Automatic machining lathe control system

Abstract

The invention relates to an automatic machining lathe control system which comprises a control unit and a joint mechanical arm. The control unit comprises a mechanical arm control module, a lathe control module and a storage module used for storing set parameters related to the joint mechanical arm and / or the lathe. And the mechanical arm control module calls the parameters in the storage module so as to calculate the movement track data related to the joint mechanical arm, so that the joint mechanical arm is controlled according to the calculated position posture coordinates. And the mechanical arm control module calculates a control mode required by a movement track of the joint mechanical arm moving at two discrete points according to the current working procedure stage and the space coordinates of the at least two discrete points of the joint mechanical arm moving required by the working procedure, so as to control the joint mechanical arm to move in a mode of sending a pulse instruction to the joint mechanical arm. According to the method, the movement of the joint mechanical arm is cooperatively corrected from multiple dimensions, and seamless connection of machining and transferring links is achieved.

Description

Technical Field

[0001] The present invention relates to the field of lathe control, in particular to an automatic machining lathe control system. Background Art

[0002] In the field of industrial automated machining, with the increasing demand for high-precision manufacturing, the automation and intelligentization of lathe machining have become a core trend in the industry's development. This is especially true when machining special materials such as graphite, where the high brittleness, high dust production, and stringent precision requirements place higher demands on the coordination and stability of automated machining systems. Currently, lathe equipment technology continues to evolve, with advanced hardware such as high-precision spindles and intelligent tool holders becoming increasingly popular. However, the development of automated control methods has lagged behind, leading to an increasingly prominent mismatch between advanced equipment and outdated control, which has seriously restricted improvements in overall machining efficiency and quality.

[0003] Specifically, the existing automated processing system has the following key technical bottlenecks:

[0004] First, the imbalance in equipment efficiency leads to systemic losses. In multi-process collaborative processing, the joint robot arm serves as the core executive component for workpiece transfer. Its load operation speed is often much higher than the processing speed of the lathe (for example, the single-axis movement rate of the robot arm can reach 1-2m / s, while the single-process processing cycle of the lathe often takes 10-30s), forming an efficiency gap between "fast transfer and slow processing". This gap directly leads to the robot arm having to wait for a long time with load for the lathe to complete processing. It not only increases the continuous load on the robot arm joint (the joint torque remains high for a long time when waiting with load), accelerates joint wear and precision attenuation, but also easily causes slight deformation of the robot arm due to the continuous action of the load, resulting in subsequent material placement deviations and processing errors.

[0005] Secondly, the timing of multi-device collaboration is disordered, and the processing cycle is extended. In a multi-lathe scenario (such as two lathes working alternately), due to fluctuations in the processing rhythm of each lathe (such as processing time deviations of ±5-10s due to differences in workpiece materials, tool wear, etc.), the transfer rhythm of the robotic arm is difficult to dynamically adapt to the lathe processing rhythm. When there is a time difference between the lathe processing cycle and the robotic arm transfer cycle, it is easy for "lathe waiting for robotic arm" or "robotic arm waiting for lathe" to idle, resulting in the overall processing cycle being lengthened. At the same time, the transfer trajectory planning of the robotic arm between multiple stations (loading, calibration, lathe, flipping, and unloading) is mostly fixed paths, and the dynamic adjustment of the real-time processing status is not considered, which further aggravates the difficulty of timing matching.

[0006] Third, it's difficult to balance the accuracy and efficiency of robotic arm motion control. Existing robotic arm trajectory planning is mostly based on linear interpolation of preset discrete points, which doesn't fully couple factors like workpiece load (such as weight differences in graphite workpieces) and trajectory curvature (such as changes in inertial force at corners). This results in irregular vibrations during motion (especially under heavy loads or sharp corners), affecting workpiece positioning accuracy. Furthermore, robotic arm joint angle adjustment often uses a single-objective optimization strategy of "shortest path," without considering the torque balance of multi-joint coordination. This results in some joints being under high load for extended periods, shortening their service life.

[0007] Fourth, there is a lack of closed-loop control and processing state perception. Existing systems lack real-time perception of lathe processing progress (such as remaining cutting volume and spindle load) and workpiece status (such as clamping stability). The robot's transfer instructions are mostly triggered by preset programs rather than dynamically adjusted based on real-time processing data. This "open-loop control" mode is difficult to cope with sudden fluctuations in the processing process (such as tool chipping leading to processing interruption) and can easily cause equipment interference or workpiece damage.

[0008] In summary, existing automated lathe control systems have significant deficiencies in equipment efficiency matching, multi-process timing coordination, robot motion optimization, and closed-loop control of machining states. These deficiencies make them unable to meet the demands of high-precision, high-efficiency, and high-stability automated machining, and are particularly difficult to adapt to the machining characteristics of special materials such as graphite. Therefore, it is necessary to build a control system that can coordinate multi-dimensional correction of robot motion, dynamically match machining timing, and achieve seamless transitions between machining and transport, in order to address these technical issues.

[0009] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the Invention

[0010] To address the shortcomings of the prior art, the present invention provides an automatic machining lathe control system, comprising a control unit and an articulated robotic arm. The control unit includes a robotic arm control module, a lathe control module, and a storage module for storing parameters related to the articulated robotic arm and / or the lathe. The robotic arm control module accesses the parameters in the storage module to calculate motion trajectory data related to the articulated robotic arm, thereby controlling the articulated robotic arm based on the calculated position and posture coordinates. The robotic arm control module calculates the control method required for the motion trajectory of the articulated robotic arm at the two discrete points based on the current process stage and the spatial coordinates of at least two discrete points where the articulated robotic arm is required to move in that process, and controls the movement of the articulated robotic arm by issuing pulse commands to the articulated robotic arm. The present invention utilizes the robotic arm control module in the control unit to call preset parameters and analyze the motion trajectory, combining the spatial coordinates of at least two discrete points to achieve precise drive control of the articulated robotic arm, thereby constructing a parameterized trajectory planning system. This mechanism provides a path reference for the automated flow of workpieces across processes, ensures absolute spatial positioning accuracy during transfer, and lays the underlying control foundation for the efficient and coordinated operation of automated machining systems.

[0011] According to a preferred embodiment, the manipulator control module controls the joint rotation angle amplitude of the joint manipulator based on the torsion angle of each joint and optimizes the motion trajectory. The manipulator control module corrects the operation time and operation rate of the joint manipulator during the movement process in a manner that reduces the load carried by the joint manipulator based on the interference rhythm between the joint manipulator and several lathes and / or mechanisms. The manipulator control module of the present invention dynamically optimizes the motion trajectory based on the joint torsion angle, and coordinately corrects the operation timing and rate by coupling the interference rhythm between the devices, thereby realizing dynamic efficiency adaptation of the manipulator, lathe, and auxiliary mechanism. This not only significantly reduces the load carried by the manipulator, suppresses the disturbance of irregular vibration to the machining accuracy of the workpiece, but also extends the mechanical life of the manipulator through motion smoothness control, and improves the system robustness of the processing and transportation link.

[0012] According to a preferred embodiment, the system also includes an acquisition unit for real-time acquisition of the current processing status of the lathe and the status of the workpiece and feeding back the data to the control unit. The acquisition unit is data-connected to the control unit. The control unit controls the motion of the lathe, mechanism and / or joint robotic arm based on the data acquired by the acquisition unit. The acquisition unit of the present invention constructs a real-time perception layer for the processing process, and provides high-fidelity dynamic data input for the control unit through high-frequency data acquisition and feedback of the lathe working conditions and workpiece status. This closed-loop data link enables the system to have real-time response capabilities to processing scenarios, realizes the leap from "preset control" to "data-driven adaptive control", and effectively avoids processing deviations and efficiency losses caused by information lags.

[0013] According to a preferred embodiment, the robot control module corrects the running time and running rate of the joint robot arm during the movement process based on the interference beat at least in the time dimension and the space dimension. The robot control module constructs a process beat prediction model based on the historical processing data or preset processing data in the storage module. The robot control module obtains the real-time processing progress of the lathe based on the acquisition unit to dynamically calculate the remaining time of the current process, and combines the theoretical moving time of the joint robot arm from the current position to the target discrete point to compensate for the time difference. The robot control module of the present invention adopts a dual-dimensional collaborative correction strategy of time and space, constructs a process beat prediction model based on historical processing data, dynamically calculates the remaining time of the process through real-time processing progress analysis, and dynamically compensates for the time difference by linking the robot arm movement timing. This mechanism realizes the precise coupling of the robot arm and the lathe in the time dimension, greatly reduces the ineffective waiting time between devices, improves the rhythm matching degree of collaborative processing of multiple devices, and significantly compresses the overall processing cycle.

[0014] According to a preferred embodiment, the robot control module increases the dwell time of the joint robot arm based on the predicted remaining time of the current process and the theoretical moving time, so that the time when the joint robot arm arrives at the waiting material position is synchronized with the time when the lathe processing is completed when the joint robot arm is under load. The timing coordination strategy designed by the present invention for the load state of the robot arm accurately synchronizes the arrival time of the waiting material position with the lathe processing completion node by dynamically increasing the dwell time, thereby fundamentally avoiding the accuracy attenuation and structural loss caused by the long-term standby of the robot arm with load. This not only ensures the timing accuracy of the material change link, but also reduces the cumulative impact of the load on the accuracy of the robot arm joints, and improves the long-term stability of the transfer system.

[0015] According to a preferred embodiment, the robot arm control module generates a non-uniform motion instruction for the articulated robot arm based on the weight parameter of the workpiece currently clamped by the end fixture of the articulated robot arm in combination with the curvature of the motion trajectory between at least two discrete points. The present invention constructs a "load-trajectory" coupling drive mechanism based on the non-uniform motion control strategy generated based on the load parameters of the end fixture and the trajectory curvature characteristics. Under heavy load conditions, the inertial load impact is suppressed by inflection point rate attenuation and buffer time extension. Under no-load conditions, a three-stage speed change strategy is used to compress the stroke time, achieving a dynamic balance between motion efficiency and structural safety, and taking into account both system economy and robot arm structural protection.

[0016] According to a preferred embodiment, after receiving the lathe processing signal, the robot arm control module calculates the joint torque distribution based on the clamping posture of the current joint robot arm to obtain the standby posture parameters. The robot arm control module generates instructions based on the standby posture parameters to control the joint robot arm to change its posture, and then continues to clamp the workpiece in a manner with less torque to wait for the lathe processing to be completed. After receiving the lathe processing signal, the robot arm control module of the present invention obtains the optimal standby posture parameters through dynamic analysis of the joint torque, and drives the robot arm to complete the waiting process in a low-torque configuration. This mechanism controls the joint torque within the rated threshold while ensuring a safe distance between the workpiece and the surrounding equipment, greatly reducing the mechanical loss in the standby stage, extending the trouble-free operation cycle of the robot arm, and ensuring the spatial safety of the waiting process.

[0017] According to a preferred embodiment, the robot control module generates a compensation coefficient based on the real-time acquisition of the lathe's processing time fluctuation value and substitutes the compensation coefficient into the motion trajectory time calculation to correct the movement rate and path of the joint robot arm according to the coefficient value. The present invention realizes the real-time dynamic adjustment of the robot arm's motion parameters based on the compensation coefficient correction mechanism generated by the processing time fluctuation characteristics. By coupling the fluctuation factor to the trajectory time calculation model, the dynamic adaptation of the robot arm's motion rhythm and the lathe's processing rhythm is ensured, which significantly improves the system's anti-interference ability to random disturbances during the processing process and ensures the stability of multi-device collaboration.

[0018] According to a preferred embodiment, the robotic arm control module creates a three-dimensional model of the equipment placement within the machining site to form a coordinate system for describing the motion of the articulated robotic arm. This three-dimensional digital model, constructed based on the on-site equipment layout, enables a digital representation of the robotic arm's motion space. This precise definition of the coordinate system provides a precise spatial reference for digitally planning the robotic arm's motion trajectory, ensuring the accuracy of the spatial mapping of trajectory calculations and providing digital support for subsequent high-precision motion control.

[0019] According to a preferred embodiment, the robotic arm control module sets a spatial coordinate system based on the base of the articulated robotic arm in the constructed three-dimensional model as the origin and the rotation axis as the Z axis, and uses it as the base coordinate system. The robotic arm control module establishes corresponding coordinate systems on each link joint of the articulated robotic arm to construct the direction of the homogeneous transformation matrix to describe the relationship between each link joint, and obtains the posture of the end fixture. The construction of the base coordinate system with the base as the origin, combined with the establishment of the hierarchical coordinate system of each link joint and the analysis of the homogeneous transformation matrix, realizes the mathematical and precise description of the posture of the end effector of the robotic arm. This hierarchical coordinate analysis system provides rigorous mathematical support for the inverse solution calculation of the joint angle and the end posture, ensuring the theoretical rigor and control accuracy of the robotic arm motion trajectory planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a simplified hardware topology connection diagram of an automatic machining lathe control system according to a preferred embodiment of the present invention;

[0021] Figure 2 This is a simplified structural diagram of an automatic machining lathe control system according to a preferred embodiment of the present invention;

[0022] Figure 3 This is a simplified structural diagram of another hardware combination of an automatic machining lathe control system according to a preferred embodiment of the present invention;

[0023] Figure 4 It is a simplified structural diagram of a turning mechanism according to a preferred embodiment of the present invention.

[0024] Reference Signs List

[0025] 100: control unit; 110: robotic arm control module; 120: lathe control module; 130: storage module; 200: acquisition unit; 301: joint robotic arm; 302: loading mechanism; 303: first lathe; 304: second lathe; 305: flipping mechanism; 306: discharge tray; 307: position calibration mechanism; 308: first gripper; 309: second gripper. DETAILED DESCRIPTION

[0026] The following is a detailed description with reference to the accompanying drawings.

[0027] Example 1

[0028] This invention provides an automated lathe control system for automated workpiece machining, particularly for constructing a lathe system for automated graphite workpiece machining. This invention addresses the particularities of graphite machining on automated lathes, the coordination between lathe machining efficiency and robotic arms, and the imperfect nature of automated solutions. Starting from the overall control system, this system integrates multiple dimensions, including lathe cutting efficiency, robotic arm efficiency, loading and unloading rates, and machining status data, to construct an automated lathe control system.

[0029] In the field of lathe processing, common problems exist in the field of precise positioning of processing and improving automation efficiency. With the continuous development of existing lathe technology, the equipment of each process in automated processing is constantly updated. The leading equipment technology and the backward automation control methods are not compatible. Once the efficiency mismatch problem occurs in a certain link of the automated processing process, processing errors (processing alignment deviation), mechanical idling, load overload and other problems are likely to occur. As a result, the processing efficiency does not increase with the equipment update, but instead decreases as a whole, which leads to problems with the automated processing cycle and quality.

[0030] Specifically, there is the problem of efficiency coordination between the joint manipulator 301 and the multiple lathes and / or mechanisms. Because the loaded operating speed of the joint manipulator 301 is much higher than the processing speed of the multiple lathes and / or mechanisms on the workpiece, the joint manipulator 301 has the problem of excessive efficiency. In other words, while the multiple lathes and / or mechanisms are processing the workpiece, the joint manipulator 301 needs to wait until the processing is completed before proceeding to the next step, causing the joint manipulator 301 to wait for a long time while carrying the load. This causes the service life of the joint manipulator 301 to be damaged, affecting the stable operation of the overall automation system. Moreover, the increase in the load on the joint manipulator 301 will also lead to a decrease in its accuracy, and the adjustment of the operating time and operating speed of the joint manipulator 301 on this basis will also cause its accuracy to deviate. Therefore, how to balance the interference deviation between the operating time and operating speed of the joint manipulator 301 and the multiple lathes and / or mechanisms, and how to control the changes in the joint angle values ​​of the joint manipulator 301 to improve efficiency are the problems to be solved by the present invention.

[0031] Based on this, the present invention achieves seamless integration of the processing and transfer process by collaboratively correcting the motion of the articulated robotic arm 301 from multiple dimensions. Specifically, this reduces process material change time; time difference compensation based on the process cycle prediction model reduces the waiting time between the articulated robotic arm 301 and the lathe, shortening the overall processing cycle when multiple lathes (the first lathe 303 and the second lathe 304) are working alternately.

[0032] This embodiment relates to an automatic processing lathe control system. Figure 1 As shown, preferably, the system includes a control unit 100, and the control unit 100 includes a robot control module 110, a lathe control module 120 and a storage module 130. The storage module 130 is used to store the corresponding coordinate system, coordinate system point set, logic program and other parameters related to the robot and / or lathe. The robot control module 110 can call the preset parameters in the storage module 130 to calculate the motion trajectory data related to the joint robot arm 301, so as to control the joint robot arm 301 according to the calculated position posture coordinates. Furthermore, the robot control module 110 issues instructions to control each joint in the joint robot arm 301 to change the rotation angle amplitude, so as to realize the movement of the joint robot arm 301 according to the trajectory. The lathe control module 120 can issue processing status information to control the lathe to perform corresponding actions.

[0033] Preferably, the system further includes an acquisition unit 200. The acquisition unit 200 is data-connected to the control unit 100. The acquisition unit 200 is used to collect data such as the current processing status and workpiece status of the lathe in real time and feed the data back to the control unit 100 for logical judgment and control. The acquisition unit 200 includes, for example, a spindle encoder (integrated in the lathe spindle drive end, which collects the spindle speed in real time through pulse signals), a cutting depth sensor (using a laser displacement sensor, installed next to the lathe tool holder, which detects the tool feed depth in real time through laser ranging, indirectly reflects the current processing allowance of the workpiece, and provides data support for the prediction of the remaining time of the process), a lathe door status sensor (using a magnetic proximity switch, installed at the joint of the lathe door and the bed, which detects the opening and closing status of the lathe door in real time, and ensures that the joint robot arm 301 only performs the material picking and unloading action when the lathe door is fully opened) and a processing completion signal generator (integrated in the output end of the lathe control system, outputs a switch signal through a relay contact, and sends a "processing completion" signal after the lathe completes the cutting and retracting action).

[0034] Furthermore, the control unit 100 controls the motion of the lathe, mechanism, and / or articulated robotic arm 301 based on the data acquired by the acquisition unit 200. The control unit 100 can achieve overall motion control by controlling control components (e.g., valve components, relays, cylinders, etc.) within the lathe, mechanism, and / or articulated robotic arm 301.

[0035] Preferably, the robotic arm control module 110 calculates the control method required for the motion trajectory of the joint robotic arm 301 moving at the two discrete points based on the current process stage and the spatial coordinates of at least two discrete points where the joint robotic arm 301 needs to move in the process, and controls the movement of the joint robotic arm 301 by sending pulse instructions to the joint robotic arm 301.

[0036] Further preferably, the manipulator control module 110 controls the joint rotation angle amplitude of the joint manipulator 301 based on the torsion angle of each joint and optimizes the motion trajectory. The manipulator control module 110 also corrects the running time and running speed of the joint manipulator 301 during the motion process based on the interference rhythm between the joint manipulator 301 and a number of lathes and / or mechanisms in order to reduce the load carried by the joint manipulator 301. The present invention reduces the load of the joint manipulator 301 by adjusting the posture, running time and running speed of the joint manipulator 301, ensuring that the joint manipulator 301 performs normal operation, thereby ensuring that the joint manipulator 301 moves smoothly and avoiding the influence of irregular vibration caused by movement on parts.

[0037] Preferably, if Figure 2As shown in the figure, the automatic processing lathe control system includes a robotic arm 301, a feeding mechanism 302, a first lathe 303, a second lathe 304, a flipping mechanism 305, and a discharging tray 306. The feeding mechanism 302 is used for the supply task of workpieces and assists the robotic arm 301 in performing automated processing work. The robotic arm 301 consists of a base, joint components, and an end fixture, and is used for gripping and transporting workpieces. Preferably, the end fixture of the robotic arm 301 is provided with at least two jaws, so as to put the unprocessed workpiece blank while taking out the processed workpiece from the first lathe 303 and / or the second lathe 304, thereby shortening the process. Preferably, the end fixture of the robotic arm 301 is provided with a first jaw 308 and a second jaw 309. In the present invention, the feeding mechanism 302 and the discharging tray 306 are placed opposite to each other, and the robotic arm 301 is located between the two. The first lathe 303 and the second lathe 304 are located on the sides of the robotic arm 301, forming a "field" shape as a whole. The flipping mechanism 305 is arranged between the robotic arm 301 and the discharging tray 306. As Figure 4 shown, the flipping mechanism 305 consists of a cylinder and at least two jaws. It should be noted that not all of the above mechanisms need to be provided, and only some of the mechanisms can also achieve the content of this application. As Figure 3 shown. The automatic processing lathe control system includes a robotic arm 301, a feeding mechanism 302, a first lathe 303, a second lathe 304, and a discharging tray 306.

[0038] In the present invention, the robotic arm 301 is provided with a six-axis robotic arm, so as to achieve multi-angle rotation for transporting workpieces. Specifically, for example, the robotic arm 301 can adopt an industrial six-axis robotic arm with the model RS007L developed by Kawasaki Robotics, so as to achieve multi-angle gripping.

[0039] Preferably, the process of the automatic processing lathe control system is as follows:

[0040] S1: The feeding mechanism 302 automatically feeds the workpiece to be processed to the specified position and performs the length detection of the workpiece;

[0041] S2: The first jaw 308 of the robotic arm 301 grips the workpiece and sends it to the position calibration mechanism 307 for position accuracy calibration;

[0042] S3: The first gripper 308 of the articulated robotic arm 301 moves the calibrated workpiece to the first lathe 303, and the lathe control module 120 automatically opens its door. The second gripper 309 of the articulated robotic arm 301 grips and removes the workpiece processed by the first lathe 303, and places the workpiece to be processed by the first gripper 308 in the fixing mechanism of the first lathe 303. Then, the articulated robotic arm 301 withdraws from the first lathe 303, and the lathe control module 120 closes the lathe door and starts processing.

[0043] S4: The second gripper 309 of the articulated robotic arm 301 moves the workpiece to the flipping mechanism 305 and places the workpiece on the swapping position of the flipping mechanism 305. The lathe control module 120 controls the flipping mechanism 305 to perform the swap, and then the second gripper 309 of the articulated robotic arm 301 clamps the flipped workpiece.

[0044] S5: The second gripper 309 of the articulated robotic arm 301 grips the flipped workpiece and moves it to the second lathe 304. The lathe control module 120 automatically opens its door. The first gripper 308 of the articulated robotic arm 301 grips and removes the workpiece processed by the second lathe 304, and places the workpiece to be processed by the second gripper 309 in the fixing mechanism of the second lathe 304. Then, the articulated robotic arm 301 withdraws from the second lathe 304. The lathe control module 120 closes the lathe door and starts processing.

[0045] S5: The first gripper 308 of the joint robot arm 301 places the processed workpiece on the corresponding position of the discharge tray 306.

[0046] First, the planning of the initial motion trajectory is explained.

[0047] Preferably, the robot control module 110 establishes a three-dimensional model based on the placement of each hardware in the automation system to form a coordinate system that can be used to describe the movement of the joint robot arm 301. Preferably, the joint robot arm 301 is integrated with a plurality of sensors for detecting the angular amplitude of the connecting rod joint of the joint robot arm 301. Preferably, the joint robot arm 301 is integrated with a plurality of sensors for detecting whether the joint robot arm 301 has a hard collision with an entity or whether there is an abnormal torque inside. The sensor is, for example, a joint stress sensor, a lathe vibration sensor, a strain gauge sensor, and an acceleration sensor.

[0048] Preferably, the manipulator control module 110 sets a spatial coordinate system based on the base of the articulated manipulator 301 in the constructed three-dimensional model as the origin and the rotation axis as the Z axis and uses it as the base coordinate system. The spatial coordinate system can be a spatial Cartesian coordinate system. Preferably, the manipulator control module 110 establishes a corresponding coordinate system on each link joint of the articulated manipulator 301 to construct the direction of the homogeneous transformation matrix to describe the relationship between each link joint, and obtains the position and posture of the end fixture. Further preferably, the manipulator control module 110 uses the torsion direction or movement direction of the link joint as the Z axis of the link joint, the direction of the common perpendicular line between the link joint and the next link joint and the direction from the link joint to the next link joint as the X axis, and the proximal end of the link to which the link joint is fixed as the origin to establish the corresponding coordinate system. In the present invention, the articulated manipulator 301 is set as a six-axis manipulator, and therefore, the manipulator control module 110 establishes at least six corresponding coordinate systems.

[0049] Preferably, the robot control module 110 calculates the spatial position coordinates of the end fixture relative to the base coordinate system based on the relative torsion angles of the several link joints. Further preferably, the robot control module 110 recursively deduces from the base coordinate system to the matrix coordinates of the end fixture based on the transformation relationship between adjacent coordinate systems. Since the coordinate system constructed by the several link joints is an adjustment of the Z axis and the X axis, the robot control module 110 recursively deduces to the next coordinate system based on the transformation of the base coordinates on the Z axis and the X axis. Preferably, the robot control module 110 rotates the base coordinates around the X axis by an angle α, and then rotates the base coordinates along the X axis after rotation. i Move a distance in the Z-axis direction, then rotate it around the Z-axis by an angle of β, and then move it along the Z-axis after rotation. i The robot arm control module 110 then moves the axis by a distance b, thereby obtaining the next coordinate system. The aforementioned angle α refers to the angle of rotation of the axis of one link joint relative to the axis of the next link joint about their common normal. The angle β refers to the angle of rotation of the common normal between one link joint and the next link joint, and the common normal of the previous link joint, about the current link joint axis. The distance a refers to the length of the common normal between the two link joint axes. The distance b refers to the distance between the common normal between one link joint and the next link joint, and the common normal between the link joint and the previous link joint, about their joint axes. Thus, the robot arm control module 110 obtains the transformation relationship matrix of the next link joint.

[0050] Further preferably, the robot control module 110 multiplies the transformation relationship matrices of adjacent link joints to calculate the comprehensive homogeneous transformation matrix of the coordinate system at the end fixture relative to the base coordinates, and the formula is:

[0051]

[0052] Wherein, n represents the number of connecting rod joints of the joint robot arm 301. Since the present invention adopts a six-axis robot arm, n=6; 0 T n It is expressed as the comprehensive homogeneous transformation matrix of the coordinate system at the end fixture relative to the base coordinates; i T i+1 It is represented as the transformation relationship matrix between adjacent coordinate systems, and i represents the current link joint.

[0053] Preferably, the robot control module 110 calculates the spatial position coordinate matrix of the center of the end fixture of the joint robot arm 301 based on the obtained comprehensive homogeneous transformation matrix of the coordinate system at the end fixture relative to the base coordinates. The formula is:

[0054] P= 0 T n (0 0 0 1) T =(xyz 1) T

[0055] Wherein, x, y, z represent the distances of the joint robot arm 301 relative to the base coordinate system in the directions of the X axis, Y axis, and Z axis, respectively. Thus, the robot arm control module 110 calculates the spatial position coordinates of the center of the end fixture.

[0056] Preferably, the robotic arm control module 110 calculates the control method required for the motion trajectory of the articulated robotic arm 301 at the two discrete points based on the current process stage and the spatial coordinates of at least two discrete points where the articulated robotic arm 301 is required to move in the process, and controls the movement of the articulated robotic arm 301 by issuing pulse instructions to the articulated robotic arm 301. The at least two discrete points can be the position of the articulated robotic arm 301 in the previous process and the position where the articulated robotic arm 301 is scheduled to be in the next process. The at least two discrete points can also be the position of the articulated robotic arm 301 in the same process where the articulated robotic arm 301 is waiting, changing materials, or turning materials. Preferably, the robotic arm control module 110 determines the set of all discrete points that the articulated robotic arm 301 needs to move in several processes based on the preset process and the constructed coordinate system, calculates the parameters for the articulated robotic arm 301 to move to the target point with the optimal posture and path, and converts the parameters into drive instructions and sends them to the articulated robotic arm 301.

[0057] In the present invention, the at least two discrete points are, for example, the spatial position point at which the loading mechanism 302 transports the blank workpiece to the designated position and the spatial position point of the position calibration mechanism 307. The at least two discrete points are also, for example, the spatial position point of the position calibration mechanism 307 and the waiting point for the machining completion signal from the first lathe 303.

[0058] It should be noted that the set of several discrete points is calculated based on the placement of each mechanism before the processing operation and stored in the storage module 130. The robot control module 110 can directly retrieve the spatial coordinates of the discrete points in the actual processing operation, and calculate the optimal posture and path of the joint robot 301 moving from this position to the discrete points in combination with the connecting rod joint angle amplitude of the joint robot 301 obtained by the sensor in the end fixture spatial coordinate position calculation method. In addition, the robot control module 110 determines the end of the process through the process completion signal of each lathe and / or mechanism. For example, the loading mechanism 302 is provided with a probe for judging whether there is a workpiece to be processed in the material bin, and the lathe is provided with a signal sending module to send a processing completion signal after the processing is completed.

[0059] Further preferably, the manipulator control module 110 controls the joint rotation angle amplitude of the articulated manipulator 301 based on the torsion angle of each link joint and optimizes the motion trajectory. Preferably, the manipulator control module 110 calculates the torsion angle between the plurality of link joints based on the calculated spatial position coordinates of the center of the end fixture and based on the comprehensive homogeneous transformation matrix of the coordinate system at the end fixture relative to the base coordinates by left-multiplying the inverse matrix of the transformation matrix of the adjacent link joints. Preferably, the manipulator control module 110 selects the group with the smallest comprehensive torsion angle of the plurality of link joints as the optimal solution based on the calculated plurality of groups of torsion angles to control the rotation of the articulated manipulator 301. Thus, the articulated manipulator 301 meets the requirements of automated processing in a manner that can avoid various mechanisms within the processing site, achieve smooth rotation movement, and trajectory positioning control. The manipulator control module 110 optimizes the rotation angle amplitude and motion trajectory of each link joint of the articulated manipulator 301 in a relatively preferred manner. The reason it's "relatively preferred" rather than "optimal" is because articulated robotic arm 301 is a multi-axis robotic arm. When achieving optimal performance, its rotational amplitude can reach negative values. This can result in minimal load on the overall motion of articulated robotic arm 301, but uneven movement. Therefore, the present invention prioritizes the rotational amplitude of each link joint as relatively preferred, rather than optimal. This reduces the load on articulated robotic arm 301 while maintaining smooth motion.

[0060] Preferably, the robotic arm control module 110 sends corresponding motion instructions to the articulated robotic arm based on the calculated torsion angles of several link joints to the various servo drivers of the articulated robotic arm to drive the servo motors of each link joint of the articulated robotic arm 301 to rotate, thereby realizing the linkage of each link joint.

[0061] Further preferably, the robot arm control module 110 corrects the running time and running rate of the articulated robot arm 301 during its motion process based on the interference rhythm between the articulated robot arm 301 and the plurality of lathes and / or mechanisms in a manner that reduces the load carried by the articulated robot arm 301. Preferably, the robot arm control module 110 corrects the running time and running rate of the articulated robot arm 301 during its motion process based on the interference rhythm at least in the temporal and spatial dimensions.

[0062] Preferably, the robotic arm control module 110 constructs a process cycle prediction model based on historical processing data or preset processing data stored in the storage module 130. The robotic arm control module 110 obtains the lathe's real-time processing progress from the acquisition unit 200 to dynamically calculate the remaining time of the current process, and combines this with the theoretical travel time of the articulated robotic arm 301 from its current position to the target discrete point to compensate for time differences. The real-time lathe processing progress can be, for example, feedback on the lathe's cutting depth or spindle speed. Specifically, based on the predicted remaining time of the current process and the theoretical travel time, the robotic arm control module 110 reduces the speed of the articulated robotic arm 301 when the articulated robotic arm 301 is unloaded, synchronizing the time when the articulated robotic arm 301 reaches the material position with the time when the lathe completes processing. Preferably, based on the predicted remaining time of the current process and the theoretical travel time, the robotic arm control module 110 increases the dwell time of the articulated robotic arm 301 when the articulated robotic arm 301 is loaded, synchronizing the time when the articulated robotic arm 301 reaches the material position with the time when the lathe completes processing.

[0063] For example, when the robot control module 110 predicts that the remaining processing time of the first lathe 303 is 8 seconds and the articulated robot arm 301 only needs 5 seconds to move to the waiting position without a load, the robot control module 110 instructs the articulated robot arm 301 to move at 70% of the rated speed, so that the time when the articulated robot arm 301 reaches the waiting position is synchronized with the time when the lathe processing is completed, thereby avoiding the articulated robot arm 301 waiting with a load. When the robot control module 110 predicts that the remaining processing time of the first lathe 303 is 12 seconds and the articulated robot arm 301 needs 8 seconds to pick up the material and then move to the waiting position, the robot control module 110 instructs the articulated robot arm 301 to stop for a short time of 4 seconds before continuing the material picking and moving operation.

[0064] For scenarios where multiple lathes are working alternately, the robotic arm control module 110 uses a timing window to phase-match the machining cycles of the first lathe 303 and the second lathe 304. If the machining cycles of the first and second lathes 303 and 304 exceed a preset time, the robotic wall control module adjusts the dwell time of the articulated robotic arm 301 at the flip mechanism 305, creating a seamless closed-loop cadence for machining and transfer.

[0065] Preferably, the manipulator control module 110 generates a non-uniform motion instruction for the articulated manipulator 301 based on the weight parameter of the workpiece currently clamped by the end fixture of the articulated manipulator 301 and the curvature of the motion trajectory between at least two discrete points. The weight parameter of the workpiece currently clamped can be preset before the processing operation, and can also be fed back to the control unit 100 through the pressure sensor integrated in the clamping jaws of the articulated manipulator 301. The non-uniform motion instruction means that when the articulated manipulator 301 carries a high-quality workpiece, the manipulator control module 110 controls the articulated manipulator 301 to reduce the speed at the inflection point of the trajectory and extend the corner buffer time to reduce the inertial load by reducing the angular acceleration of the connecting rod joint; when the articulated manipulator 301 is running without load, the manipulator control module 110 controls the articulated manipulator 301 to adopt a three-stage rate method to shorten the travel time. The three-stage rate method refers to the process of the articulated manipulator 301 from rapid acceleration to uniform speed and then to rapid deceleration. Therefore, the robot control module 110 selects a path that minimizes the overall torsion of the joint robot arm 301 while the aerial joint robot arm 301 avoids the interference area of ​​the lathe column and the mechanism support light, thereby effectively reducing the operating load of the joint robot arm 301.

[0066] In order to solve the problem of the loaded waiting of the joint manipulator 301, after receiving the lathe processing signal, the manipulator control module 110 calculates the joint torque distribution based on the current clamping posture of the joint manipulator 301, and solves the standby posture parameters that make the torque of each joint less than the rated value by left multiplying the inverse matrix of the adjacent link transformation matrix, while maintaining a safe distance between the end workpiece and the surrounding equipment. Preferably, the manipulator control module 110 generates instructions based on the standby posture parameters to control the joint manipulator 301 to change its posture, and then continues to clamp the workpiece with a smaller torque to wait for the lathe processing to be completed. For example, when the joint manipulator 301 is waiting for the first lathe 303 to be processed, the manipulator control module 110 controls the joint manipulator 301 to rotate the end fixture to a low position close to the base, so that the torque of the upper arm joint of the joint manipulator 301 is reduced, while maintaining a safe distance between the end workpiece and the surrounding equipment. This posture adjustment process overlaps with the lathe processing period and does not take up additional process time.

[0067] Further preferably, the robotic arm control module 110 generates a compensation coefficient based on the real-time collected lathe processing time fluctuation value and substitutes the coefficient into the motion trajectory time calculation to correct the motion rate and path of the joint robotic arm 301 according to the coefficient value. The compensation coefficient refers to the ratio of the actual lathe processing time to the standard processing time. Preferably, when the compensation coefficient is greater than 1, the robotic arm control module 110 proportionally extends the movement time of the joint robotic arm 301 between adjacent processes. Preferably, when the compensation coefficient is less than 1, the robotic arm control module 110 shortens the redundant segments of the joint robotic arm 301 motion path while maintaining motion smoothness to ensure dynamic matching of the joint robotic arm 301 with the lathe processing rhythm. Preferably, the robotic arm control module 110 dynamically adjusts the movement time and motion path of the joint robotic arm 301 in a step-by-step manner using pulse instructions to avoid motion impact on the connecting rod joint. The reason for the above-mentioned lathe processing time fluctuation value is, for example, that the standard processing time of the first lathe 303 is 10s, and the current batch is extended to 12s due to the hardness difference of the workpieces.

[0068] It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention specification and its drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of the present invention is defined by the claims and their equivalents. The present invention specification contains multiple inventive concepts, such as "preferably" or "according to a preferred embodiment", which means that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application based on each inventive concept. Throughout the text, the features guided by "preferably" are only an optional method and should not be understood as having to be set. Therefore, the applicant reserves the right to abandon or delete the relevant preferred features at any time.

Claims

1. An automatic machining lathe control system, characterized in that: The invention comprises a control unit (100) and an articulated robotic arm (301), wherein the control unit (100) comprises a robotic arm control module (110), a lathe control module (120), and a storage module (130) for storing parameters related to the articulated robotic arm (301) and / or the lathe, wherein the robotic arm control module (110) retrieves the parameters in the storage module (130) to calculate motion trajectory data related to the articulated robotic arm (301), and controls the articulated robotic arm (301) according to the calculated position and posture coordinates, wherein: The robotic arm control module (110) calculates the control method required for the movement trajectory of the joint robotic arm (301) at the two discrete points according to the current process stage and the spatial coordinates of at least two discrete points at which the joint robotic arm (301) is required to move in the process, and controls the movement of the joint robotic arm (301) by sending pulse instructions to the joint robotic arm (301).

2. The automatic machining lathe control system according to claim 1, characterized in that: The robot arm control module (110) controls the joint rotation angle amplitude of the joint robot arm (301) based on the torsion angle of each joint and optimizes the motion trajectory, wherein: The robot control module (110) corrects the operation time and operation rate of the joint robot (301) during the movement process in a manner that reduces the load carried by the joint robot (301) based on the interference rhythm between the joint robot (301) and several lathes and / or mechanisms.

3. The automatic machining lathe control system according to claim 2, characterized in that: The system further comprises a collection unit (200) for collecting the current machining state and workpiece state of the lathe in real time and feeding the data back to the control unit (100), wherein the collection unit (200) is data-connected to the control unit (100), The control unit (100) performs motion control of the lathe, the mechanism and / or the joint robotic arm (301) based on the data acquired by the acquisition unit (200).

4. The automatic machining lathe control system according to claim 3, characterized in that: The manipulator control module (110) corrects the running time and running speed of the joint manipulator (301) during the movement process based on the interference beat at least in the time dimension and the space dimension, wherein The robotic arm control module (110) forms a process beat prediction model based on historical processing data or preset processing data in the storage module (130). The robotic arm control module (110) obtains the real-time processing progress of the lathe based on the acquisition unit (200) to dynamically calculate the remaining time of the current process, and combines the theoretical moving time of the joint robotic arm (301) from the current position to the target discrete point to perform time difference compensation.

5. The automatic machining lathe control system according to claim 4, characterized in that: The robotic arm control module (110) increases the dwell time of the joint robotic arm (301) when the joint robotic arm (301) is under load based on the predicted remaining time of the current process and the theoretical moving time, so that the time when the joint robotic arm (301) reaches the waiting position is synchronized with the time when the lathe processing is completed.

6. The automatic machining lathe control system according to claim 5, characterized in that: The robotic arm control module (110) generates a non-uniform motion instruction for the joint robotic arm (301) based on a weight parameter of a workpiece currently clamped by an end fixture of the joint robotic arm (301) and a curvature of a motion trajectory between at least two of the discrete points.

7. The automatic machining lathe control system according to claim 6, characterized in that: After receiving the lathe processing signal, the robot arm control module (110) calculates the joint torque distribution based on the current clamping posture of the joint robot arm (301) to obtain the standby posture parameter, wherein: The robot arm control module (110) generates instructions based on the standby posture parameters to control the joint robot arm (301) to change its posture, thereby continuously clamping the workpiece in a manner with low torque to wait for lathe processing to be completed.

8. The automatic machining lathe control system according to claim 7, characterized in that: The robot arm control module (110) generates a compensation coefficient based on the real-time collected processing time fluctuation value of the lathe and substitutes the compensation coefficient into the motion trajectory time calculation to correct the motion rate and path of the joint robot arm (301) according to the coefficient value.

9. The automatic machining lathe control system according to claim 8, characterized in that: The robot control module (110) establishes a three-dimensional model of the placement of equipment in the processing site to form a coordinate system for describing the movement of the joint robot arm (301).

10. The automatic machining lathe control system according to claim 9, characterized in that: The robotic arm control module (110) sets a spatial coordinate system based on the base of the joint robotic arm (301) in the constructed three-dimensional model as the origin and the rotation axis as the Z axis, and uses it as the base coordinate system, wherein: The robot arm control module (110) establishes a corresponding coordinate system on each link joint of the joint robot arm (301) to construct the direction of the homogeneous transformation matrix to describe the relationship between the various link joints, and obtains the position and posture of the end fixture.

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