control the height adjustment between the cutting head and the workpiece. The cutting head height control system includes a controller, a detection module, and a height adjustment module. The detection module and the height adjustment module are both electrically connected to the controller, and the servo drive is also electrically connected to the controller. The detection module is located on the cutting head, and the detection module is used to collect the actual height of the cutting head from the surface of the workpiece in real time to generate an acquisition signal. The controller is used to convert the acquisition signal into an analog signal and transmit it to the height adjustment module.

[0020] A height standard value is preset in the height adjustment module. The height adjustment module is used to perform error calculation based on the analog signal and the preset height standard value to generate an error calculation result. The controller is also used to transmit the error calculation result to the servo driver. The servo driver is also used to control the servo motor to drive the up and down movement state of the cutting head according to the error calculation result. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a functional block diagram of a control platform according to an embodiment of the present invention;

[0022] Figure 2 This is a functional block diagram of the HMI system according to an embodiment of the present invention;

[0023] Figure 3 This is a functional block diagram of a dual-cutting head collaborative control system according to an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of the transition trajectory and safety plane in an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the shortest path method in an embodiment of the present invention;

[0026] Figure 6 This is a flowchart of collision detection of two robots in an embodiment of the present invention;

[0027] Figure 7 Schematic diagram of coordination space and coordination curve in an embodiment of the present invention;

[0028] Figure 8 Schematic diagram of the collision avoidance space in an embodiment of the present invention;

[0029] Figure 9 This is a functional block diagram of a cutting head height control system according to an embodiment of the present invention;

[0030] Figure 10 Schematic diagram of the surface of a workpiece processed in an embodiment of the present invention;

[0031] Figure 11Schematic diagram of the structure of the cutting head height control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following is further described in detail through specific implementation methods:

[0033] A three-dimensional laser cutting robot is usually composed of a body, a laser cutting head, a laser control cabinet, a laser generator, a high-speed and high-precision slide, a dust removal equipment, a loading and unloading robot, an air supply system, a cooling system, a control system, a human-machine safety system, a visual system, and a waste conveying system to achieve high-precision and high-efficiency laser cutting tasks. During the working process of the three-dimensional laser cutting robot, the coordinated control of various systems is very important. If the coordination is inconsistent, problems such as poor cutting section quality and low cutting efficiency will occur.

[0034] Therefore, in order to solve the above problems, the specific situation of the three-dimensional laser cutting robot proposed in this application is as follows:

[0035] The embodiment is basically as follows Figure 1 and Figure 2 As shown: The three-dimensional laser cutting robot includes a fuselage, two robots and a control platform. The robot is located on the fuselage, and a cutting head is provided on the robot. Among them, the fuselage is the core of the overall structure of the three-dimensional laser cutting robot of this application. In actual work, the fuselage must take the responsibility of supporting the robot and related control platforms. For this reason, the fuselage of this application adopts an integral welded structure to ensure welding accuracy and processing quality during the welding process, and the welds are polished and aged. After rough processing, it is subjected to secondary aging annealing to eliminate stress and then undergoes precision processing to ensure the processing accuracy of the fuselage.

[0036] The control platform includes an industrial computer, a servo system and an HMI human-machine system. The cutting head and the servo system are connected to the industrial computer. The HMI human-machine system performs logical control with the industrial computer through a PLC. The HMI human-machine system is used to transmit control commands to the industrial computer. The industrial computer is used to control the servo system through control commands to drive the cutting head on the robot to perform multi-directional movements on the machine body. Among them, the HMI human-machine system includes a process parameter module, a motion control module and a status display module. The process parameter module is used for users to input process parameters, and the input process parameters are sorted and assigned to corresponding PLC variables, and then transmitted to the industrial computer. In this embodiment, the process parameters The data include basic cutting parameters and cutting methods. The basic cutting parameters include material parameters, laser parameters, auxiliary gas parameters and axis motion parameters. Due to the different material properties of the workpiece being cut, the laser parameters need to be set to improve the cutting efficiency. When the three-dimensional laser cutting robot performs laser cutting operations, the distance between the laser focus and the upper surface of the workpiece and the output duty cycle of the laser will have a direct impact on the cutting quality. Therefore, it is necessary to control the laser through the process parameter module; in addition, auxiliary gases such as nitrogen, oxygen, air, etc. are required for laser cutting, and different gas types and gas pressures need to be selected according to the characteristics of the material. Therefore, the user inputs the process parameters, and the system organizes these parameters and assigns them to the corresponding PLC variables for the next step of control. In this embodiment, the process parameter module provides four different cutting methods to meet different material processing requirements: standard cutting, fine cutting, marking and film burning.

[0037] The motion control module is used to control the motion mode of the robot and the processing parameter setting of the cutting head. In this embodiment, the motion control module includes a robot motion control unit and a motion parameter setting unit. The robot motion control unit is used to control the motion of the robot according to a preset robot motion mode, wherein the preset robot motion mode includes automatic, manual, semi-automatic control, robot reference return, reset and coordinate axis movement, etc.; the parameter setting unit is used to set the cutting head processing parameters such as robot parameters and laser parameters. The robot parameters include the maximum speed, acceleration, processing range, etc. allowed for each motion axis, and the laser parameters include laser power, nozzle height, etc.

[0038] The status display module is used to display the operating status of the robot, such as the current processing workpiece status, system time, robot motion parameters, laser parameters, etc. In addition, the status display module also includes an alarm information display unit. The alarm information display unit is used to display fault alarm information in the three-dimensional laser cutting robot. The fault alarm information consists of an alarm code, an alarm type, and an information description, which is convenient for users to debug, maintain, and repair the three-dimensional laser cutting robot.

[0039] Therefore, the above-mentioned HMI human-machine system can be used as a human-machine interaction system of the control platform. For the software level of the HMI human-machine system, the HMI human-machine system consists of three parts, namely, the HMI interface program, the PLC program and the CNC system program. Among them, the HMI interface program is written in Microsoft C# language, and its function is to provide an operation interface, display the machine status, download process parameters, and operate the three-dimensional laser cutting robot system; the PLC program is used to receive the control instructions sent by the HMI interface program, and transmit them to the CNC system program after logical operation. At the same time, it receives the status of the CNC system program and transmits it to the HMI interface program for display; the CNC system program is used to parse the G code program to execute interpolation motion, among which the basic part of the G code program is trajectory programming, so as to control the movement of the cutting head.

[0040] The control platform also includes an I / O port module and a laser module. The servo system includes a servo drive, a servo motor and an encoder. The industrial computer is connected to the laser module, servo drive and servo motor through the I / O port module. The servo motor is electrically connected to the servo drive. The laser module is installed on the cutting head, and the cutting head is controlled by the servo motor. The laser module is used for laser cutting. The parameter setting unit is also used to set the operating parameters of the laser module. In this embodiment, the industrial computer and the I / O port module are connected through a network cable, following the communication protocol of the EtherCAT bus. The I / O port module is connected to the laser module, servo drive and servo motor through the contact wires on the I / O port module. In this way, the industrial computer is connected to the laser module, servo drive and servo motor, ensuring that the industrial computer can operate and control the above modules.

[0041] The servo driver is used to control the servo motor to drive the cutting head to perform multi-directional movement on the machine body according to the control command of the industrial computer. The encoder is installed on the servo motor. The encoder is used to receive the servo shaft position information of the servo motor and feed it back to the industrial computer. In this embodiment, the cutting head is driven by a servo motor, relying on the advantages of the servo motor such as fast response speed, high precision, small pulsating torque, large transmission power and high efficiency.

[0042] like Figure 3 As shown, the control platform also includes a dual cutting head control system. The two robots are robot 1 and robot 2. The dual cutting head control system is used to coordinate the cutting heads on robot 1 and robot 2. The dual cutting head control system includes:

[0043] The area division module is used to divide the cutting work area for robot one and robot two, and divide the cutting head movement path; the cutting head movement path includes multiple single-segment processing trajectories; by dividing the working area for each robot before cutting, the probability of collision between the two robots when working can be reduced. At the same time, considering the cutting efficiency, the working time of the two robots should be as close as possible, so the area division method should be considered when dividing the area so that the cutting path lengths of the two robots are as close as possible.

[0044] The path planning module is used to calculate the shortest distance between the end point of each single-segment processing trajectory and the starting point of the remaining single-segment processing trajectories using the shortest path method, generate the shortest transition trajectory path planning when Robot 1 and Robot 2 are cutting, and combine multiple single-segment processing trajectories to generate the optimal motion path of the cutting heads of Robot 1 and Robot 2;

[0045] In this embodiment, when planning the cutting head's motion path, the spatial trajectory for 3D laser processing can only be interpolated using spatial straight lines. After processing each trajectory, the cutting head must turn off the laser, move to the starting point of the next processing trajectory, and then turn on the laser again for processing. The movement of the cutting head between two processing trajectories is called a transition trajectory. Within the transition trajectory, the cutting head can perform reset operations and adjust its angle to prepare for the next cut. Generally speaking, to improve processing efficiency, the cutting head's movement speed within the transition trajectory should be faster than that within the processing trajectory.

[0046] Therefore, in order to avoid the cutting head from colliding with the three-dimensional workpiece within the transition trajectory, the cutting head is raised to a certain height in the Z direction after completing the previous processing trajectory. This plane is parallel to the XY plane and is higher than all parts of the three-dimensional workpiece. It is called the safety plane. Figure 4 In this way, when the cutting head moves quickly within the safety plane, it can be guaranteed not to collide with the three-dimensional workpiece.

[0047] After setting the transition trajectory, the optimal motion path of the cutting heads of Robot 1 and Robot 2 is generated by combining multiple single-segment processing trajectories through the shortest path method. Specifically, in order to make the total distance of the transition trajectory the shortest, the shortest distance between the end point of each processing trajectory and the starting point of other trajectories must be calculated. Since the cutting head always moves from one point to another in the safety plane, the starting and ending points of the processing trajectory can be projected onto the XY plane, and the problem can be converted into a plane problem for solution. At the same time, the cut holes are closed curves, and the starting and end points basically coincide, which also simplifies the calculation process. This method is called the shortest path method, and its process is as follows: Figure 5 shown.

[0048] The collision detection module is used to simulate the collision detection of two robotic cutting heads when they move on their respective planned motion paths and generate a coordination space with collision areas;

[0049] The collision avoidance optimization module is used to generate a first collision-free motion trajectory for robot 1 to avoid collision with the collision area in the coordination space by optimizing the cutting time, and to optimize the collision avoidance motion trajectory of robot 2 over time using the generated first collision-free motion trajectory as a constraint to generate a second collision-free motion trajectory.

[0050] The simulation mode of the collision detection module in this embodiment is as follows: Figure 6 The figure shows the entire collision detection flow chart for a pair of robots. A simplified model of the two robots is constructed using capsules for the connecting rods and spheres for the joints. The shortest distance between the robots is calculated in the simulation software to determine whether the two robots have collided, allowing for collision detection experiments. If the shortest distance between the two robots is less than 0, a collision has occurred; otherwise, no collision has occurred.

[0051] In laser cutting, the contours of the workpiece are fixed, so collision-avoidance path planning is required, where the cutting path remains fixed. After planning the motion paths of the two robot terminals, the collision detection module simulates the two robots' movements along their respective paths and performs collision detection. Based on the collision detection results, collision-free motion trajectories are then planned for the two robots. This trajectory refers to the speed settings along their respective paths. By adjusting the speed, the time it takes for the two robots to reach the corresponding collision position is changed, thereby achieving collision avoidance.

[0052] like Figure 7 As shown in the figure, the method first parameterizes the pre-planned path using two scalars, S1 and S2: S1 represents the length of the first robot's motion path, and S2 represents the length of the second robot's motion path. S1 and S2 form a coordination space, in which a continuous curve connecting any points (0,0) and (S1,S2) is defined as a coordination curve. Collision detection is performed by determining whether the coordination curve passes through the collision zone. After planning the time trajectory of each robot, the collision zone is converted from the coordination space to the collision avoidance space, which refers to the path-time (st) coordinate system of each robot. The minimum time delay at the starting point to avoid collision can then be determined by finding the tangent point between the converted collision zone and the planned trajectory.

[0053] The coordination space is transformed into the collision avoidance space of a single robot, and the time-optimized collision-free motion trajectory of a single robot is studied. The collision avoidance space is as follows: Figure 8As shown in the figure, the time-optimized trajectory of the first robot is planned first, and then the time motion trajectory of the second robot is planned with the first robot as the constraint. The black area represents the collision area, t1 and t2 represent the time of the initial collision and the time of the final collision of the two robots, and C represents a collision-free motion trajectory of the second robot.

[0054] like Figure 9 As shown, the control platform also includes a cutting head height control system, which is used to control the height adjustment between the cutting head and the workpiece. The cutting head height control system includes a controller, a detection module and a height adjustment module. The detection module and the height adjustment module are both electrically connected to the controller, and the servo drive is also electrically connected to the controller. The detection module is located on the cutting head, and the detection module is used to collect the actual height of the cutting head from the surface of the workpiece in real time and generate an acquisition signal. The controller is used to convert the acquisition signal into an analog signal and transmit it to the height adjustment module;

[0055] A height standard value is preset in the height adjustment module. The height adjustment module is used to perform error calculation based on the analog signal and the preset height standard value to generate an error calculation result. The controller is also used to transmit the error calculation result to the servo driver. The servo driver is also used to control the servo motor to drive the up and down movement state of the cutting head according to the error calculation result.

[0056] In this embodiment, if Figure 10 As shown in the figure, in the actual process of cutting and processing workpieces, since the surface of the workpiece being cut is not an ideal plane, the uneven surface of the workpiece, the geometric error of the machine tool, the thermal deformation of the workpiece, etc. will cause the laser focus to not be able to stably illuminate the optimal position of the workpiece when the cutting head makes cutting movements, and it may even happen that the cutting head nozzle hits the workpiece surface. Some interference factors (geometric errors of the machine tool) are regular and can be compensated in a quantitative manner. Other random influencing factors need to be monitored online, and the defocus amount needs to be adjusted in real time by feedback. Therefore, the key to improving the quality of laser cutting processing is to realize real-time detection of the distance between the cutting head sensing nozzle and the workpiece. When the distance deviates from the set optimal value, the cutting head position is adjusted through the feedback control system to ensure a constant defocus amount.

[0057] In this embodiment, the detection module includes a capacitive sensor and a position detection module, such as Figure 11The figure shows a schematic diagram of the height adjustment structure in this embodiment. A capacitive sensor is installed on the cutting head. The capacitive sensor monitors and feedbacks the actual height of the cutting head from the surface of the plate in real time, and inputs the collected signal into the position detection module. The position detection module then converts the change in sensor capacitance into an analog signal and sends it to the height adjustment module. The height adjustment module compares the collected data with the set height standard value, calculates the position error of the current cutting head's contact nozzle from the material surface, and inputs this position error into the controller. After the controller calculates, the calculation result is output to the servo driver. The servo driver will directly control the servo motor to move, so as to realize the lifting or lowering of the cutting head, thereby controlling the laser cutting head to accurately track the distance from the workpiece surface.

[0058] In this embodiment, the height adjustment module is a height controller. Control of the height controller primarily includes initial setup and control of the lift, cutting, and perforation heights during operation to ensure safety throughout the entire process. The height controller, in conjunction with the laser cutting software, easily implements functions such as automatic height tracking, segmented perforation, progressive perforation, automatic edge tracking, frog jumping, and vibration suppression. The included active collision avoidance function effectively prevents impacts between the nozzle and ceramic ring caused by lifted sheet metal during idle movement.

[0059] The above are only embodiments of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme are not described in detail here. Ordinary technicians in the field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. 3D laser cutting robot, characterized by: It includes a fuselage, two robots and a control platform, wherein the robots are located on the fuselage and include a cutting head; The control platform includes an industrial computer, a servo system, and an HMI system. The cutting head and servo system are both connected to the industrial computer. The HMI system performs logical control with the industrial computer via a PLC. The HMI system is used to transmit control commands to the industrial computer, and the industrial computer is used to control the servo system through the control commands to drive the cutting head on the robot to move in multiple directions on the body. The HMI system includes a process parameter module, a motion control module, and a status display module. The process parameter module is used for allowing users to input process parameters, and organizes and assigns the input process parameters to corresponding PLC variables, and then transmits them to the industrial computer. The motion control module is used to control the robot's motion mode and the cutting head's processing parameter settings; the status display module is used to display the robot's operating status; The control platform also includes a dual cutting head control system. The two robots are robot 1 and robot 2. The dual cutting head control system is used to coordinate the cutting heads of robot 1 and robot 2. The dual cutting head control system includes: An area division module is used to divide the cutting work area for robot 1 and robot 2, and to divide the cutting head motion path; the cutting head motion path includes multiple single-segment processing trajectories; The path planning module is used to calculate the shortest distance between the end point of each single-segment processing trajectory and the starting point of the remaining single-segment processing trajectories using the shortest path method, generate the shortest transition trajectory path planning when Robot 1 and Robot 2 are cutting, and combine multiple single-segment processing trajectories to generate the optimal motion path of the cutting heads of Robot 1 and Robot 2; The collision detection module is used to simulate the collision detection of two robotic cutting heads when they move on their respective planned motion paths and generate a coordination space with collision areas; a collision avoidance optimization module, configured to generate a first collision-free motion trajectory of the first robot in the coordination space for avoiding collision with the collision area by optimizing the cutting time, and to optimize the collision-free motion trajectory of the second robot over time using the generated first collision-free motion trajectory as a constraint to generate a second collision-free motion trajectory; The collision avoidance optimization module is used to adopt a collision avoidance path planning in which the cutting path cannot be changed when the contour on the workpiece is fixed; the method for the collision avoidance path planning in which the cutting path cannot be changed is: First, the pre-planned path is parameterized using two scalars S1 and S2, where S1 represents the length of the first robot's motion path and S2 represents the length of the second robot's motion path. S1 and S2 form a coordination space, in which any continuous curve connecting the points (0,0) and (S1,S2) is defined as a coordination curve. Collision detection is achieved by determining whether the coordination curve passes through the collision area. After planning the time motion trajectory of each robot separately, the collision area is converted from the coordination space to the collision avoidance space. The collision avoidance space here refers to the path-time coordinate system of a single robot. Then, by finding the tangent point between the converted collision area and the planned trajectory, the minimum time delay at the starting point to avoid collision is calculated.

2. The three-dimensional laser cutting robot according to claim 1, characterized in that: The process parameters in the process parameter module include basic cutting parameters and cutting methods. The basic cutting parameters include material parameters, laser parameters, auxiliary gas parameters and axis motion parameters.

3. The three-dimensional laser cutting robot according to claim 2, characterized in that: The motion control module includes a robot motion control unit and a motion parameter setting unit. The robot motion control unit is used to perform motion control of the robot according to a preset robot motion mode, and the motion parameter setting unit is used to set cutting head processing parameters.

4. The three-dimensional laser cutting robot according to claim 3, characterized in that: The control platform further includes an I / O port module and a laser module, the servo system includes a servo driver, a servo motor, and an encoder, the industrial computer is connected to the laser module, the servo driver, and the servo motor via the I / O port module, the servo motor is electrically connected to the servo driver, the laser module is mounted on a cutting head, the cutting head is controlled by the servo motor, the laser module is used for laser cutting, and the motion parameter setting unit is further used to set the operating parameters of the laser module; The servo driver is used to control the servo motor to drive the cutting head to move in multiple directions on the machine body according to the control command of the industrial computer. The encoder is installed on the servo motor. The encoder is used to receive the servo shaft position information of the servo motor and feed it back to the industrial computer.

5. The three-dimensional laser cutting robot according to claim 4, characterized in that: The control platform also includes a cutting head height control system, which is used to control the height adjustment between the cutting head and the workpiece. The cutting head height control system includes a controller, a detection module, and a height adjustment module. The detection module and the height adjustment module are both electrically connected to the controller, and the servo drive is also electrically connected to the controller. The detection module is located on the cutting head, and the detection module is used to collect the actual height of the cutting head from the surface of the workpiece in real time to generate an acquisition signal. The controller is used to convert the acquisition signal into an analog signal and transmit it to the height adjustment module. A height standard value is preset in the height adjustment module. The height adjustment module is used to perform error calculation based on the analog signal and the preset height standard value to generate an error calculation result. The controller is also used to transmit the error calculation result to the servo driver. The servo driver is also used to control the servo motor to drive the up and down movement state of the cutting head according to the error calculation result.

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