Pulse laser collaborative processing control method and system based on sequential control

Abstract

The invention provides a pulse laser cooperative processing control method and system based on sequential control, and the method comprises the steps: obtaining set processing parameters, calculating robot motion parameters and laser light emitting parameters according to a set calibration method, and transmitting the parameters to a robot and a laser; controlling the robot to start moving according to a set track according to the motion parameters of the robot and the light emitting parameters of the laser, and acquiring the motion state of the robot; according to the motion state of the robot, whether the robot is in a constant-speed motion stage is judged, if yes, the laser is controlled to emit light according to laser emitting parameters, and if not, the robot is controlled to continue to move; controlling the light emitting times of the laser to reach the target light emitting times according to the light emitting parameters of the laser, and controlling the laser to stop emitting light; and controlling the robot to move to the end point. According to the method, under the condition that the accuracy of the light emitting position of the pulse laser is guaranteed, the movement speed of the robot is matched with the maximum light emitting frequency of the laser, and the machining efficiency is remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of laser processing technology, and in particular, to a pulse laser collaborative processing control method and system based on timing control. Background Art

[0002] Laser shot peening process uses high energy (GW / cm 2 The short pulse (ns level) of the order of magnitude impacts the surface of the metal workpiece to introduce transient high-amplitude impact pressure, causing the material to undergo plastic deformation and thus introduce residual compressive stress, thereby improving the fatigue properties of the metal material or causing the part to bend and deform. Due to its outstanding process characteristics such as high residual compressive stress, strong process controllability, and good target surface quality, it has broad application prospects in the fields of aerospace, defense equipment manufacturing, etc.

[0003] Industrial robots are multi-degree-of-freedom, easy-to-control, flexible and versatile devices. Currently, shot peening is generally performed by combining lasers and robots. For large-size integral wall panel forming, in-situ strengthening of key components or shape correction, processing efficiency and precise control are the first factors to be considered in process applications.

[0004] The existing patent discloses "A pulsed laser and robot coordinated control system, method and terminal" (ZL202210773435.4), which proposes a laser light emission-robot motion coordinated closed-loop control method. When the robot moves to the target point, the laser can be accurately triggered, effectively solving the problems of timing control and processing efficiency of complex surface processing. However, the processing efficiency still cannot meet the requirements of large-scale planar laser impact.

[0005] The existing patent discloses "an efficient laser shock strengthening control method based on process parameter matching" with application number CN115404335A, which proposes an efficient laser shock control method in which the robot movement speed matches the laser light emission frequency. However, the triggering timing of the laser light emission is determined according to the robot acceleration time. There is no unified time reference for the laser light emission and the robot movement, and the precise light emission of the robot in the non-uniform speed stage cannot be effectively controlled.

[0006] The existing patent discloses "a method of laser synchronous processing based on a robot system" with application number CN200310103315.0, which proposes a method for synchronous control of a laser and a robot. According to the laser parameters, the time base between the laser and the robot is unified through signal interaction between the industrial computer and the robot. However, the laser emits light first and the robot moves afterwards. When the continuous processing mode is adopted, the problem of uneven distribution of the laser spot caused by the acceleration and deceleration process of the robot movement is not taken into account. Summary of the invention

[0007] In view of the defects in the prior art, the purpose of this application is to provide a pulse laser collaborative processing control method based on timing control. While ensuring the accuracy of the pulse laser light output position, the robot's movement speed matches the maximum light output frequency of the laser, thereby significantly improving the processing efficiency.

[0008] In one aspect of the present application, a pulse laser collaborative processing control method based on timing control is provided, comprising:

[0009] Get the set processing parameters, calculate the robot motion parameters and laser light parameters according to the set calibration method, and send them to the robot and laser;

[0010] According to the motion parameters of the robot and the light emission parameters of the laser, the robot is controlled to start moving according to the set trajectory, and the motion state of the robot is obtained;

[0011] According to the motion state of the robot, determine whether the robot is in a uniform motion stage. If so, control the laser to emit light according to the laser light emission parameters. If not, control the robot to continue to move.

[0012] According to the light emission parameters of the laser, the laser light emission times are controlled to reach the target light emission times, and the laser light emission is controlled to stop;

[0013] Control the robot to move to the end point.

[0014] Furthermore, the robot motion parameters and laser light emission parameters are calculated according to the set calibration method, wherein the robot motion parameters include the robot motion compensation amount, the robot motion starting position and the robot motion ending position;

[0015] The laser light emission parameters include: the number of laser light emission synchronization signals and the number of target light emission.

[0016] Furthermore, the set calibration method includes:

[0017] Set processing parameters, including: spot size D, spot overlap rate P, pulse frequency F, robot acceleration a;

[0018] The robot moves to the starting position and obtains the synchronization signal of the laser light;

[0019] According to the synchronization signal emitted by the laser, the robot starts to move toward the end point at the acceleration a and the speed v;

[0020] During the movement, the laser is controlled to emit light continuously until the robot reaches the end point and stops;

[0021] Wherein, the speed v is

[0022] v=D*(1-P)*F.

[0023] Furthermore, the target number N is calculated as follows:

[0024]

[0025] Where, L is the linear processing distance; D is the spot size; and P is the spot overlap rate.

[0026] Furthermore, after the robot moves to the end point, the method further comprises:

[0027] Obtain the first spot position P1 after the laser emits light, which is the position where the robot starts to move. The uniform starting position of the spot is recorded as P2. The total number of spots before the spot is uniform is recorded as n. The total number of spots n is the number of laser light synchronization signals.

[0028] Calculate the robot motion compensation ΔP = |P2-P1|;

[0029] Set different processing parameters to obtain the robot motion compensation amount and the laser light emitting synchronization signal number n corresponding to the processing parameters;

[0030] The relationship between ΔP and n and acceleration a, spot size D, spot overlap rate P, and pulse frequency F is fitted using a polynomial function: ΔP = f (a, D, P, F), n = f (a, D, P, F);

[0031] The robot motion starting position and the robot motion ending position are calculated according to the robot motion compensation amount.

[0032] Furthermore, the starting position and the ending position of the robot movement are calculated as follows:

[0033] P 机器人运动起点 =P 加工规划起点 ±ΔP;

[0034]

[0035] Furthermore, the controlling the robot to start moving along a set trajectory and obtaining the robot's motion state according to the robot's motion parameters and the laser light emission parameters includes:

[0036] Control the robot to move to the robot starting position, and receive the robot starting movement permission signal and the laser light emitting synchronization signal;

[0037] Control the robot to start moving according to the set acceleration and trajectory, and record the number of times the laser emits a light synchronization signal to determine the movement state of the robot;

[0038] The motion state of the robot includes: an acceleration motion stage, a uniform speed motion stage and a uniform deceleration stage.

[0039] Further, judging whether the robot is in a uniform motion stage according to the motion state of the robot, if so, controlling the laser to emit light according to the laser light emission parameters, and if not, controlling the robot to continue to move, includes:

[0040] When the robot enters the uniform motion stage, it is determined whether the number of laser light emitting synchronization signals reaches the calculated number of laser light emitting synchronization signals. If so, the control system sends the laser light emitting permission signal to allow the laser to emit light. If not, the laser is not allowed to emit light.

[0041] When the robot is in the uniform motion stage, the number of light emission of the laser in the uniform motion stage is read. After reaching the set target light emission number, the system turns off the laser light emission permission signal and the laser stops emitting light.

[0042] Furthermore, when the robot is in a uniform motion stage, the number of light emission of the laser in the uniform motion stage is read, and after reaching a set target light emission number, the system turns off the laser light emission permission signal, and the laser stops emitting light, including: controlling the light emission permission signal of the control system to remain in a normally open state, reading the light emission signal fed back by the energy meter and counting, until the target light emission number is reached, and then turning off the light emission permission signal, and the laser stops emitting light,

[0043] Or the control system triggers the light emission permission signal to turn on, and immediately turns off the light emission permission signal after reading the light emission signal fed back by the energy meter each time, and the laser stops emitting light, and repeats the above process until the target light emission times are reached.

[0044] In a second aspect of the present application, a pulsed laser light emission and robot motion coordinated control system is provided, comprising:

[0045] The host computer is used to set processing parameters and plan the robot's motion path;

[0046] A pulse laser module, comprising a pulse laser and an energy meter, wherein the pulse laser provides the pulse laser required for laser processing, and the energy meter is used to detect the pulse laser and feed back the laser light output signal;

[0047] A robot module, comprising an industrial robot, the industrial robot clamping a workpiece to be processed and realizing spatial movement of the workpiece to be processed;

[0048] The control system includes a controller, which receives the robot motion path planned by the host computer, exchanges information with the pulse laser module to realize laser light-light feedback closed-loop control; and exchanges information with the robot module to realize coordinated control of laser light and robot motion with timing matching.

[0049] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0050] 1. The present application establishes a collaborative control process of robot movement-pulse laser light emission, which can realize laser processing of parts under a fixed optical path while the robot clamps the parts to be processed and moves, thereby improving the controllability of the processing process, and effectively solving the problems of inaccurate laser impact position and excessive and disordered light emission in the laser impact process caused by the asynchrony between robot movement and laser light emission in the existing process. The consistency and stability of the laser processing process are improved, and the accuracy of the processing position is ensured. This method can be used for various types of industrial robots, with good universality and strong portability.

[0051] 2. The present application controls the laser's light emission timing by reading the laser pulse synchronization signal, unifies the start time of the robot's movement to the time of the laser pulse synchronization signal, and then calibrates the number of laser pulse synchronization signals corresponding to the robot's movement reserve, thereby ensuring the consistency of the robot and laser time references, eliminating the laser light spot position deviation caused by timing asynchrony during laser processing, ensuring the accuracy and consistency of each spot position in the laser processing area, and realizing high-efficiency plane processing of the robot laser. The robot's movement speed matches the maximum light emission frequency of the pulsed laser, significantly improving processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0053] Figure 1 This is a flow chart of a pulse laser collaborative processing control method based on timing control according to an embodiment of the present application.

[0054] Figure 2 This is a timing diagram of the pulsed laser light and the robot motion signal in one embodiment of the present application.

[0055] Figure 3 Schematic diagram of a pulsed laser light emission and robot motion parameter calibration method in one embodiment of the present application.

[0056] Figure 4 A schematic diagram of a pulse laser collaborative processing control system based on timing control according to an embodiment of the present application.

[0057] In the figure: 1. Industrial robot; 2. Pulse laser; 3. Energy meter; 4. Controller. DETAILED DESCRIPTION

[0058] The present application is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements can also be made without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0059] Reference Figure 1 As shown, a pulse laser collaborative processing control method based on timing control according to an embodiment of the present application includes: S1, obtaining the set processing parameters, calculating the robot motion parameters and the laser light emission parameters according to the set calibration method, and sending them to the robot and the laser; S2, according to the robot motion parameters and the laser light emission parameters, controlling the robot to start moving according to the set trajectory, and obtaining the robot motion state; S3, according to the robot motion state, judging whether the robot is in a uniform motion stage, if so, controlling the laser to emit light according to the laser light emission parameters, if not, controlling the robot to continue moving; S4, according to the laser light emission parameters, controlling the laser light emission times to reach the target light emission times, and controlling the laser to stop emitting light; S5, controlling the robot to move to the end point.

[0060] The present application establishes a coordinated control process of pulsed laser light emission and robot movement, which can realize laser processing of parts under a fixed optical path while the robot clamps the parts to be processed and moves, thereby improving the controllability of the processing process and effectively solving the problems of inaccurate laser impact position and excessive and disordered light emission in the laser impact process caused by the lack of synchronization between robot movement and laser light emission in the existing process. The consistency and stability of the laser processing process are improved, and the accuracy of the processing position is ensured.

[0061] Specifically, during the operation, first, various parameters required for processing, such as processing path, speed, laser power, etc., are obtained from the user or preset configuration. Then, according to the set calibration method and combined with the processing parameters, the robot motion parameters (such as position, speed, acceleration, etc.) and laser light emission parameters (such as laser power, pulse frequency, light emission time, etc.) are calculated to ensure that each step in the processing process is carried out according to the predetermined plan and improve the processing accuracy; then, the corresponding parameters are sent to the robot and the laser; according to the received motion parameters, the robot starts to move according to the set trajectory, and at the same time, the system obtains and monitors the motion state of the robot in real time. When the robot motion state is in the uniform motion stage, it is determined that it is suitable for laser processing, and the laser light emission is controlled according to the laser light emission parameters. The laser light emission is controlled only when the robot is in the uniform motion stage, thereby avoiding processing errors caused by acceleration and deceleration of the robot; then, according to the laser light emission parameters, the laser light emission times are controlled until the target light emission times are reached and the laser stops emitting light. Finally, after completing all laser processing operations, the robot is controlled to continue moving to the end position to complete the entire processing process.

[0062] In the above embodiment, specifically, according to the set calibration method, the robot motion parameters and the laser light emission parameters are calculated, the robot motion parameters include the robot motion compensation amount, the robot motion starting position and the end position; the laser light emission parameters include: the number of laser light emission synchronization signals and the number of target light emission times.

[0063] The robot's motion compensation amount, motion starting position and end position before execution are calculated through the set calibration method to achieve the accuracy of the execution process. Then, the laser light synchronization signal and target light output times are calculated, and the laser light output time and times are precisely controlled to avoid unnecessary energy waste and reduce energy consumption. At the same time, the robot and laser can work together during the execution process.

[0064] In some specific embodiments, the calibration method is set, including: setting processing parameters, including: spot size D, spot overlap rate P, pulse frequency F, robot acceleration a; the robot moves to the starting position and obtains the synchronization signal of the laser light; according to the synchronization signal of the laser light, the robot starts to move toward the end point with acceleration a and speed v; during the movement, the laser is controlled to emit light continuously until the robot stops after moving to the end point.

[0065] Among them, the speed v is v=D*(1-P)*F.

[0066] Reference Figure 3As shown, through the set calibration method, when calculating the relevant robot motion parameters and laser light emission parameters, the robot speed v is first calculated by obtaining the spot size D, spot overlap rate P, pulse frequency F, and robot acceleration a, and the robot is controlled to move from the starting point to the end point in combination with the set acceleration a. At the same time, the laser continuously emits light during the movement process, and multiple light emission points are obtained on the corresponding target in combination with the robot's speed and acceleration, and the laser light emission parameters are calculated according to the movement process until the processing is completed and the light emission ends, thereby ensuring the consistency of the time reference of the robot and the laser, eliminating the laser light emission spot position deviation caused by the asynchronous timing during the laser processing process, and ensuring the accuracy and consistency of each spot position in the laser processing area.

[0067] Specifically, the target number N in the laser emission parameters is calculated as follows:

[0068]

[0069] Where, L is the linear processing distance; D is the spot size; and P is the spot overlap rate.

[0070] The target number is calculated based on the spot size, spot overlap rate and straight line processing distance.

[0071] In some specific embodiments, after the robot moves to the end point, it also includes: obtaining the first light spot position P1 after the laser emits light, which is the position where the robot starts to move; the starting position of the light spot uniformity is recorded as P2, and the total number of light spots before the light spot is uniform is recorded as n, and the total number of light spots n is the number of times the laser emits light synchronization signals; calculating the robot motion compensation amount ΔP = |P2-P1|.

[0072] The laser light emitting synchronization signal is a laser internal signal or a laser external signal that is consistent with the pulse laser light emitting timing.

[0073] During the processing, the first spot position P1 of the laser is recorded, which is the position where the robot starts to move. Then, the uniform starting position of the spot during the processing is obtained and recorded as P2. The total number of spots before the spot is uniform is recorded as n. The robot motion compensation ΔP is calculated through the first spot position P1 and the uniform starting position of the spot as P2. The robot laser can perform high-efficiency plane processing. The robot movement speed matches the maximum light output frequency of the pulse laser, which significantly improves the processing efficiency.

[0074] The total number of light spots n is the number of times the laser emits light synchronization signals.

[0075] Then, by setting different processing parameters, the robot motion compensation amount and the number of laser light synchronization signals n corresponding to the processing parameters are obtained; the polynomial function is used to fit the relationship between ΔP and n and the acceleration a, spot size D, spot overlap rate P, and pulse frequency F: ΔP = f(a, D, P, F), n = f(a, D, P, F); according to the robot motion compensation amount ΔP, the starting position and ending position of the robot motion are calculated.

[0076] By setting different processing parameters and obtaining the corresponding robot motion compensation and the number of laser light synchronization signals, and then using a polynomial function to fit the relationship between these parameters and acceleration, spot size, spot overlap rate, and pulse frequency, the robot's motion compensation and the number of laser light synchronization signals during laser processing can be accurately predicted and optimized, thereby improving processing accuracy and efficiency, reducing errors, and ensuring processing quality.

[0077] Specifically, the starting position and ending position of the robot movement are calculated as follows:

[0078] P 机器人运动起点 =P 加工规划起点 ±ΔP;

[0079]

[0080] Reference Figure 2 As shown, in some specific embodiments, according to the robot's motion parameters and the laser light emission parameters, the robot is controlled to start moving according to the set trajectory and the robot's motion state is obtained, including: controlling the robot to move to the robot's starting position, receiving the robot's starting motion permission signal and the laser light emission synchronization signal; controlling the robot to start moving according to the set acceleration and trajectory, and recording the number of laser light emission synchronization signals to determine the robot's motion state; the robot's motion state includes: acceleration motion stage, uniform speed motion stage and uniform deceleration stage.

[0081] In some specific implementations, the synchronization signal generator for acquiring the synchronous light output signal of the laser can generate a square wave signal with the same period and phase as the laser light output.

[0082] Specifically, the linear motion process of the industrial robot of this application is divided into three motion stages: uniform acceleration, uniform speed, and uniform deceleration. In order to ensure the uniformity of the laser spot position, it is necessary to control the pulse laser to emit light during the robot's uniform speed motion stage, and determine whether the robot moves to the uniform speed stage through the set processing parameters, that is, determine whether it moves to the uniform speed stage through the speed, acceleration, and the starting and end points of the processing route; therefore, the starting point of the robot's motion trajectory needs to be placed before the starting point of the processing area, and the end point needs to be placed after the end point of the processing area, leaving a distance for the robot's acceleration and deceleration stages. At the same time, it is necessary to control the timing of the laser's light emission so that the laser can accurately trigger the light emission in the target processing area.

[0083] Among them, after the robot enters the uniform speed stage, when the light emission permission signal is not received, the number of laser light emission synchronization signals continues to be recorded, that is, the number of laser light emission synchronization signals includes the number of laser light emission synchronization signals before the robot moves to the uniform speed stage and the number of laser light emission synchronization signals before the light emission permission signal is not reached in the uniform speed stage.

[0084] In some specific embodiments, according to the movement state of the robot, it is determined whether the robot is in the uniform motion stage. If so, the laser is controlled to emit light according to the laser light emitting parameters. If not, the robot is controlled to continue moving, including: when the robot enters the uniform motion stage, it is determined whether the number of laser light emitting synchronization signals reaches the calculated number of laser light emitting synchronization signals. If so, the control system sends a laser light emitting permission signal to allow the laser to emit light. If not, the laser is not allowed to emit light; when the robot is in the uniform motion stage, the number of laser light emitting times in the uniform motion stage is read. After reaching the set target number of light emitting times, the system turns off the laser light emitting permission signal and the laser stops emitting light.

[0085] The present application controls the laser's light emission timing by reading the laser pulse synchronization signal, unifies the start time of the robot's movement to the time of the laser pulse synchronization signal, and then calibrates the number of laser pulse synchronization signals corresponding to the robot's movement reserve, thereby ensuring the consistency of the robot and laser time references, eliminating the laser light spot position deviation caused by timing asynchrony during laser processing, ensuring the accuracy and consistency of each spot position in the laser processing area, and realizing high-efficiency plane processing of the robot laser. The robot's movement speed matches the highest light emission frequency of the pulsed laser, significantly improving processing efficiency.

[0086] In the above embodiment, referring to Figure 2 As shown, the laser light emission permission signal is set in the uniform speed stage of the robot movement, including the entire range or partial range of the uniform speed stage for laser light emission.

[0087] In some specific implementations, the light emission permission signal and the light emission stop signal of the laser can be realized by controlling the laser switch grating.

[0088] Specifically, when the robot starts to move along a preset trajectory, the system will monitor its motion state in real time. When the robot enters the uniform motion stage, the motion speed remains stable, and it is determined that it is an ideal time to perform laser processing. At the same time, while the robot is moving at a uniform speed, the system will check whether the number of laser light emitting synchronization signals matches the number of laser light emitting synchronization signals previously calculated based on the processing parameters, to ensure that the laser light is perfectly synchronized with the robot's movement. If the number of laser light emitting signals matches the calculated value, the system will send a laser light emitting permission signal to the laser, allowing it to start emitting light. If the number of laser light emitting signals does not match the calculated value, the system will keep the laser in an off state to avoid processing errors. Finally, during the uniform motion of the robot, the system will continuously read and record the number of laser light emitting times. When the preset target number of light emitting times is reached, the system will immediately turn off the laser's light emitting permission signal to stop it from emitting light, thereby ensuring the accuracy and efficiency of laser processing and avoiding over-processing or under-processing.

[0089] Finally, after the light emission ends, the robot is controlled to move to the end point. Specifically, the robot enters a uniform deceleration stage from a uniform speed, and the robot decelerates and moves to the end point of the robot movement according to the set acceleration.

[0090] Exemplarily, in a specific embodiment, when the robot is in a uniform motion stage, the number of times the laser emits light in the uniform motion stage is read, and after reaching the set target number of times of light emission, the system turns off the laser light emission permission signal, and the laser stops emitting light, including: controlling the control system's light emission permission signal to remain in a normally open state, reading the light emission signal fed back by the energy meter and counting, until the target number of times of light emission is reached, then turning off the light emission permission signal, and the laser stops emitting light.

[0091] Or, the control system triggers the light emission permission signal to turn on, and immediately turns off the light emission permission signal after reading the light emission signal fed back by the energy meter each time, and the laser stops emitting light, and repeats the above process until the target light emission times are reached.

[0092] During the laser processing, closed-loop control is performed on each processing point to avoid the problems of excess light and random light during the processing, making each processing point precisely controllable.

[0093] In some specific implementations, the laser light emission can be detected by other laser light emission detection signals, and the rising edge or falling edge can be sent to the outside after detection.

[0094] Reference Figure 4As shown, the second aspect of the present application provides a pulse laser light and robot motion coordinated control system, including: a host computer, used to set processing parameters and plan the motion path of the industrial robot 1; the pulse laser module includes a pulse laser 2 and an energy meter 3, the pulse laser 1 provides the pulse laser required for laser processing, and the energy meter 3 is used to detect the pulse laser and feedback the laser light signal; the robot module includes an industrial robot 1, the industrial robot 1 clamps the workpiece to be processed and realizes the spatial motion of the workpiece to be processed; the control system includes a controller 4, the controller 4 receives the robot motion path planned by the host computer, and exchanges information with the pulse laser module to realize laser light-light feedback closed-loop control; and exchanges information with the robot module to realize timing-matched laser light and robot motion coordinated control.

[0095] Through the industrial robot 1, pulse laser 2, energy meter 3 and controller 4, the pulse laser 2 emits a laser beam with a fixed optical path; the industrial robot 1 clamps the part to be processed and moves according to the set processing trajectory, so that the laser beam impacts the surface of the part for processing; the linear motion process of the industrial robot 1 is divided into three stages: uniform acceleration-uniform speed-uniform deceleration; the energy meter 3 is used to detect the light signal; the controller 4 is equipped with a control program and connected to the pulse laser 2, the energy meter 3 and the industrial robot 1, and is used to coordinate the work between the various hardware devices of the entire system to ensure the uniformity of the laser spot position, control the pulse laser 2 to emit light during the uniform speed motion stage of the industrial robot 1, ensure the consistency of the time base of the industrial robot 1 and the pulse laser 2, eliminate the laser light spot position deviation caused by the timing asynchrony during the laser processing process, and ensure the accuracy and consistency of each spot position in the laser processing area.

[0096] The above describes the specific embodiments of the present application. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the substantive content of the present application. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A pulse laser collaborative processing control method based on timing control, characterized in that: include: Get the set processing parameters, calculate the robot motion parameters and laser light parameters according to the set calibration method, and send them to the robot and laser; According to the motion parameters of the robot and the light emission parameters of the laser, the robot is controlled to start moving according to the set trajectory, and the motion state of the robot is obtained; According to the motion state of the robot, determine whether the robot is in a uniform motion stage, if so, control the laser to emit light according to the laser light emission parameters, if not, control the robot to continue to move; According to the light emission parameters of the laser, the laser light emission times are controlled to reach the target light emission times, and the laser light emission is controlled to stop; Control the robot to move to the end point.

2. The pulse laser collaborative processing control method based on timing control according to claim 1 is characterized in that: The robot motion parameters and the laser light emission parameters are calculated according to the set calibration method, wherein the robot motion parameters include the robot motion compensation amount, the robot motion starting position and the robot motion ending position; The laser light emission parameters include: the number of laser light emission synchronization signals and the number of target light emission.

3. The pulse laser collaborative processing control method based on timing control according to claim 2 is characterized in that: The set calibration method comprises: Set processing parameters, including: spot size D, spot overlap rate P, pulse frequency F, robot acceleration a; The robot moves to the starting position and obtains the synchronization signal of the laser light; According to the synchronization signal of the laser light, the robot starts to move toward the end point at the acceleration a and the speed v; During the movement, the laser is controlled to emit light continuously until the robot reaches the end point and stops; Wherein, the speed v is v=D*(1-P)*F.

4. The pulse laser collaborative processing control method based on timing control according to claim 3 is characterized in that: The target number N is calculated by the formula: Where, L is the linear processing distance; D is the spot size; and P is the spot overlap rate.

5. The pulse laser collaborative processing control method based on timing control according to claim 3 is characterized in that: After the robot moves to the end point, the method further comprises: Obtain the first spot position P1 after the laser emits light, which is the position where the robot starts to move. The spot uniform starting position is recorded as P2. The total number of spots before the spot is uniform is recorded as n. The total number of spots n is the number of laser light synchronization signals. Calculate the robot motion compensation ΔP = |P2-P1|; Set different processing parameters to obtain the robot motion compensation amount and the number of times n of the laser light emitting synchronization signal corresponding to the processing parameters; The relationship between ΔP and n and acceleration a, spot size D, spot overlap rate P, and pulse frequency F is fitted using a polynomial function: ΔP = f (a, D, P, F), n = f (a, D, P, F); The robot motion starting position and the robot motion ending position are calculated according to the robot motion compensation amount.

6. The pulse laser collaborative processing control method based on timing control according to claim 5 is characterized in that: The starting position and ending position of the robot movement are calculated as follows: P 机器人运动起点 =P 加工规划起点 ±ΔP; 7. The pulse laser collaborative processing control method based on timing control according to claim 2 is characterized in that: According to the motion parameters of the robot and the light emission parameters of the laser, the robot is controlled to start moving according to the set trajectory, and the motion state of the robot is obtained, including: Control the robot to move to the robot starting position, and receive a robot starting movement permission signal and a laser light emitting synchronization signal; Control the robot to start moving according to the set acceleration and trajectory, and record the number of times the laser emits a light synchronization signal to determine the movement state of the robot; The motion state of the robot includes: an acceleration motion stage, a uniform speed motion stage and a uniform deceleration stage.

8. The pulse laser collaborative processing control method based on timing control according to claim 7 is characterized in that: The method of judging whether the robot is in a uniform motion stage according to the motion state of the robot, and if so, controlling the laser to emit light according to the laser light emission parameters, and if not, controlling the robot to continue to move, includes: When the robot enters the uniform motion stage, it is determined whether the number of laser light emitting synchronization signals reaches the calculated number of laser light emitting synchronization signals. If so, the control system sends the laser light emitting permission signal to allow the laser to emit light. If not, the laser is not allowed to emit light. When the robot is in the uniform motion stage, the number of light emission of the laser in the uniform motion stage is read. After reaching the set target light emission number, the system turns off the laser light emission permission signal and the laser stops emitting light.

9. The pulse laser collaborative processing control method based on timing control according to claim 8 is characterized in that: When the robot is in a uniform motion stage, the number of light emission of the laser in the uniform motion stage is read, and after reaching a set target light emission number, the system turns off the laser light emission permission signal, and the laser stops emitting light, including: controlling the light emission permission signal of the control system to keep the normally open state, reading the light emission signal fed back by the energy meter and counting, until the target light emission number is reached, and then turning off the light emission permission signal, and the laser stops emitting light, Or the control system triggers the light emission permission signal to turn on, and immediately turns off the light emission permission signal after reading the light emission signal fed back by the energy meter each time, and the laser stops emitting light, and repeats the above process until the target light emission times are reached.

10. A pulse laser collaborative processing control system based on timing control, characterized in that: include: The host computer is used to set processing parameters and plan the robot's motion path; A pulse laser module, comprising a pulse laser and an energy meter, wherein the pulse laser provides the pulse laser required for laser processing, and the energy meter is used to detect the pulse laser and feed back the laser light output signal; A robot module, comprising an industrial robot, the industrial robot clamping a workpiece to be processed and realizing spatial movement of the workpiece to be processed; The control system includes a controller, which receives the robot motion path planned by the host computer, exchanges information with the pulse laser module to realize laser light-light feedback closed-loop control; and exchanges information with the robot module to realize coordinated control of laser light and robot motion with timing matching.

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