An automatic machining lathe control system

Abstract

This invention relates to an automated machining lathe control system, including 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 retrieves parameters from the storage module to calculate motion trajectory data related to the articulated robotic arm, and controls the articulated robotic arm based on the calculated position and orientation coordinates. The robotic arm control module calculates the control method required for the motion trajectory of the articulated robotic arm at two discrete points based on the current process stage and the spatial coordinates of at least two discrete points where the articulated robotic arm needs to move, and controls the movement of the articulated robotic arm by issuing pulse commands. This invention achieves seamless connection of the machining and transfer process by coordinating the motion of the articulated robotic arm from multiple dimensions.

Description

Technical Field

[0001] This invention relates to the field of lathe control, and more particularly to an automatic machining lathe control system. Background Technology

[0002] In the field of industrial automated machining, with the continuous improvement of high-precision manufacturing demands, the automation and intelligentization of lathe machining have become the core trends in industry development. This is especially true in the processing of special materials such as graphite, where the high brittleness of the materials, the large amount of processing dust, and the stringent precision requirements place higher demands on the synergy and stability of the automated machining system. Currently, lathe equipment technology is continuously iterating, and advanced hardware such as high-precision spindles and intelligent tool holders are becoming increasingly widespread. However, the development of automated control methods is relatively lagging behind, leading to an increasingly prominent imbalance between "advanced equipment and outdated control," which seriously restricts the improvement of overall machining efficiency and quality.

[0003] Specifically, existing automated processing systems suffer from the following key technological bottlenecks:

[0004] Firstly, the imbalance in equipment efficiency leads to systemic losses. In multi-process collaborative machining, the articulated robotic arm, as the core actuator for workpiece transfer, often operates at a load speed far exceeding the machining speed of a lathe (e.g., the single-axis movement speed of the robotic arm can reach 1-2 m / s, while the single-process machining cycle of a lathe often requires 10-30 seconds), creating an efficiency gap of "fast transfer and slow processing." This gap directly results in the robotic arm needing to carry a load for extended periods while waiting for the lathe to complete its machining. This not only increases the continuous load on the robotic arm joints (the joint torque remains high for a long time while carrying a load), accelerating joint wear and precision decay, but also easily causes minute deformations in the robotic arm due to the continuous load, leading to subsequent misalignment during material handling and resulting in machining errors.

[0005] Secondly, the timing of multi-device collaboration is disrupted, leading to extended processing cycles. In scenarios involving multiple lathes (such as alternating operation of two lathes), fluctuations in the processing rhythm of each lathe (e.g., processing time deviations of ±5-10 seconds due to differences in workpiece material and tool wear) make it difficult for the robotic arm's transport rhythm to dynamically match the lathe's processing rhythm. When there is a time difference between the lathe's processing cycle and the robotic arm's transport cycle, idle phenomena such as "lathe waiting for robotic arm" or "robotic arm waiting for lathe" easily occur, resulting in a longer overall processing cycle. Furthermore, the robotic arm's transport trajectory planning between multiple workstations (loading, calibration, lathe, flipping, unloading) is often based on fixed paths, without considering the dynamic adjustment of real-time processing status, further exacerbating the difficulty of timing matching.

[0006] Third, it is difficult to balance the precision and efficiency of robotic arm motion control. Existing robotic arm trajectory planning is mostly based on linear interpolation of preset discrete points, which does not fully couple factors such as workpiece load (e.g., weight differences in graphite workpieces) and trajectory curvature (e.g., changes in inertial force at corners). This leads to irregular vibrations during movement (especially under heavy load or sharp corner conditions), affecting workpiece positioning accuracy. At the same time, the adjustment of robotic arm joint angles often adopts a single objective optimization of "shortest path" without considering the torque balance of multi-joint coordination. This results in some joints being under high load for a long time, shortening their service life.

[0007] Fourth, the closed-loop perception and control of machining status is lacking. Existing systems lack real-time perception of lathe machining progress (such as remaining cutting amount and spindle load) and workpiece status (such as clamping stability). The robotic arm's transfer commands are mostly triggered by preset programs rather than dynamically adjusted based on real-time machining data. This "open-loop control" mode is difficult to cope with sudden fluctuations in the machining process (such as tool breakage leading to machining interruption), and is prone to causing equipment interference or workpiece damage.

[0008] In summary, existing automated machining lathe control systems have significant shortcomings in areas such as equipment efficiency matching, multi-process timing coordination, robotic arm motion optimization, and closed-loop control of machining status. They cannot meet the demands of high-precision, high-efficiency, and high-stability automated machining, and are particularly ill-suited for the machining characteristics of special materials such as graphite. Therefore, it is necessary to construct a control system capable of multi-dimensional collaborative correction of robotic arm motion, dynamic matching of machining cycle time, and seamless connection between machining and transfer to solve the aforementioned technical problems.

[0009] Furthermore, 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 this invention, but due to space limitations, not all details and contents were listed in detail. However, this does not mean that the present invention does not possess the features of these prior art. On the contrary, the present invention already possesses all the features of the prior art, and the applicant reserves the right to add relevant prior art to the background art. Summary of the Invention

[0010] To address the shortcomings of existing technologies, this invention provides an automated machining lathe control system, including 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 retrieves parameters from the storage module to calculate motion trajectory data related to the articulated robotic arm, and controls the articulated robotic arm based on the calculated position and orientation coordinates. The robotic arm control module calculates the control method required for the motion trajectory of the articulated robotic arm at two discrete points based on the current process stage and the spatial coordinates of at least two discrete points required for the movement of the articulated robotic arm in that process, and controls the movement of the articulated robotic arm by issuing pulse commands. This invention achieves precise drive control of the articulated robotic arm by calling preset parameters and parsing motion trajectories through the robotic arm control module in the control unit, combined with the spatial coordinates of at least two discrete points, thus constructing a parameterized trajectory planning system. This mechanism provides a path reference for the automated cross-process transfer of workpieces, ensuring absolute accuracy of spatial positioning during transfer, and laying the underlying control foundation for the efficient collaborative operation of automated machining systems.

[0011] According to a preferred embodiment, the robotic arm control module controls the joint rotation angle of the joint robotic arm based on the torsion angle of each joint and optimizes the motion trajectory. The robotic arm control module corrects the running time and speed of the joint robotic arm during movement by reducing the load on the joint robotic arm based on the interference beats between the joint robotic arm and several lathes and / or mechanisms. The robotic arm control module of this invention dynamically optimizes the motion trajectory based on the joint torsion angle and couples the interference beats between devices to collaboratively correct the running sequence and speed, achieving dynamic efficiency adaptation between the robotic arm and lathes and auxiliary mechanisms. This not only significantly reduces the load on the robotic arm and suppresses the disturbance of irregular vibrations to the workpiece machining accuracy, but also extends the mechanical life of the robotic arm through motion stability control and improves the system robustness of the machining and transfer process.

[0012] According to a preferred embodiment, the system further includes a data acquisition unit for real-time acquisition of the lathe's current machining state and workpiece state, and for feeding the data back to the control unit. The data acquisition unit is data-connected to the control unit. The control unit performs motion control of the lathe, mechanism, and / or articulated robotic arm based on the data acquired by the data acquisition unit. The data acquisition unit of this invention constructs a real-time perception layer for the machining process, providing high-fidelity dynamic data input to the control unit through high-frequency data acquisition and feedback of lathe operating conditions and workpiece states. This closed-loop data link enables the system to have real-time response capabilities to machining scenarios, achieving a leap from "preset control" to "data-driven adaptive control," effectively avoiding machining deviations and efficiency losses caused by information lag.

[0013] According to a preferred embodiment, the robotic arm control module corrects the running time and speed of the articulated robotic arm during movement based on interference beats, at least in both the time and spatial dimensions. The robotic arm control module constructs a process beat prediction model based on historical processing data or preset processing data stored in the storage module. The robotic arm control module dynamically calculates the remaining time of the current process by acquiring the real-time processing progress of the lathe through the acquisition unit, and performs time difference compensation by combining this with the theoretical travel time of the articulated robotic arm from its current position to the target discrete point. The robotic arm control module of this invention adopts a spatiotemporal dual-dimensional collaborative correction strategy, 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 time differences by linking the robotic arm's movement sequence. This mechanism achieves precise coupling between the robotic arm and the lathe in the time dimension, significantly reduces the ineffective waiting time between devices, improves the rhythm matching degree of multi-device collaborative processing, and significantly compresses the overall processing cycle.

[0014] According to a preferred embodiment, the robotic arm control module, based on the predicted remaining time of the current process and the theoretical movement time, increases the dwell time of the articulated robotic arm when it is under load, thereby synchronizing the arrival time of the articulated robotic arm at the material-holding position with the lathe's processing completion time. This invention's timing coordination strategy designed for the robotic arm under load precisely synchronizes the arrival time of the material-holding position with the lathe's processing completion node by dynamically increasing the dwell time, fundamentally avoiding the accuracy degradation and structural damage caused by prolonged idleness of the robotic arm under load. This approach ensures the timing accuracy of the material changing process, reduces the cumulative impact of load on the accuracy of the robotic arm joints, and improves the long-term stability of the transfer system.

[0015] According to a preferred embodiment, the robotic arm control module generates non-uniform motion commands for the articulated robotic arm based on the weight parameters of the workpiece currently held by the end-effector of the articulated robotic arm and the curvature of the motion trajectory between at least two discrete points. This invention constructs a "load-trajectory" coupled drive mechanism based on the non-uniform motion control strategy generated from the end-effector load parameters and trajectory curvature characteristics. Under heavy load conditions, inertial load impact is suppressed by inflection point rate attenuation and buffer time extension; under no-load conditions, a three-stage speed-changing strategy is used to compress stroke time, achieving a dynamic balance between motion efficiency and structural safety, thus considering both system economy and robotic arm structural protection.

[0016] According to a preferred embodiment, after receiving a lathe machining signal, the robotic arm control module calculates the joint torque distribution based on the current clamping posture of the jointed robotic arm to obtain standby posture parameters. The robotic arm control module generates instructions based on these standby posture parameters to control the jointed robotic arm to change its posture, thereby continuously clamping the workpiece with low torque while waiting for the lathe machining to complete. After receiving the lathe machining signal, the robotic arm control module of this invention obtains the optimal standby posture parameters through dynamic analysis of joint torque, driving the robotic arm to complete the waiting process in a low-torque configuration. This mechanism, while ensuring a safe distance between the workpiece and surrounding equipment, controls the joint torque within a rated threshold, significantly reducing mechanical wear during the standby phase, extending the fault-free operating cycle of the robotic arm, and ensuring spatial safety during the waiting process.

[0017] According to a preferred embodiment, the robotic arm control module generates a compensation coefficient based on the real-time collected machining 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 jointed robotic arm according to the coefficient value. This invention, based on the compensation coefficient correction mechanism generated from the machining time fluctuation characteristics, achieves real-time dynamic adjustment of the robotic arm's motion parameters. By coupling the fluctuation factor to the trajectory time calculation model, it ensures the dynamic adaptation of the robotic arm's motion rhythm to the lathe's machining rhythm, significantly improving the system's anti-interference capability against random disturbances during machining and ensuring the stability of multi-device collaboration.

[0018] According to a preferred embodiment, a three-dimensional model is established based on the placement of equipment in the machining site by the robotic arm control module to form a coordinate system for describing the movement of the articulated robotic arm. The three-dimensional digital model constructed based on the equipment layout in the machining site realizes a digital representation of the robotic arm's motion space. Through the precise definition of the coordinate system, an accurate spatial reference is provided for the digital planning of the robotic arm's motion trajectory, ensuring the spatial mapping accuracy of trajectory calculation and providing digital support for subsequent high-precision motion control.

[0019] According to a preferred embodiment, the robotic arm control module establishes a spatial coordinate system based on the base of the articulated robotic arm in the constructed 3D model, with the base as the origin and the rotation axis as the Z-axis. The control module establishes corresponding coordinate systems on each link of the articulated robotic arm to construct the direction of the homogeneous transformation matrix to describe the relationship between the links and to obtain the pose of the end effector. By constructing the base coordinate system with the base as the origin, combined with the establishment of the hierarchical coordinate systems for each link and the analysis of the homogeneous transformation matrix, a mathematically accurate description of the pose of the robotic arm's end effector is achieved. This hierarchical coordinate analysis system provides rigorous mathematical support for the inverse kinematics calculation of joint angles and end effector pose, ensuring the theoretical rigor and control accuracy of the robotic arm's motion trajectory planning. Attached Figure Description

[0020] Figure 1 This is a simplified hardware topology 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 schematic 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 combination of hardware configurations for an automatic machining lathe control system according to a preferred embodiment of the present invention.

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

[0024] List of reference numerals

[0025] 100: Control unit; 110: Robotic arm control module; 120: Lathe control module; 130: Storage module; 200: Data acquisition unit; 301: Articulated robotic arm; 302: Loading mechanism; 303: First lathe; 304: Second lathe; 305: Tilting mechanism; 306: Unloading tray; 307: Position calibration mechanism; 308: First gripper; 309: Second gripper. Detailed Implementation

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

[0027] Example 1

[0028] This invention provides an automated machining lathe control system, which can be used for the automated machining of workpieces, especially for the construction of a lathe system for the automated machining of graphite workpieces. This invention focuses on several aspects of graphite machining, including the unique characteristics of automated machining lathes, the coordination between lathe machining efficiency and robotic arms, and the imperfections in automation solutions. Starting from an overall control system, it integrates multiple dimensions such as lathe cutting efficiency, robotic arm efficiency, loading and unloading rates, and machining status data to construct an automated machining lathe control system.

[0029] In the field of lathe machining, a common problem is the need for precise positioning and improved automation efficiency. With the continuous development of existing lathe technology and the constant innovation of equipment in various processes of automated machining, a mismatch has emerged between advanced equipment technology and outdated automation control methods. Once an efficiency mismatch occurs in any stage of the automated machining process, problems such as machining errors (machining alignment deviations), machine idling, and overload can easily arise. Consequently, machining efficiency does not improve with equipment upgrades; instead, overall efficiency decreases, leading to problems with the automated machining cycle and quality.

[0030] Specifically, the issue lies in the efficiency coordination between the articulated robotic arm 301 and several lathes and / or mechanisms. Because the load-bearing operating speed of the articulated robotic arm 301 is much higher than the processing speed of the lathes and / or mechanisms on the workpiece, the articulated robotic arm 301 suffers from overefficiency. That is, during the processing of the workpiece by the lathes and / or mechanisms, the articulated robotic arm 301 must wait for the processing to complete before proceeding to the next step, resulting in the articulated robotic arm 301 needing to wait under load for a considerable period. This leads to wear and tear on the articulated robotic arm 301, affecting the stable operation of the overall automation system. Furthermore, the increased load on the articulated robotic arm 301 also reduces its accuracy, and adjusting the running time and speed based on this load further deviates from the accuracy target. Therefore, how to balance the interference deviation between the running time and speed of the articulated robotic arm 301 and the several lathes and / or mechanisms, and how to control the changes in the joint angle values ​​of the articulated robotic arm 301 to improve efficiency, are the problems that this invention aims to solve.

[0031] Based on this, the present invention achieves seamless connection of processing and transfer links by coordinating the movement of the articulated robotic arm 301 from multiple dimensions. Specifically, the material change time of the process is shortened; the time difference compensation based on the process cycle prediction model reduces the waiting time between the articulated robotic arm 301 and the lathe, and shortens the overall processing cycle when multiple lathes (first lathe 303 and second lathe 304) work alternately.

[0032] This embodiment relates to an automatic machining lathe control system. For example... Figure 1 As shown, preferably, the system includes a control unit 100, which includes a robotic arm control module 110, a lathe control module 120, and a storage module 130. The storage module 130 stores parameters related to the robotic arm and / or lathe, such as the corresponding coordinate system, coordinate system point set, and logic program. The robotic arm control module 110 can retrieve preset parameters from the storage module 130 to calculate motion trajectory data related to the articulated robotic arm 301, and control the articulated robotic arm 301 according to the calculated position and posture coordinates. Furthermore, the robotic arm control module 110 issues commands to control the joints in the articulated robotic arm 301 to change the rotation angle, thereby enabling the articulated robotic arm 301 to move according to the trajectory. The lathe control module 120 can issue machining status information to control the lathe to perform corresponding actions.

[0033] Preferably, the system further includes a data acquisition unit 200. The data acquisition unit 200 is connected to the control unit 100. The data acquisition unit 200 is used to acquire data such as the current machining status of the lathe and the workpiece status in real time and feed this data back to the control unit 100 for logical judgment and control. The data acquisition unit 200 includes, for example, a spindle encoder (integrated into the lathe spindle drive end, which acquires the spindle speed in real time through pulse signals), a cutting depth sensor (using a laser displacement sensor, installed next to the lathe tool post, which detects the tool feed depth in real time through laser ranging, indirectly reflecting the current machining allowance of the workpiece, and providing data support for predicting the remaining processing time), a lathe door status sensor (using a magnetic proximity switch, installed at the lathe door and bed contact point, which detects the door opening and closing status in real time, ensuring that the articulated robotic arm 301 only performs material handling actions when the door is fully open), and a machining completion signal generator (integrated into the output end of the lathe control system, which outputs switch signals through relay contacts, and sends a "machining complete" signal after the lathe completes the cutting and retraction actions).

[0034] Furthermore, the control unit 100 performs motion control 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 the control components (such as valve assemblies, 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 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 issuing pulse commands to the joint robotic arm 301.

[0036] More preferably, the robotic arm control module 110 controls the joint rotation angle of the articulated robotic arm 301 based on the torsion angle of each joint and optimizes the motion trajectory. The robotic arm control module 110 also corrects the running time and speed of the articulated robotic arm 301 during movement by reducing the load on the articulated robotic arm 301 based on the interference rhythm between the articulated robotic arm 301 and several lathes and / or mechanisms. This invention, while ensuring the normal operation of the articulated robotic arm 301, reduces the load on the articulated robotic arm 301 by adjusting its posture, running time, and running speed, ensuring smooth movement of the articulated robotic arm 301 and avoiding the impact of irregular vibrations caused by movement on the parts.

[0037] Preferably, such as Figure 2As shown in the figure, the automatic machining 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 machining operations. 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 implement the content of this application. As Figure 3 shown. The automatic machining 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 realize 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 realize multi-angle gripping.

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

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

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

[0042] S3: The first gripper 308 of the articulated robotic arm 301 clamps and moves the calibrated workpiece to the first lathe 303. The lathe control module 120 automatically opens its door. The second gripper 309 of the articulated robotic arm 301 clamps and removes the workpiece after it has been processed by the first lathe 303. The workpiece to be processed by the first gripper 308 is placed in the fixing mechanism of the first lathe 303. Then the articulated robotic arm 301 exits 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 in the interchange position of the flipping mechanism 305. The lathe control module 120 controls the flipping mechanism 305 to perform the interchange, 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 clamps 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 clamps and removes the workpiece after it has been processed by the second lathe 304, and places the workpiece to be processed by the second gripper 309 into the fixing mechanism of the second lathe 304. Then the articulated robotic arm 301 exits the second lathe 304, and the lathe control module 120 closes the lathe door and starts processing.

[0045] S5: The first gripper 308 of the articulated robotic arm 301 places the processed workpiece into the corresponding position on the feeding tray 306.

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

[0047] Preferably, the robotic arm control module 110 establishes a three-dimensional model based on the placement of various hardware components in the automation system to form a coordinate system that can be used to describe the movement of the articulated robotic arm 301. Preferably, the articulated robotic arm 301 integrates several sensors for detecting the rotation angle of the linkage joints of the articulated robotic arm 301. Preferably, the articulated robotic arm 301 integrates several sensors for detecting whether the articulated robotic arm 301 has a hard collision with a solid object or whether there is an abnormal torque inside. These sensors are, for example, joint stress sensors, lathe vibration sensors, strain gauge sensors, and acceleration sensors.

[0048] Preferably, the robotic arm control module 110 establishes a spatial coordinate system based on the base of the articulated robotic arm 301 in the constructed 3D model, with the Z-axis as the origin and the rotation axis as the Z-axis, and uses this spatial coordinate system as the base coordinate system. This spatial coordinate system can be a Cartesian coordinate system. Preferably, the robotic arm control module 110 establishes corresponding coordinate systems on each link joint of the articulated robotic arm 301 to construct the direction of the homogeneous transformation matrix to describe the relationship between the various link joints and to obtain the pose of the end effector. More preferably, the robotic arm control module 110 uses the torsional direction or movement direction of the link joint as the Z-axis, the direction of the common perpendicular between the link joint and the next link joint, and the direction from the current link joint to the next link joint as the X-axis, and the proximal end of the link fixed to the link joint as the origin to establish the corresponding coordinate system. In this invention, the articulated robotic arm 301 is configured as a six-axis robotic arm; therefore, the robotic arm control module 110 establishes at least six corresponding coordinate systems.

[0049] Preferably, the robotic arm control module 110 calculates the spatial position coordinates of the end effector relative to the base coordinate system based on the relative torsional angles of several link joints. More preferably, the robotic arm control module 110 recursively derives the matrix coordinates of the end effector from the base coordinate system based on the transformation relationship between adjacent coordinate systems. Since the coordinate system constructed by the several link joints involves adjustments to the Z-axis and X-axis, the robotic arm control module 110 recursively derives the next coordinate system based on the transformations of the base coordinates along the Z-axis and X-axis. Preferably, the robotic arm control module 110 rotates the base coordinates around the X-axis by an angle α, and then transforms the coordinates along the rotated X-axis... i Move a distance 'a' along the Z-axis, then rotate around the Z-axis by an angle 'β', and then move along the rotated Z-axis... i The link moves a distance *b* along the axis to obtain the next coordinate system. The aforementioned angle *α* refers to the angle by which the axis of one link joint rotates relative to the axis of the next link joint about their common normal. The angle *β* refers to the angle by which the common normal of one link joint with the next link joint and the common normal of the previous link joint rotate about the current link joint axis. The distance *a* refers to the length of the common normal between the axes of the two link joints. The distance *b* refers to the distance between the common normal of one link joint with the next link joint and the common normal of the link joint with the previous link joint about their joint axes. Thus, the robotic arm control module 110 obtains the transformation matrix of the next link joint.

[0050] More preferably, the robotic arm 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 gripper relative to the base coordinates, the formula of which is:

[0051]

[0052] Where n represents the number of linkages in the articulated robotic arm 301. Since this invention uses a six-axis robotic arm, n = 6. 0 T n It is represented 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 robotic arm control module 110 calculates the spatial position coordinate matrix of the end effector center of the articulated robotic arm 301 based on the acquired homogeneous transformation matrix of the coordinate system at the end effector relative to the base coordinates. The formula is as follows:

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

[0055] Where x, y, and z represent the distances of the articulated robotic arm 301 relative to the base coordinate system in the X, Y, and Z axes, respectively. Based on this, the robotic arm control module 110 calculates the spatial coordinates of the end effector center.

[0056] Preferably, the robotic arm control module 110 calculates the control method required for the motion trajectory of the joint 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 joint robotic arm 301 needs to move in the process, and controls the movement of the joint robotic arm 301 by issuing pulse commands to the joint robotic arm 301. The at least two discrete points can be the position of the joint robotic arm 301 in the previous process to the predetermined position of the joint robotic arm 301 in the next process. The at least two discrete points can also be the positions of the joint robotic arm 301 during waiting, material changing, or material turnover within the same process. Preferably, the robotic arm control module 110 determines the set of all discrete points where the joint robotic arm 301 needs to move in several processes based on the preset process and the constructed coordinate system, calculates the parameters for the joint robotic arm 301 to move to the target point with the optimal posture and path, and converts these parameters into drive commands and sends them to the joint robotic arm 301.

[0057] In this invention, the at least two discrete points are, for example, the spatial position point where 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 may also be, for example, the spatial position point of the position calibration mechanism 307 and the waiting point position for the processing completion signal from the first lathe 303.

[0058] It should be noted that the set of discrete points is calculated based on the placement of each mechanism before the processing operation and stored in the storage module 130. The robotic arm control module 110 can directly retrieve the spatial coordinates of these discrete points during the actual processing operation, and calculate the optimal posture and path for the robotic arm 301 to move from that position to the discrete point by combining the linkage joint rotation angle obtained by the sensors with the spatial coordinate position calculation method of the end effector. In addition, the robotic arm control module 110 determines the end of the process through the process completion signals of each lathe and / or mechanism. For example, the loading mechanism 302 is equipped with a probe to determine whether there is a workpiece to be processed in the hopper, and the lathe is equipped with a signal sending module to send a processing completion signal after processing is completed.

[0059] More preferably, the robotic arm control module 110 controls the joint rotation angle of the articulated robotic arm 301 and optimizes the motion trajectory based on the torsion angle of each link joint. Preferably, the robotic arm control module 110 calculates the torsion angle between several link joints based on the calculated spatial coordinates of the end effector center and the comprehensive homogeneous transformation matrix of the coordinate system at the end effector relative to the base coordinates by left-multiplying by the inverse matrix of the transformation matrix of adjacent link joints. Preferably, the robotic arm control module 110 selects the set with the smallest comprehensive torsion angle of several link joints as the optimal solution to control the rotation of the articulated robotic arm 301. Thus, the articulated robotic arm 301 meets the requirements of automated processing in a way that avoids various mechanisms in the processing site, achieves smooth rotational movement, and provides trajectory positioning control. The robotic arm control module 110 optimizes the rotation angle and motion trajectory of each link joint of the articulated robotic arm 301 in a relatively preferred manner. The reason for using "relatively optimal" rather than "optimally optimal" is that the articulated robotic arm 301 is a multi-axis robotic arm. In achieving the optimal state, its rotation angle might become negative, resulting in minimal overall load on the articulated robotic arm 301, but with uneven motion. Therefore, this invention prioritizes the rotation angle of each link joint as relatively optimal, rather than optimal, thus reducing the load on the articulated robotic arm 301 while maintaining smooth motion.

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

[0061] More preferably, the robotic arm control module 110 corrects the running time and speed of the articulated robotic arm 301 during movement by reducing the load on the articulated robotic arm 301 based on the interference beats between the articulated robotic arm 301 and several lathes and / or mechanisms. Preferably, the robotic arm control module 110 corrects the running time and speed of the articulated robotic arm 301 during movement based on the interference beats at least in the time and space 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 acquires the real-time processing progress of the lathe 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 for time difference compensation. This real-time processing progress of the lathe can be feedback on the lathe's cutting depth, spindle speed, etc. 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 it is unloaded, so that the time for the articulated robotic arm 301 to reach the material waiting position is synchronized with the lathe's processing completion time. 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 it is loaded, so that the time for the articulated robotic arm 301 to reach the material waiting position is synchronized with the lathe's processing completion time.

[0063] For example, if the robotic arm control module 110 predicts that the remaining processing time of the first lathe 303 is 8 seconds and the articulated robotic arm 301 only needs 5 seconds to move to the waiting position without load, the robotic arm control module 110 instructs the articulated robotic arm 301 to move at 70% of its rated speed, so that the time for the articulated robotic arm 301 to reach the waiting position is synchronized with the completion time of the lathe processing, avoiding the articulated robotic arm 301 waiting under load. If the robotic arm control module 110 predicts that the remaining processing time of the first lathe 303 is 12 seconds and the articulated robotic arm 301 needs 8 seconds to pick up the material and move it to the waiting position, the robotic arm control module 110 instructs the articulated robotic arm 301 to pause briefly for 4 seconds before proceeding with the material picking and moving operation.

[0064] For scenarios involving alternating operations of multiple lathes, the robotic arm control module 110 uses a timing window to phase-match the processing cycles of the first lathe 303 and the second lathe 304. When the processing cycle of the first lathe 303 and the second lathe 304 exceeds a preset time, the robotic arm control module adjusts the dwell time of the joint robotic arm 301 at the flipping mechanism 305 to form a closed-loop cycle with seamless processing and transfer.

[0065] Preferably, the robotic arm control module 110 generates a non-uniform motion command for the articulated robotic arm 301 based on the weight parameters of the workpiece currently held by the end gripper of the articulated robotic arm 301 and the curvature of the motion trajectory between at least two discrete points. The aforementioned weight parameters of the currently held workpiece can be preset before the processing operation or fed back to the control unit 100 via a pressure sensor integrated into the gripper of the articulated robotic arm 301. This non-uniform motion command refers to the following: when the articulated robotic arm 301 is carrying a high-quality workpiece, the robotic arm control module 110 controls the articulated robotic arm 301 to reduce its speed and extend the cornering buffer time at trajectory inflection points, thereby reducing the inertial load by decreasing the angular acceleration of the linkage joints; when the articulated robotic arm 301 is running unloaded, the robotic arm control module 110 controls the articulated robotic arm 301 to adopt a three-stage speed mode to shorten the travel time. The three-stage speed mode refers to the process of the articulated robotic arm 301 from rapid acceleration to constant speed and then to rapid deceleration. Thus, while the air-mounted articulated robotic arm 301 avoids interference areas with the lathe column and mechanism support, the robotic arm control module 110 selects the path that minimizes the overall torsion of the articulated robotic arm 301, effectively reducing the operating load of the articulated robotic arm 301.

[0066] To address the issue of the articulated robotic arm 301 waiting under load, after receiving a lathe machining signal, the robotic arm control module 110 calculates the joint torque distribution based on the current clamping posture of the articulated robotic arm 301. By multiplying by the inverse matrix of the adjacent link transformation matrix, it solves for the standby posture parameters that ensure the torque of each joint is less than the rated value, while maintaining a safe distance between the end-effector and surrounding equipment. Preferably, the robotic arm control module 110 generates instructions based on these standby posture parameters to control the articulated robotic arm 301 to change its posture, thereby continuously clamping the workpiece with lower torque while waiting for the lathe machining to complete. Specifically, for example, when the articulated robotic arm 301 is waiting for the first lathe 303 to process, the robotic arm control module 110 controls the articulated robotic arm 301 to rotate the end-effector to a low position close to the base, thereby reducing the torque of the upper joint of the articulated robotic arm 301 while maintaining a safe distance between the end-effector and surrounding equipment. This posture adjustment process overlaps with the lathe machining period and does not occupy additional process time.

[0067] More preferably, the robotic arm control module 110 generates a compensation coefficient based on the real-time collected processing time fluctuation value of the lathe and substitutes this coefficient into the motion trajectory time calculation to correct the movement speed and path of the articulated robotic arm 301 according to the coefficient value. The compensation coefficient refers to the ratio of the actual processing time of the lathe to the standard processing time. Preferably, when the compensation coefficient is greater than 1, the robotic arm control module 110 extends the movement time of the articulated robotic arm 301 between adjacent processes proportionally. Preferably, when the compensation coefficient is less than 1, the robotic arm control module 110 shortens the redundant segment of the movement path of the articulated robotic arm 301 while maintaining the smoothness of the movement to ensure the dynamic matching of the articulated robotic arm 301 with the processing rhythm of the lathe. Preferably, the robotic arm control module 110 dynamically adjusts the movement time and movement path of the articulated robotic arm 301 in a stepwise manner with pulse commands to avoid impact on the movement of the linkage joint. The reason for the above-mentioned processing time fluctuation value of the lathe 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 difference in workpiece hardness.

[0068] It should be noted that the specific embodiments described above are exemplary. Those skilled in the art can devise various solutions inspired by the disclosure of this invention, and these solutions all fall within the scope of this invention and its protection. Those skilled in the art should understand that this specification and its accompanying drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of this invention is defined by the claims and their equivalents. This specification contains multiple inventive concepts; phrases such as "preferred" or "according to a preferred embodiment" indicate that the corresponding paragraph discloses an independent concept. The applicant reserves the right to file divisional applications based on each inventive concept. Throughout the text, the feature introduced by "preferred" is only an optional mode and should not be construed as mandatory. Therefore, the applicant reserves the right to abandon or delete relevant preferred features at any time.

Claims

1. An automatic machining lathe control system, characterized in that, The system includes a control unit (100) and an articulated robotic arm (301). The control unit (100) includes 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. The robotic arm control module (110) retrieves the parameters from 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 attitude coordinates. The robotic arm control module (110) calculates the control method required for the motion trajectory of the joint robotic arm (301) at the two discrete points based on the current process stage and the spatial coordinates of at least two discrete points that the joint robotic arm (301) needs to move in the process, and controls the movement of the joint robotic arm (301) by sending pulse commands to the joint robotic arm (301). The robotic arm control module (110) controls the joint rotation angle of the joint robotic arm (301) based on the torsion angle of each joint and optimizes the motion trajectory. The robotic arm control module (110) corrects the running time and running speed of the articulated robotic arm (301) during the movement process by reducing the load carried by the articulated robotic arm (301) based on the interference rhythm between the articulated robotic arm (301) and several lathes and / or mechanisms. The system further includes a data acquisition unit (200) for real-time acquisition of the lathe's current machining status and workpiece status, and for feeding the data back to the control unit (100). The data acquisition unit (200) is data-connected to the control unit (100). The control unit (100) performs motion control of the lathe, mechanism and / or the articulated robotic arm (301) based on the data acquired by the acquisition unit (200); The robotic arm control module (110) corrects the running time and running rate of the articulated robotic arm (301) during movement based on interference beats, at least in the time and space dimensions. The robotic arm control module (110) constructs a process cycle 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 movement time of the articulated robotic arm (301) from the current position to the target discrete point to perform time difference compensation. The robotic arm control module (110) increases the dwell time of the articulated robotic arm (301) under load, based on the predicted remaining time of the current process and the theoretical movement time, so that the time when the articulated robotic arm (301) arrives at the waiting position is synchronized with the time when the lathe processing is completed.

2. The automatic machining lathe control system according to claim 1, characterized in that, The robotic arm control module (110) generates non-uniform motion commands for the jointed robotic arm (301) based on the weight parameters of the workpiece currently held by the end gripper of the jointed robotic arm (301) and the curvature of the motion trajectory between at least two discrete points.

3. The automatic machining lathe control system according to claim 2, characterized in that, After receiving the lathe machining signal, the robotic arm control module (110) calculates the joint torque distribution based on the current clamping posture of the jointed robotic arm (301) to obtain the standby posture parameters, wherein... The robotic arm control module (110) generates instructions based on the standby posture parameters to control the joint robotic arm (301) to change its posture, thereby continuously clamping the workpiece with a small torque to wait for the lathe to finish machining.

4. The automatic machining lathe control system according to claim 3, characterized in that, The robotic 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 speed and path of the joint robotic arm (301) according to the coefficient value.

5. The automatic machining lathe control system according to claim 4, characterized in that, The robotic arm 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 articulated robotic arm (301).

6. The automatic machining lathe control system according to claim 5, characterized in that, The robotic arm control module (110) establishes a spatial coordinate system based on the base of the articulated robotic arm (301) in the constructed three-dimensional model, with the origin as the origin and the rotation axis as the Z-axis, and uses this as the base coordinate system. The robotic arm control module (110) establishes a corresponding coordinate system on each link of the articulated robotic arm (301) to construct the direction of the homogeneous transformation matrix to describe the relationship between the links, and obtains the pose of the end effector.

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