A pulse laser collaborative machining control method based on time sequence control

Abstract

The application provides a pulse laser cooperative processing control method and system based on timing control, comprising: obtaining the set processing parameters, calculating the robot motion parameters and the laser light output parameters according to the set calibration method, and sending the robot motion parameters and the laser light output parameters to the robot and the laser; controlling the robot to start moving according to the set trajectory according to the robot motion parameters and the laser light output parameters, and obtaining the robot motion state; judging whether the robot is in the uniform motion stage according to the robot motion state, if yes, controlling the laser to output light according to the laser light output parameters, and if no, controlling the robot to continue moving; controlling the laser to output light according to the laser light output parameters until the target light output frequency is reached, and then controlling the laser to stop outputting light; and controlling the robot to move to the end point. According to the method, the motion speed of the robot matches the maximum light output frequency of the laser under the condition that the position accuracy of the pulse laser light output is ensured, and the processing efficiency is significantly improved.

Description

Technical Field

[0001] This application relates to the field of laser processing technology, and more specifically, to a pulsed laser collaborative processing control method based on timing control. Background Technology

[0002] Laser shot peening strengthens the process using high energy (GW / cm²). 2 Short pulses (nanosecond-level) impact the surface of metal workpieces to introduce transient high-amplitude impact pressure, causing plastic deformation of the material and thus introducing residual compressive stress. This improves the fatigue performance of the metal material or causes the part to bend and deform. Due to its outstanding process characteristics such as high residual compressive stress, strong process controllability, and good surface quality of the target material, it has broad application prospects in aerospace, defense equipment manufacturing and other fields.

[0003] Industrial robots are multi-degree-of-freedom, easy-to-control, highly flexible, and versatile devices. Currently, a combination of lasers and robots is commonly used for shot peening. For applications requiring large-size integral panel forming, in-situ strengthening of key components, or shape correction, processing efficiency and precise control are the primary considerations.

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

[0005] The existing patent, CN115404335A, discloses an efficient laser shock enhancement control method based on process parameter matching. This method proposes an efficient laser shock control method that matches the robot's motion speed with the laser's emission frequency. However, the triggering time for laser emission is determined based on the robot's acceleration time. Since there is no unified time reference between laser emission and robot motion, it is impossible to effectively control the precise emission of laser light during the non-uniform speed phase of the robot.

[0006] An existing patent, CN200310103315.0, discloses a method for synchronous control of a laser and a robot, entitled "A Method for Laser Synchronous Processing Based on a Robot System". It proposes a method for synchronous control of a laser and a robot. Based on the laser parameters, it unifies the time base between the laser and the robot through signal interaction between the industrial control computer and the robot. However, the laser emits light first and the robot moves afterward. When using continuous processing mode, it does not take into account the problem of uneven laser spot distribution caused by the acceleration and deceleration processes of the robot's movement. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the purpose of this application is to provide a pulsed laser collaborative processing control method based on timing control. While ensuring the accuracy of the pulsed laser's emission position, the robot's movement speed matches the laser's maximum emission frequency, significantly improving processing efficiency.

[0008] One aspect of this application provides a pulsed laser collaborative processing control method based on timing control, comprising:

[0009] The system acquires the set processing parameters, calculates the robot motion parameters and laser output parameters according to the set calibration method, and sends them to the robot and laser.

[0010] Based on the robot's motion parameters and the laser's output parameters, the robot is controlled to start moving along a set trajectory, and the robot's motion state is acquired.

[0011] Based on the robot's motion state, determine whether the robot is in a uniform motion phase. If so, control the laser to emit light according to the laser's output parameters. If not, control the robot to continue moving.

[0012] Based on the laser's output parameters, control the laser to output light a target number of times, and then control the laser to stop outputting light.

[0013] Control the robot to move to the destination.

[0014] Furthermore, in the process of calculating the robot motion parameters and laser output parameters according to the set calibration method, the robot motion parameters include the robot motion compensation amount, the robot motion start position, and the robot motion end position;

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

[0016] Furthermore, the established calibration method includes:

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

[0018] The robot moves to the starting position and obtains the synchronization signal for the laser beam.

[0019] Based on the synchronization signal of the laser beam, the robot begins to move towards the endpoint using the acceleration a and velocity v.

[0020] During the movement, the laser is controlled to emit light continuously until the robot stops after reaching the endpoint;

[0021] Wherein, the velocity v is

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

[0023] Furthermore, the target number N is calculated using the following formula:

[0024]

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

[0026] Furthermore, after the robot reaches its destination, the process also includes:

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

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

[0029] Set different processing parameters, and obtain the robot motion compensation amount and the number of laser output synchronization signals n corresponding to the processing parameters;

[0030] The relationships between ΔP and n and acceleration a, spot size D, spot overlap rate P, and pulse frequency F are obtained by fitting polynomial functions: ΔP = f(a,D,P,F), n = f(a,D,P,F).

[0031] The robot's starting and ending positions are calculated based on the robot's motion compensation.

[0032] Furthermore, the starting and ending positions of the robot's movement are calculated using the following formula:

[0033] P 机器人运动起点 =p 加工规划起点 ±ΔP;

[0034]

[0035] Further, the step of controlling the robot to start moving along a set trajectory based on the robot's motion parameters and the laser's output parameters, and acquiring the robot's motion state, includes:

[0036] Control the robot to move to the robot's starting position, and receive the robot's start motion permission signal and the laser's light output synchronization signal;

[0037] The robot is controlled to start moving according to the set acceleration and trajectory, and the number of times the laser emits a synchronization signal is recorded to determine the robot's motion state;

[0038] The robot's motion states include: acceleration phase, uniform motion phase, and uniform deceleration phase.

[0039] Furthermore, determining whether the robot is in a uniform motion phase based on its motion state, and if so, controlling the laser to emit light according to the laser emission parameters; otherwise, controlling the robot to continue moving, includes:

[0040] When the robot enters the uniform motion phase, it is determined whether the number of times the laser emission synchronization signal has been reached. If so, the control system sends the laser emission permission signal to allow the laser to emit light; otherwise, the laser emission is not allowed.

[0041] When the robot is in a uniform motion phase, the number of times the laser emits light during this phase is read. Once the set target number of light emissions is reached, the system shuts off the laser emission permission signal, and the laser stops emitting light.

[0042] Furthermore, when the robot is in a uniform motion phase, the number of times the laser emits light during this phase is read. Once the set target number of light emissions is reached, the system shuts off the laser emission permission signal, and the laser stops emitting light. This includes: maintaining the system emission permission signal in a normally open state, reading and counting the emission signal fed back by the energy meter until the target number of light emissions is reached, then shutting off the emission permission signal and stopping the laser from emitting light.

[0043] Alternatively, the control system can trigger the light emission permission signal to open. After each light emission signal is read from the energy meter, the light emission permission signal is immediately closed, and the laser stops emitting light. This process is repeated until the target number of light emission events is reached.

[0044] Compared with the prior art, this application has at least one of the following beneficial effects:

[0045] 1. This application establishes a coordinated control process between robot motion and pulsed laser emission, enabling laser processing of parts under a fixed optical path while the robot holds the workpiece in motion. This improves the controllability of the processing process and effectively solves problems such as inaccurate laser impact position and multiple or disordered laser emission during the laser impact process caused by the asynchronous movement of the robot and the laser emission in existing processes. It improves the consistency and stability of the laser processing process, ensures the accuracy of the processing position, and can be used for various types of industrial robots. It has good universality and strong portability.

[0046] 2. This application controls the laser's emission timing by reading the laser pulse synchronization signal, unifying the robot's movement start time to the laser pulse synchronization signal's time, and then calibrating the number of laser pulse synchronization signals corresponding to the robot's movement reserve. This ensures the consistency of the robot and laser's time reference, eliminates the laser emission spot position deviation caused by timing asynchrony during laser processing, and guarantees the accuracy and consistency of each spot position within the laser processing area. This achieves high-efficiency planar processing with a robot laser, and the robot's movement speed matches the highest emission frequency of the pulsed laser, significantly improving processing efficiency. Attached Figure Description

[0047] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0048] Figure 1 This is a flowchart of a pulsed laser collaborative processing control method based on timing control, according to an embodiment of this application.

[0049] Figure 2 This is a timing diagram of pulsed laser emission and robot motion signals in one embodiment of this application.

[0050] Figure 3 This is a schematic diagram of a method for calibrating pulsed laser output and robot motion parameters in one embodiment of this application.

[0051] Figure 4 This is a schematic diagram of a pulsed laser collaborative processing control system based on timing control, according to an embodiment of this application.

[0052] In the diagram: 1. Industrial robot; 2. Pulsed laser; 3. Energy meter; 4. Controller. Detailed Implementation

[0053] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0054] Reference Figure 1The image shows an embodiment of a pulsed laser collaborative processing control method based on timing control, comprising: S1, acquiring set processing parameters, calculating robot motion parameters and laser emission parameters according to a set calibration method, and sending them to the robot and the laser; S2, controlling the robot to start moving along a set trajectory according to the robot motion parameters and laser emission parameters, and acquiring the robot motion state; S3, determining whether the robot is in a uniform motion stage according to the robot motion state; if so, controlling the laser to emit light according to the laser emission parameters; if not, controlling the robot to continue moving; S4, controlling the laser to emit light a target number of times according to the laser emission parameters, and controlling the laser to stop emitting light; S5, controlling the robot to move to the endpoint.

[0055] This application establishes a coordinated control process between pulsed laser emission and robot motion, enabling laser processing of parts under a fixed optical path while the robot holds the workpiece in motion. This improves the controllability of the processing process and effectively solves problems such as inaccurate laser impact position and multiple or disordered laser emission during the laser impact process caused by the asynchronous movement of the robot and the laser emission in existing processes. It also improves the consistency and stability of the laser processing process and ensures the accuracy of the processing position.

[0056] Specifically, during operation, firstly, the system obtains the necessary processing parameters, such as processing path, speed, and laser power, from the user or preset configuration. Then, based on the set calibration method and processing parameters, it calculates the robot's motion parameters (such as position, speed, and acceleration) and the laser's output parameters (such as laser power, pulse frequency, and output time), ensuring that each step of the processing follows the predetermined plan and improving processing accuracy. Next, the corresponding parameters are sent to the robot and laser. Based on the received motion parameters, the robot begins to move along the set trajectory. Simultaneously, the system acquires and monitors the robot's motion status in real time. When the robot is in a uniform motion phase, it is determined that laser processing is suitable, and the laser output parameters are used to control laser output, controlling it only when the robot is in a uniform motion phase to avoid processing errors caused by robot acceleration and deceleration. Then, based on the laser's output parameters, the number of laser outputs is controlled until the target number of outputs is reached, at which point the laser stops outputting light. Finally, after completing all laser processing operations, the robot continues to move to the endpoint, completing the entire processing process.

[0057] In the above embodiments, specifically, according to the set calibration method, the robot motion parameters and laser emission parameters are calculated. The robot motion parameters include the robot motion compensation amount, the robot motion start position and end position; the laser emission parameters include the number of laser emission synchronization signals and the number of target emission times.

[0058] By calculating the motion compensation amount, starting position and ending position of the robot before execution using the established calibration method, the accuracy of the execution process is achieved. Then, by calculating the laser emission synchronization signal and the target emission number, the emission time and number of lasers are precisely controlled, avoiding unnecessary energy waste and reducing energy consumption. At the same time, the robot and laser work together during the execution process.

[0059] In some specific embodiments, the calibration method includes: setting processing parameters, including: spot size D, spot overlap rate P, pulse frequency F, and robot acceleration a; the robot moves to the starting position and obtains the synchronization signal of laser light emission; according to the synchronization signal of laser light emission, the robot starts to move towards the endpoint by acceleration a and velocity v; during the movement, the laser is controlled to continuously emit light until the robot stops after moving to the endpoint.

[0060] Wherein, the velocity v is v=D*(1-P)*F.

[0061] Reference Figure 3 As shown, by using a set calibration method, when calculating relevant robot motion parameters and laser output parameters, the robot's speed v is first calculated by acquiring the spot size D, spot overlap rate P, pulse frequency F, and robot acceleration a. Combined with the set acceleration a, the robot is controlled to move from the starting point to the ending point. Simultaneously, the laser continuously emits light during the movement. Combining the robot's speed and acceleration, multiple light emission points are obtained on the corresponding target. The laser output parameters are calculated based on the movement process until the processing is completed and the light emission ends. This ensures the consistency of the robot and laser time reference, eliminates the laser spot position deviation caused by time synchronization during laser processing, and ensures the accuracy and consistency of the position of each spot within the laser processing area.

[0062] Specifically, the target number N in the laser output parameters is calculated using the following formula:

[0063]

[0064] In the formula, L is the linear processing distance; D is the spot size; and P is the spot overlap rate.

[0065] The target number of times is calculated based on the spot size, spot overlap rate, and straight-line processing distance.

[0066] In some specific embodiments, after the robot reaches the endpoint, the method further includes: obtaining the position P1 of the first light spot after the laser emits light, which is the position where the robot starts moving; the starting position of the uniform light spot is recorded as P2, 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 laser emission synchronization signals; and calculating the robot motion compensation amount ΔP=|P2-P1|.

[0067] Among them, the laser output synchronization signal is either an internal laser signal or an external laser signal that maintains the same output timing as the pulsed laser.

[0068] By recording the first laser spot position P1 during the processing, which is the position where the robot starts moving, and then obtaining the initial position of the uniform laser spot during the processing, denoted as P2, and the total number of laser spots before uniformity, denoted as n, the robot motion compensation amount ΔP is calculated using the first laser spot position P1 and the initial position of uniform laser spot P2. This enables high-efficiency planar processing with the robot laser, and the robot's movement speed matches the highest output frequency of the pulsed laser, significantly improving processing efficiency.

[0069] Wherein, the total number of light spots n is the number of times the laser outputs a synchronization signal.

[0070] Then, by setting different processing parameters, the robot motion compensation amount and the number of laser output synchronization signals n corresponding to the processing parameters are obtained; 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); based on the robot motion compensation amount ΔP, the robot's starting position and ending position are calculated.

[0071] By setting different processing parameters and obtaining the corresponding robot motion compensation amount and the number of laser output 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, it is possible to accurately predict and optimize the robot's motion compensation amount and the number of laser output synchronization signals during laser processing, thereby improving processing accuracy and efficiency, reducing errors, and ensuring processing quality.

[0072] Specifically, the formulas for calculating the robot's starting and ending positions are as follows:

[0073] P 机器人运动起点 =P 加工规划起点 ±ΔP;

[0074]

[0075] Reference Figure 2As shown, in some specific embodiments, based on the robot's motion parameters and the laser's light output parameters, the robot is controlled to start moving along a 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 start motion permission signal and the laser's light output synchronization signal; controlling the robot to start moving according to the set acceleration and trajectory, and recording the number of laser light output synchronization signals to determine the robot's motion state; the robot's motion state includes: acceleration phase, uniform speed phase, and uniform deceleration phase.

[0076] In some specific implementations, the synchronization signal generator that acquires 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.

[0077] Specifically, the linear motion process of the industrial robot in this application is divided into three motion stages: uniform acceleration, uniform speed, and uniform deceleration. To ensure the uniformity of the laser spot position, the pulsed laser needs to be controlled to emit light during the robot's uniform speed motion stage. The robot's movement to the uniform speed stage is determined by the set processing parameters, i.e., by the speed, acceleration, and the start and end points of the processing path. Therefore, the start point of the robot's motion trajectory needs to be placed before the start 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 laser emission to ensure that the laser is precisely triggered to emit light in the target processing area.

[0078] In this process, after the robot enters the uniform speed phase, the number of laser emission synchronization signals is recorded even when no emission permission signal is received. That is, the number of laser emission synchronization signals includes the number of laser emission synchronization signals before the robot moves to the uniform speed phase and the number of laser emission synchronization signals before the emission permission signal is reached during the uniform speed phase.

[0079] In some specific embodiments, based on the robot's motion state, it is determined whether the robot is in a uniform motion phase. If so, the laser is controlled to emit light according to the laser emission parameters. If not, the robot is controlled to continue moving. This includes: when the robot enters the uniform motion phase, determining whether the number of laser emission synchronization signals has reached the calculated number of laser emission synchronization signals. If so, the system sends a laser emission 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 phase, the number of laser emission times during the uniform motion phase is read. After reaching the set target number of emission times, the system turns off the laser emission permission signal, and the laser stops emitting light.

[0080] This application controls the laser's emission timing by reading the laser pulse synchronization signal, unifying the robot's movement start time with the laser pulse synchronization signal's time. Then, it calibrates the number of laser pulse synchronization signals corresponding to the robot's movement allowance, ensuring consistency between the robot and laser's time reference. This eliminates laser spot position deviations caused by timing asynchrony during laser processing, guaranteeing the accuracy and consistency of each spot position within the laser processing area. This achieves high-efficiency planar processing with a robot laser, and the robot's movement speed matches the highest emission frequency of the pulsed laser, significantly improving processing efficiency.

[0081] In the above embodiments, reference is made to Figure 2 As shown, the laser emission enable signal is set during the uniform speed phase of the robot's movement, including the entire range or part of the uniform speed phase for laser emission.

[0082] In some specific implementations, the laser's output enable signal and output stop signal can be achieved by controlling the laser's switching grating.

[0083] Specifically, when the robot begins to move along a preset trajectory, the system monitors its motion status in real time. Once the robot enters a uniform motion phase and maintains a stable speed, it is determined to be the ideal time for laser processing. Simultaneously, while the robot moves at a uniform speed, the system checks whether the number of laser emission synchronization signals matches the number calculated based on the processing parameters, ensuring perfect synchronization between laser emission and robot movement. If the number of laser emission signals matches the calculated value, the system sends a laser emission permission signal to the laser, allowing it to begin emitting light. If the number of laser emission signals does not match the calculated value, the system keeps the laser off to avoid processing errors. Finally, during the robot's uniform motion, the system continuously reads and records the number of laser emission signals. Once the preset target number of emission signals is reached, the system immediately shuts off the laser emission permission signal, stopping emission and ensuring the accuracy and efficiency of laser processing, avoiding over-processing or under-processing.

[0084] Finally, after the light emission ends, the robot is controlled to move to the endpoint. Specifically, the robot moves from a constant speed to a constant deceleration phase, and then decelerates according to the set acceleration to the endpoint of the robot's movement.

[0085] For example, in one specific implementation, when the robot is in a uniform motion phase, the number of times the laser emits light during the uniform motion phase is read. After the set target number of light emission is reached, the system turns off the laser emission permission signal, and the laser stops emitting light. This includes: controlling the system to keep the light emission permission signal in a normally open state, reading the light emission signal fed back by the energy meter and counting it until the target number of light emission is reached, then turning off the light emission permission signal and the laser stops emitting light.

[0086] Alternatively, the control system triggers the light emission permission signal to open, and immediately closes the light emission permission signal after each light emission signal is read from the energy meter, and the laser stops emitting light. This process is repeated until the target number of light emission times is reached.

[0087] By implementing closed-loop control for each processing point during laser processing, problems such as excessive or random light emission are avoided, ensuring precise and controllable operation of each processing point.

[0088] In some specific implementations, laser emission can be detected by other laser emission detection signals, and then a rising edge or falling edge can be sent to the outside after detection.

[0089] Reference Figure 4 As shown, in a second aspect of this application, a pulsed laser emission and robot motion coordinated control system is provided, comprising: a host computer for setting processing parameters and planning the motion path of an industrial robot 1; a pulsed laser module including a pulsed laser 2 and an energy meter 3, wherein the pulsed laser 1 provides the pulsed laser required for laser processing, and the energy meter 3 is used to detect the pulsed laser and provide feedback on the laser emission signal; a robot module including an industrial robot 1, which grips the workpiece to be processed and realizes the spatial motion of the workpiece; and a control system including a controller 4, which receives the robot motion path planned by the host computer, interacts with the pulsed laser module to realize laser emission-emission feedback closed-loop control, and interacts with the robot module to realize time-matched coordinated control of laser emission and robot motion.

[0090] The system comprises an industrial robot 1, a pulsed laser 2, an energy meter 3, and a controller 4. The pulsed laser 2 emits a laser beam with a fixed optical path. The industrial robot 1 holds the workpiece to be processed and moves along a set processing trajectory, causing the laser beam to impact the surface of the workpiece for processing. The linear motion of the industrial robot 1 is divided into three stages: uniform acceleration, uniform speed, and uniform deceleration. The energy meter 3 is used to detect the emitted light signal. The controller 4 carries the control program and is connected to the pulsed laser 2, the energy meter 3, and the industrial robot 1. It is used to coordinate the work between various hardware devices in the entire system, ensure the uniformity of the laser spot position, and control the pulsed laser 2 to emit light during the uniform speed movement stage of the industrial robot 1. This ensures the consistency of the time reference between the industrial robot 1 and the pulsed laser 2, eliminates the deviation in the laser spot position caused by asynchronous timing during laser processing, and ensures the accuracy and consistency of the position of each spot within the laser processing area.

[0091] The specific embodiments of this application have been described above. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A method for controlling the synergistic processing of pulsed lasers based on timing control, characterized in that, The method comprises the following steps: acquiring the set processing parameters, calculating the robot motion parameters and the laser light output parameters according to the set calibration method, and sending the robot motion parameters and the laser light output parameters to the robot and the laser; controlling the robot to start moving according to the set trajectory according to the robot motion parameters and the laser light output parameters, and acquiring the robot motion state; judging whether the robot is in the uniform motion stage according to the robot motion state, and if yes, controlling the laser to output light according to the laser light output parameters, and if not, controlling the robot to continue moving; controlling the laser to stop outputting light according to the laser light output parameters when the number of laser light output reaches the target number of light output; controlling the robot to move to the end point; the set calibration method comprises the following steps: setting the processing parameters, including the spot size D, the spot overlap rate P, the pulse frequency F, and the robot acceleration a; controlling the robot to move to the start point position, and acquiring the synchronization signal of the laser light output; controlling the robot to start moving to the end point according to the acceleration a and the speed v according to the synchronization signal of the laser light output; controlling the laser to continuously output light during the movement until the robot moves to the end point and stops; wherein the speed v is v=D*(1-P)*F; the target number of light output N is calculated according to the following formula: wherein L is the linear processing distance, D is the spot size, and P is the spot overlap rate. 2.The timing control based pulse laser collaborative machining control method according to claim 1, wherein, in the step of calculating the robot motion parameters and the laser light output parameters according to the set calibration method, the robot motion parameters include the robot motion compensation amount, the robot motion start position, and the robot motion end position; the laser light output parameters include the number of laser light output synchronization signals and the target number of light output. 3.The timing control based pulse laser collaborative machining control method according to claim 1, wherein, after the robot moves to the end point, the method further comprises the following steps: acquiring the first spot position P1 after the laser light output, which is the position at which the robot starts moving, the uniform start position of the spot is P2, the total number of spots before the spot is uniform is n, and the total number of spots n is the number of laser light output synchronization signals; calculating the robot motion compensation amount ΔP=|P2-P1|; setting different processing parameters, acquiring the robot motion compensation amount corresponding to the processing parameters, and acquiring the number of laser light output synchronization signals n; fitting the relationship between ΔP and n and the acceleration a, the spot size D, the spot overlap rate P, and the pulse frequency F using a polynomial function, i.e. ΔP=f(a,D,P,F) and n=f(a,D,P,F); calculating the robot motion start position and the robot motion end position according to the robot motion compensation amount.

4. The timing control based pulsed laser collaborative machining control method of claim 3, wherein, the calculation formulae of the robot motion start position and the robot motion end position are as follows: P 机器人运动起点 = P 加工规划起点 ± ΔP; 5. The timing control based pulsed laser collaborative machining control method of claim 2, wherein, the method of controlling the robot to start moving according to the set trajectory according to the robot motion parameters and the laser light output parameters, and acquiring the robot motion state, comprises the following steps: controlling the robot to move to the robot start position, receiving the robot start motion permission signal and the laser light output synchronization signal; controlling the robot to start moving according to the set acceleration and trajectory, recording the number of laser light output synchronization signals, and determining the robot motion state. The motion state of the robot comprises: an accelerated motion stage, a uniform motion stage and a uniform deceleration stage.

6. The timing control based pulsed laser collaborative machining control method of claim 5, wherein, The method for judging whether the robot is in the uniform motion stage according to the motion state of the robot, if yes, controlling the laser light emission according to the laser light emission parameter, if no, controlling the robot to continue moving, comprises: When the robot enters the uniform motion stage, judging whether the number of the laser light emission synchronization signals reaches the calculated number of the laser light emission synchronization signals, if yes, the system sends the laser light emission permission signal to allow the laser light emission, if no, the laser light emission is not allowed; When the robot is in the uniform motion stage, reading the number of the laser light emission in the uniform motion stage, after reaching the set target number of light emission, the system closes the laser light emission permission signal and the laser light stops emitting.

7. The timing control based pulsed laser collaborative machining control method of claim 6, wherein, When the robot is in the uniform motion stage, reading the number of the laser light emission in the uniform motion stage, after reaching the set target number of light emission, the system closes the laser light emission permission signal and the laser light stops emitting, which comprises: the control system keeps the light emission permission signal in an open state, reads the light emission signal fed back by the energy meter and counts, until the target number of light emission is reached to close the light emission permission signal and the laser light stops emitting, or the control system triggers the light emission permission signal to open, closes the light emission permission signal immediately after reading the light emission signal fed back by the energy meter each time, the laser light stops emitting, and the above process is repeated until the target number of light emission is reached.

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