A seven-axis industrial robot cutting method, system, terminal and storage medium

Abstract

The application relates to a seven-axis industrial robot cutting method, a system, a terminal and a storage medium, and relates to the technical field of industrial robots, and comprises the following steps: obtaining a to-be-cut workpiece parameter of a preset to-be-cut workpiece; judging whether the to-be-cut workpiece parameter meets the requirement of a preset high-precision cutting range; if yes, defining a preset six-axis cutting mode as a robot cutting mode; if not, defining a preset seven-axis cutting mode as the robot cutting mode; analyzing the to-be-cut workpiece parameter and the robot cutting mode to determine joint motion coordinates; and controlling the preset seven-axis industrial robot to cut the to-be-cut workpiece according to the joint motion coordinates. The application has the effect of improving the cutting efficiency of the seven-axis industrial robot.

Description

Technical Field

[0001] This application relates to the technical field of industrial robots, and in particular to a seven-axis industrial robot cutting method, system, terminal and storage medium. Background Technology

[0002] Seven-axis industrial robot cutting refers to adding a seventh axis to a six-axis industrial robot. Through a control system, the six-axis robot and the seventh axis can work together to make the cutting operation more efficient in covering larger and more complex workpieces without having to frequently move the workpiece or adjust the position of the robot base.

[0003] In related technologies, when controlling the cutting of a seven-axis industrial robot, feasible motion parameters are first screened out through three types of redundant constraints: mechanical limit constraints, motion constraints, and process accuracy constraints. Then, the final cutting path is determined by combining offline planning software to pre-simulate the path or by manually teaching and calibrating key cutting points, so as to ensure that the cutting not only breaks through the coverage limitations of a six-axis robot, but also takes into account processing accuracy and mechanical safety.

[0004] Regarding the aforementioned technologies, when controlling the cutting of a seven-axis industrial robot, since cutting only requires six degrees of freedom, the redundant axes result in multiple solutions for inverse kinematics. This leads to repeated iterations to verify and select the optimal solution during the path planning stage, resulting in low cutting efficiency for the seven-axis industrial robot, and there is still room for improvement. Summary of the Invention

[0005] To improve the cutting efficiency of a seven-axis industrial robot, this application provides a seven-axis industrial robot cutting method, system, terminal, and storage medium.

[0006] Firstly, this application provides a seven-axis industrial robot cutting method, which adopts the following technical solution:

[0007] A seven-axis industrial robot cutting method, comprising:

[0008] Obtain the preset parameters of the workpiece to be cut;

[0009] Determine whether the parameters of the workpiece to be cut meet the requirements of the preset high-precision cutting range;

[0010] If it meets the requirements, the preset six-axis cutting method will be defined as the robot cutting method;

[0011] If it does not meet the requirements, the preset seven-axis cutting method will be defined as the robot cutting method.

[0012] The parameters of the workpiece to be cut and the robot cutting method are analyzed to determine the joint motion coordinates;

[0013] The seven-axis industrial robot is controlled by the joint motion coordinates to cut the workpiece.

[0014] The steps for analyzing the parameters of the workpiece to be cut and the robot cutting method to determine the joint motion coordinates include:

[0015] Analyze the parameters of the workpiece to be cut to determine the workpiece cutting trajectory;

[0016] Determine whether the robot's cutting method meets the requirements of a seven-axis cutting method;

[0017] If the conditions are met, the joint motion coordinates are determined based on the workpiece cutting trajectory.

[0018] If it does not meet the requirements, the parameters of the workpiece to be cut are analyzed to determine the redundant axis locking angle.

[0019] The current working range is determined based on the redundant axis locking angle;

[0020] Analyze the parameters of the workpiece to be cut, the current working range, and the workpiece cutting trajectory to determine the locking parameters;

[0021] The joint motion coordinates are determined based on the redundant axis locking angle, locking parameters, and workpiece cutting trajectory.

[0022] By adopting the above technical solution, the workpiece to be cut is analyzed. When the parameters of the workpiece meet the requirements of the high-precision cutting command, i.e., the required precision of the workpiece is too high, the six-axis cutting method is defined as the robot cutting method. When the parameters of the workpiece do not meet the requirements of the high-precision cutting command, i.e., the required precision of the workpiece is low, the seven-axis cutting method is defined as the robot cutting method. Thus, during high-precision cutting, the seven-axis robot is fixed as a six-axis robot, and during low-precision cutting, the workpiece is cut according to the standard trajectory command, thereby achieving intelligent adaptation between high-precision and low-precision cutting. Furthermore, the joint motion coordinates are obtained based on the parameters of the workpiece and the robot cutting method. The seven-axis industrial robot is then controlled to cut the workpiece based on the joint motion coordinates, thereby avoiding inverse kinematics caused by redundant axes. This approach addresses multiple problems to improve the cutting efficiency of seven-axis industrial robots. When the robot is cutting in seven-axis mode, it matches a standard cutting path based on the workpiece cutting trajectory to determine the joint motion coordinates. This eliminates the need for additional constraints on redundant degrees of freedom, achieving full constraint control for the seven-DOF robot. When the robot is cutting in six-axis mode, it analyzes the parameters of the workpiece to be cut to determine the locking angle of the redundant axes. It also analyzes the parameters of the workpiece, the current working range, and the workpiece cutting trajectory to determine the locking parameters. Finally, it determines the joint motion coordinates based on the locking angle of the redundant axes, the locking parameters, and the workpiece cutting trajectory. This achieves efficient motion control without redundant constraints in seven-axis cutting, ensuring smoothness and efficiency in large-area cutting. In six-axis cutting, it precisely locks the redundant axes to ensure the stability and accuracy of high-precision trajectories.

[0023] Optionally, the steps of analyzing the parameters of the workpiece to be cut to determine the workpiece cutting trajectory include:

[0024] Analyze the parameters of the workpiece to be cut to determine the cutting profile;

[0025] Determine whether the cutting contour meets the preset requirements for outer contour cutting;

[0026] If the conditions are met, then the counterclockwise direction will be determined as the rotation direction;

[0027] If it does not meet the requirements, then the clockwise direction will be determined as the direction of rotation;

[0028] Analyze the parameters of the workpiece to be cut to determine the coordinates of the cutting vertex;

[0029] The workpiece cutting trajectory is determined based on the parameters of the workpiece to be cut, the rotation direction, and the coordinates of the cutting vertex.

[0030] By adopting the above technical solution, when the cutting contour is an outer contour cut, the counterclockwise direction is determined as the rotation direction, and when the cutting contour is an inner contour cut, the clockwise direction is determined as the rotation direction. Then, the parameters of the workpiece to be cut are analyzed to determine the coordinates of the cutting vertex. Based on the parameters of the workpiece to be cut, the rotation direction, and the coordinates of the cutting vertex, the workpiece cutting trajectory is determined, thereby enabling precise tool compensation control and ensuring the accuracy of the machining dimensions.

[0031] Optionally, the step of analyzing the parameters of the workpiece to be cut to determine the redundant axis locking angle includes:

[0032] Analyze the parameters of the workpiece to be cut to determine the maximum cutting span;

[0033] Determine whether the maximum cutting span meets the requirements of the preset six-axis cutting range;

[0034] If the conditions are met, the coordinates of the cutting vertex are determined based on the parameters of the workpiece to be cut;

[0035] Obtain the redundant axis angle range and the six-axis angle range;

[0036] The coordinates of the cutting vertex, the range of redundant axis angles, and the range of six-axis angles are analyzed to determine the minimum pose error.

[0037] The redundant axis locking angle is determined based on the minimum pose error and the redundant axis angle range.

[0038] If it does not meet the requirements, obtain the range of redundant axis angles;

[0039] The range of redundant axis angles was analyzed to determine the maximum arm span angle;

[0040] The maximum arm span angle is determined as the redundant axis locking angle.

[0041] By adopting the above technical solution, when the maximum cutting span is within the six-axis cutting range, it indicates that the six-axis robot can cut the workpiece without coordination with external axes. Therefore, when determining the fixed angle of the redundant axis, it is not necessary to prioritize expanding the coverage range. Instead, the core objective is to optimize motion stability. First, candidate angles within the redundant axis angle range that do not conflict with the six-axis mechanical limits are selected. Then, the coordinates of the cutting vertex, the range of the redundant axis angle, the range of the six-axis angle, the preset position weight coefficient, and the preset angle weight coefficient are analyzed to determine the minimum pose error. Finally, the redundant axis angle with the smallest pose error within the redundant axis angle range is selected. The redundant axis locking angle is determined so that the six-axis robot can complete the cutting in the optimal posture without the need for external axis assistance. This avoids the accuracy interference caused by the irrelevant adjustment of the redundant axis and ensures the fit between the cutting trajectory and the target contour. When the maximum cutting span is not within the six-axis cutting range, it indicates that the arm length of the six-axis robot cannot meet the size requirements of the workpiece to be cut. Therefore, the maximum arm span angle that maximizes the arm span of the six-axis robot within the redundant axis angle range is determined as the redundant axis locking angle. This expands the effective working range of the six-axis robot by using the maximum arm span angle of the redundant axis, thereby improving the cutting efficiency of the seven-axis industrial robot.

[0042] Optionally, the steps of analyzing the parameters of the workpiece to be cut, the current working range, and the workpiece cutting trajectory to determine the locking parameters include:

[0043] Determine whether the current working range meets the requirements of the workpiece cutting trajectory;

[0044] If the conditions are met, the external axis locking parameters are determined based on the workpiece cutting trajectory, and the external axis locking parameters are set as the locking parameters.

[0045] If not, the parameters of the workpiece to be cut and the workpiece cutting trajectory are analyzed to determine the maximum cutting edge length and the external axis cutting speed.

[0046] The cutting speed ratio is determined by analyzing the external axis cutting speed, the preset body axis angular velocity, and the preset effective tool radius.

[0047] The cutting speed ratio, the preset maximum external axis stroke, and the maximum cutting edge length are analyzed to determine the number of body axis locks.

[0048] Determine the locking angle of the main body axis and the main body axis to be locked based on the number of main body axis locks and the parameters of the workpiece to be cut;

[0049] The locking parameters of the main body axis are determined based on the locking angle of the main body axis and the main body axis to be locked, and the locking parameters of the main body axis are set as the locking parameters.

[0050] By adopting the above technical solution, when the robot's current working range meets the requirements of the workpiece cutting trajectory, i.e., the angle and length of the workpiece to be cut are within the range of the current rotatable angle and cuttable length, it indicates that the six-axis robot's motion capability can fully cover the cutting requirements. There is no need to rely on external axes to extend the range or adjust the posture; the cutting operation can be performed directly through six-axis collaboration. Therefore, the external axis locking parameters are determined based on the workpiece cutting trajectory and are set as the locking parameters. When the robot's current working range does not meet the requirements of the workpiece cutting trajectory, i.e., the angle and length of the workpiece to be cut are not within the range of the current rotatable angle and cuttable length, it indicates that the six-axis robot... The robot's motion capabilities cannot fully cover the cutting requirements, necessitating the use of external axes to extend the range or adjust the posture. Therefore, the locking angle and the body axis to be locked are determined based on the number of body axis locks and the parameters of the workpiece to be cut. The locking parameters of the body axis are then determined based on the locking angle and the body axis to be locked, and these body axis locking parameters are set as the locking parameters. This allows the external axes to be locked within the six-axis capability range, avoiding redundant motion that could interfere with accuracy. When the range is exceeded, some body axes are locked, and the working space is expanded through the external axes. This enables the robot system to flexibly switch locking strategies according to actual cutting needs, ensuring high precision in small-area cutting while also meeting the coverage requirements of large-area operations, thus improving the overall adaptability of the cutting system.

[0051] Optionally, the steps for determining the external axis locking parameters based on the workpiece cutting trajectory include:

[0052] The workpiece cutting trajectory is analyzed to determine the axial trajectory center;

[0053] Obtain the axial arm span center;

[0054] The axial trajectory center and axial arm span center are analyzed to determine the external axis locking position;

[0055] Analyze the workpiece cutting trajectory to determine the cutting center angle;

[0056] Obtain the rotation center angle;

[0057] Determine the external shaft locking angle based on the cutting center angle and the rotation center angle;

[0058] The external shaft locking parameters are determined based on the external shaft locking position and external shaft locking angle.

[0059] By adopting the above technical solution, the external axis locking position is determined based on the deviation between the arm span center coordinates and the trajectory center coordinates, and the position deviation value is compensated based on the external axis locking position. The external axis locking angle is determined based on the angle deviation between the cutting center angle and the rotation center angle, and the angle deviation value is compensated based on the external axis locking angle. This ensures that after the external axis is locked, the six-axis robot body can dock with the cutting trajectory in the optimal reference posture, avoiding cutting misalignment caused by coordinate and angle offsets.

[0060] Optionally, the steps for determining the joint motion coordinates based on the redundant axis locking angle, locking parameters, and workpiece cutting trajectory include:

[0061] The preset redundant axis is locked according to the redundant axis locking angle;

[0062] Determine whether the locking parameters meet the preset requirements for external shaft cutting;

[0063] If the conditions are met, the preset body axis is locked according to the locking parameters, and the joint motion coordinates are determined according to the workpiece cutting trajectory and the preset SCRA algorithm.

[0064] If not, the preset external axis is locked according to the locking parameters, and the joint motion coordinates are determined according to the workpiece cutting trajectory and the preset 6-axis algorithm.

[0065] By adopting the above technical solution, when the locking parameter is the main axis locking parameter, it indicates that external axis collaborative cutting is used. Therefore, after locking the redundant axis and the main axis according to the redundant axis locking angle and the main axis locking parameter, the joint motion coordinates are determined according to the workpiece cutting trajectory and the SCRA algorithm. When the locking parameter is the external axis locking parameter, it indicates that the main axis cutting is used. Therefore, after locking the redundant axis and the external axis according to the redundant axis locking angle and the external axis locking parameter, the joint motion coordinates are determined according to the workpiece cutting trajectory and the 6-axis algorithm, thereby achieving accurate solution of joint motion coordinates under different locking modes. When the external axis collaborative cutting is used, the SCRA algorithm is relied on to adapt to the multi-axis linkage requirements. When the main axis cutting is used, the 6-axis algorithm is used to ensure the accuracy of independent operation, thereby improving the cutting efficiency of the seven-axis industrial robot.

[0066] Secondly, this application provides a seven-axis industrial robot cutting system, which adopts the following technical solution:

[0067] A seven-axis industrial robot cutting system, comprising:

[0068] The acquisition module is used to acquire parameters of the workpiece to be cut;

[0069] A memory for storing a program for a seven-axis industrial robot cutting method as described in any of the preceding claims;

[0070] The processor and the program in the memory can be loaded and executed by the processor to implement a seven-axis industrial robot cutting method as described in any of the above.

[0071] By adopting the above technical solution, when the parameters of the workpiece to be cut meet the requirements of the high-precision cutting command, that is, when the required precision of the workpiece to be cut is too high, the six-axis cutting method is defined as the robot cutting method. When the parameters of the workpiece to be cut do not meet the requirements of the high-precision cutting command, that is, when the required precision of the workpiece to be cut is low, the seven-axis cutting method is defined as the robot cutting method. Thus, during high-precision cutting, the seven-axis robot is fixed as a six-axis robot, and during low-precision cutting, the workpiece is cut according to the standard trajectory command. This achieves intelligent adaptation between high-precision cutting and low-precision cutting. Furthermore, the joint motion coordinates are obtained based on the parameters of the workpiece to be cut and the robot cutting method. The seven-axis industrial robot is then controlled to cut the workpiece to be cut based on the joint motion coordinates, thereby avoiding the problem of multiple solutions in inverse kinematics caused by redundant axes and improving the cutting efficiency of the seven-axis industrial robot.

[0072] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0073] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any of the preceding claims, a seven-axis industrial robot cutting method.

[0074] By adopting the above technical solution, when the parameters of the workpiece to be cut meet the requirements of the high-precision cutting command, that is, when the required precision of the workpiece to be cut is too high, the six-axis cutting method is defined as the robot cutting method. When the parameters of the workpiece to be cut do not meet the requirements of the high-precision cutting command, that is, when the required precision of the workpiece to be cut is low, the seven-axis cutting method is defined as the robot cutting method. Thus, during high-precision cutting, the seven-axis robot is fixed as a six-axis robot, and during low-precision cutting, the workpiece is cut according to the standard trajectory command. This achieves intelligent adaptation between high-precision cutting and low-precision cutting. Furthermore, the joint motion coordinates are obtained based on the parameters of the workpiece to be cut and the robot cutting method. The seven-axis industrial robot is then controlled to cut the workpiece to be cut based on the joint motion coordinates, thereby avoiding the problem of multiple solutions in inverse kinematics caused by redundant axes and improving the cutting efficiency of the seven-axis industrial robot.

[0075] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates the implementation of a seven-axis industrial robot cutting method, and adopts the following technical solution:

[0076] A computer-readable storage medium storing a computer program capable of being loaded by a processor and executed as described above for a seven-axis industrial robot cutting method.

[0077] By adopting the above technical solution, when the parameters of the workpiece to be cut meet the requirements of the high-precision cutting command, that is, when the required precision of the workpiece to be cut is too high, the six-axis cutting method is defined as the robot cutting method. When the parameters of the workpiece to be cut do not meet the requirements of the high-precision cutting command, that is, when the required precision of the workpiece to be cut is low, the seven-axis cutting method is defined as the robot cutting method. Thus, during high-precision cutting, the seven-axis robot is fixed as a six-axis robot, and during low-precision cutting, the workpiece is cut according to the standard trajectory command. This achieves intelligent adaptation between high-precision cutting and low-precision cutting. Furthermore, the joint motion coordinates are obtained based on the parameters of the workpiece to be cut and the robot cutting method. The seven-axis industrial robot is then controlled to cut the workpiece to be cut based on the joint motion coordinates, thereby avoiding the problem of multiple solutions in inverse kinematics caused by redundant axes and improving the cutting efficiency of the seven-axis industrial robot.

[0078] In summary, this application includes at least one of the following beneficial technical effects:

[0079] 1. The external axis locking position is determined by the deviation between the coordinates of the arm span center and the coordinates of the trajectory center. The position deviation value is then compensated based on the external axis locking position. The external axis locking angle is determined by the angular deviation between the cutting center angle and the rotation center angle. The angular deviation value is then compensated based on the external axis locking angle. This ensures that after the external axis is locked, the six-axis robot body can dock with the cutting trajectory in the optimal reference posture, avoiding cutting misalignment caused by coordinate and angle offsets.

[0080] 2. When the cutting contour is an outer contour cut, the counterclockwise direction is determined as the rotation direction, and when the cutting contour is an inner contour cut, the clockwise direction is determined as the rotation direction. Then, the parameters of the workpiece to be cut are analyzed to determine the coordinates of the cutting vertex. Based on the parameters of the workpiece to be cut, the rotation direction, and the coordinates of the cutting vertex, the workpiece cutting trajectory is determined, thereby enabling precise tool compensation control and ensuring the accuracy of the machining dimensions.

[0081] 3. When the maximum cutting span is not within the six-axis cutting range, it indicates that the arm length of the six-axis robot cannot meet the size requirements of the workpiece to be cut. Therefore, the maximum arm span angle that maximizes the arm span of the six-axis robot within the redundant axis angle range is determined as the redundant axis locking angle. This expands the effective working range of the six-axis robot through the maximum arm span angle of the redundant axis, thereby improving the cutting efficiency of the seven-axis industrial robot. Attached Figure Description

[0082] Figure 1 This is a flowchart of a seven-axis industrial robot cutting method according to an embodiment of this application.

[0083] Figure 2This is a flowchart illustrating the analysis of the workpiece parameters and robot cutting method in this embodiment of the application to determine the joint motion coordinates.

[0084] Figure 3 This is a flowchart illustrating the analysis of the parameters of the workpiece to be cut in this embodiment of the application to determine the workpiece cutting trajectory.

[0085] Figure 4 This is a flowchart illustrating the analysis of the parameters of the workpiece to be cut in this embodiment of the application to determine the redundant axis locking angle.

[0086] Figure 5 This is a flowchart illustrating the analysis of the workpiece parameters, current working range, and workpiece cutting trajectory in this embodiment of the application to determine the locking parameters.

[0087] Figure 6 This is a flowchart illustrating the determination of external axis locking parameters based on the workpiece cutting trajectory in an embodiment of this application.

[0088] Figure 7 This is a flowchart illustrating the determination of joint motion coordinates based on redundant axis locking angle, locking parameters, and workpiece cutting trajectory in this embodiment of the application. Detailed Implementation

[0089] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 7 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0090] This application discloses a seven-axis industrial robot cutting method. Specifically, it discloses a seven-axis industrial robot and a processing terminal. The processing terminal and the seven-axis industrial robot are communicatively connected to achieve data interaction and control. The processing terminal obtains the parameters of the workpiece to be cut. When the workpiece requires high-precision cutting, the seven-axis robot is fixed as a six-axis robot, and the six-axis cutting mode is defined as the robot cutting mode. If the workpiece requires low precision, the seven-axis cutting mode is defined as the robot cutting mode. After determining the mode, the joint motion coordinates are calculated by combining the parameters of the workpiece to be cut and the robot cutting mode. Then, the seven-axis industrial robot is controlled to cut based on the joint motion coordinates, thereby avoiding the inverse kinematics multiple solution problem caused by redundant axes, realizing the adaptation of high and low precision cutting, and thus improving the cutting efficiency of the seven-axis industrial robot.

[0091] Reference Figure 1 This application discloses a seven-axis industrial robot cutting method, including the following steps:

[0092] Step S100: Obtain the preset parameters of the workpiece to be cut.

[0093] The workpiece to be cut refers to the part body that needs to be separated from the raw material through a cutting process, and whose specific shape and size must be retained after separation for subsequent production or assembly. The parameters of the workpiece to be cut are comprehensive instructions that specify the requirements for cutting and processing the part, including the outline of the workpiece to be cut, the precise coordinates of the workpiece to be cut in the reference coordinate system, the positional deviation requirements, the cutting speed, and the allowable dimensional deviations of the workpiece. These parameters are determined by the processing terminal by parsing the 3D model parameters of the design drawings, extracting the processing indicators from the process documents, combining the attribute parameters of the material database, and calibrating the workpiece outline coordinates by combining the camera image data and coordinate offsets collected by the vision system.

[0094] Step S101: Determine whether the parameters of the workpiece to be cut meet the requirements of the preset high-precision cutting range.

[0095] The high-precision cutting range refers to the range between the proportion of complex trajectory shapes in the workpiece to be cut and the workpiece size deviation. The requirement for the high-precision cutting range is that the proportion of complex trajectory shapes in the workpiece outline within the parameters of the workpiece to be cut is within the range of the proportion of complex trajectory shapes in the high-precision workpiece to be cut, or the workpiece size deviation within the parameters of the workpiece to be cut is within the range of the size deviation of the high-precision workpiece to be cut.

[0096] By processing the terminal to determine whether the parameters of the workpiece to be cut are within the range of high-precision parameters, it can be determined whether the seven-axis robot needs to be fixed as a six-axis robot to cut the workpiece, thereby achieving a precise match between the robot cutting method and the workpiece precision requirements, and thus improving the cutting efficiency of the seven-axis industrial robot.

[0097] Step S1011: If the conditions are met, the preset six-axis cutting method is defined as the robot cutting method.

[0098] If the processing terminal determines that the parameters of the workpiece to be cut are within the high-precision cutting range, it indicates that high-precision cutting of the workpiece is required. Therefore, the six-axis cutting method is defined as the robot cutting method, thereby locking the redundant axis of the seven-axis industrial robot. The redundant axis refers to an additional axis with independent motion freedom added to the seven-axis robot in addition to the six core body axes that ensure the basic cutting motion. Its original design intention is to improve the robot's operational flexibility. However, in high-precision cutting scenarios, the free linkage of this axis may lead to multiple solutions in the inverse kinematics solution, that is, the same cutting trajectory corresponds to multiple joint motion parameters, which can easily cause robot posture oscillation or trajectory deviation. By locking the redundant axis, the interference of redundant degrees of freedom can be eliminated, making the seven-axis robot equivalent to the operation of a six-axis robot. Ultimately, the six-axis cooperative motion avoids the multiple solutions problem in inverse kinematics, ensuring that the robot achieves precise cutting according to the workpiece cutting trajectory.

[0099] Six-axis cutting refers to locking the redundant axes of a seven-axis industrial robot, fixing the seven-axis robot as a six-axis robot to cut the workpiece. Robot cutting refers to a work mode where the seven-axis industrial robot drives the cutting tool along the workpiece cutting trajectory according to the parameters of the workpiece to be cut. In high-precision scenarios, this is the six-axis cutting method with the seven redundant axes locked; in low-precision scenarios, it is the seven-axis linkage mode.

[0100] Step S1012: If it does not meet the requirements, the preset seven-axis cutting method will be defined as the robot cutting method.

[0101] If the processing terminal determines that the parameters of the workpiece to be cut are not within the range of high-precision cutting, it indicates that high-precision cutting is not required. Therefore, the seven-axis cutting method is defined as the robot cutting method. The standard trajectory instruction is retrieved according to the parameters of the workpiece to be cut to cut the workpiece. Under the premise of avoiding adding redundant constraints, the workpiece to be cut is accurately cut.

[0102] Step S102: Analyze the parameters of the workpiece to be cut and the robot cutting method to determine the joint motion coordinates.

[0103] Among them, joint motion coordinates refer to the complete motion command data generated based on the parameters of the workpiece to be cut and the robot's cutting method, used to control the various joints of the industrial robot. This data includes joint target position parameters and joint motion process parameters, and is used to control the seven-axis industrial robot to cut the workpiece. The coordinates are determined by the processing terminal through analysis of the workpiece parameters and the robot's cutting method. Specific analysis steps are described in [reference needed]. Figure 2 The steps in the process.

[0104] Step S103: Control the preset seven-axis industrial robot to cut the workpiece according to the joint motion coordinates.

[0105] Among them, a seven-axis industrial robot refers to an industrial robot with seven freely rotating axes.

[0106] Once the joint motion coordinates are determined, the seven-axis industrial robot is controlled to first move to a safe point, then to a cutting preparation point. Subsequently, a pulse signal is output to notify the height controller to return to the origin. After receiving the signal from the height controller to return to the origin, a signal is output to instruct the height controller to start cutting and following. After receiving the signal from the height controller to follow the workpiece, the laser is turned on. Then, the seven-axis industrial robot is controlled to cut along the workpiece cutting trajectory according to the joint motion coordinates. After the cutting is completed, the laser is turned off, and a signal is output to notify the height controller to stop cutting and following. Finally, a pulse signal is output again to make the height controller return to the origin, completing the cutting task.

[0107] Reference Figure 2The steps for analyzing the parameters of the workpiece to be cut and the robot cutting method to determine the joint motion coordinates include:

[0108] Step S200: Analyze the parameters of the workpiece to be cut to determine the workpiece cutting trajectory.

[0109] The workpiece cutting trajectory refers to the cutting path of the workpiece during cutting, which is determined by the processing terminal through analysis of the parameters of the workpiece to be cut. Specific analysis steps are detailed below. Figure 3 The steps in the process.

[0110] Step S201: Determine whether the robot cutting method meets the requirements of the seven-axis cutting method.

[0111] The requirement for seven-axis cutting means that the robot cutting method is a seven-axis cutting method.

[0112] By processing the terminal to determine whether the robot is cutting in a seven-axis manner, different joint motion coordinates are planned according to different cutting methods, thereby improving the cutting efficiency of the seven-axis industrial robot.

[0113] Step S2011: If the conditions are met, determine the joint motion coordinates based on the workpiece cutting trajectory.

[0114] If the processing terminal determines that the robot's cutting method is a seven-axis cutting method, it means that the workpiece to be cut does not need to rely on extremely high-precision trajectory control. Therefore, the standard trajectory instructions stored in the processing terminal are retrieved according to the workpiece cutting trajectory, or the standard trajectory instructions are generated through manual teaching, and the joint motion coordinates are determined according to the standard trajectory instructions.

[0115] Step S2012: If it does not meet the requirements, analyze the parameters of the workpiece to be cut to determine the redundant axis locking angle.

[0116] If the processing terminal determines that the robot's cutting mode is not seven-axis cutting mode, that is, six-axis cutting mode, then the parameters of the workpiece to be cut are analyzed to determine the redundant axis locking angle. Based on the redundant axis locking angle, the redundant axis is locked, and the seven-axis industrial robot is fixed to six-axis mode, thereby improving cutting efficiency and stability.

[0117] The redundant axis locking angle refers to the angle of redundant axis locking, which is determined by the processing terminal through analysis of the parameters of the workpiece to be cut. Specific analysis steps are detailed below. Figure 4 The steps in the process.

[0118] Step S202: Determine the current working range based on the redundant axis locking angle.

[0119] The current working range refers to the effective working area that the cutting tool can cover when the robot is in the redundant axis angle locking state. The processing terminal combines the redundant axis locking angle and calls the forward kinematics algorithm to calculate the theoretical reachable space of the six-axis robot end effector based on the motion limit parameters of the non-redundant axes.

[0120] Step S203: Analyze the parameters of the workpiece to be cut, the current working range, and the workpiece cutting trajectory to determine the locking parameters.

[0121] Locking parameters refer to either external axis locking parameters or body axis locking parameters. External axes are auxiliary motion axes independent of the robot body, used to extend the working range. They are typically installed in the form of linear guides and rotary tables, and their core function is to adjust the relative position of the workpiece or the robot as a whole. Body axes are the core motion axes integrated into the robot itself, including axes J1-J3 responsible for end-effector positioning and axes J4-J6 responsible for attitude adjustment. They are the core execution units for realizing the cutting action. Locking parameters specifically include the external axis locking angle and external axis locking position, or the body axis locking angle of the body axis to be locked. These are determined by the processing terminal through analysis of the workpiece parameters, the current working range, and the workpiece cutting trajectory, providing data support for subsequent determination of joint motion coordinates. Specific determination steps are detailed below. Figure 5 The steps in the process.

[0122] Step S204: Determine the joint motion coordinates based on the redundant axis locking angle, locking parameters, and workpiece cutting trajectory.

[0123] Once the redundant axis locking angle, locking parameters, and workpiece cutting trajectory are determined, the joint motion coordinates are determined based on these parameters. The specific calculation steps are detailed below. Figure 7 The steps in the process.

[0124] Reference Figure 3 The steps for analyzing the parameters of the workpiece to be cut to determine the workpiece cutting trajectory include:

[0125] Step S300: Analyze the parameters of the workpiece to be cut to determine the cutting profile.

[0126] Among them, the cutting profile refers to the trajectory boundary of the cutting robot's path movement when it completes the workpiece cutting task, which is determined by the processing terminal by analyzing the size and shape data of the workpiece design drawings.

[0127] Step S301: Determine whether the cutting contour meets the preset requirements for outer contour cutting.

[0128] External contour cutting refers to a cutting operation that targets the external boundary shape of a workpiece. The requirement for external contour cutting is that the cutting contour is the external contour of the workpiece to be cut.

[0129] The processing terminal determines whether the cutting contour of the robot is the outer contour of the workpiece to be cut, thereby determining the rotation direction of the robot when cutting the workpiece.

[0130] Step S3011: If the conditions are met, then the counterclockwise direction is determined as the rotation direction.

[0131] If the processing terminal determines that the cutting contour of the robot during cutting is the outer contour of the workpiece to be cut, then the counterclockwise direction is determined as the rotation direction, so that the cutting tool moves along the outer contour of the workpiece in a counterclockwise path, ensuring that the waste generated during the cutting process is always outside the cutting trajectory.

[0132] Step S3012: If it does not meet the requirements, then the clockwise direction will be determined as the rotation direction.

[0133] If the processing terminal determines that the cutting contour of the robot during cutting is not the outer contour of the workpiece to be cut, that is, the cutting contour is the inner contour of the workpiece to be cut, the clockwise direction will be determined as the rotation direction, so that the cutting tool moves along the outer contour of the workpiece in a counterclockwise path, ensuring that the waste generated during the cutting process is always outside the cutting trajectory.

[0134] Step S302: Analyze the parameters of the workpiece to be cut to determine the coordinates of the cutting vertex.

[0135] Among them, the cutting vertex coordinates refer to the position coordinates of the turning point or boundary point in the cutting robot's execution path in three-dimensional space. The processing terminal first extracts the theoretical geometric coordinates of the cutting vertex in the workpiece design coordinate system from the workpiece design drawing, and then combines them with the actual clamping position of the workpiece to be cut, and uses a coordinate system transformation algorithm to transform the theoretical geometric coordinates of the cutting vertex into the reference coordinate system of the actual cutting.

[0136] Step S303: Determine the workpiece cutting trajectory based on the parameters of the workpiece to be cut, the rotation direction, and the coordinates of the cutting vertex.

[0137] In this process, after determining the parameters of the workpiece to be cut, the rotation direction, and the coordinates of the cutting vertex, the workpiece cutting trajectory is determined based on these parameters. First, the coordinates of the cutting vertex are used as the basic framework, and the vertices are sorted according to the cutting order. Then, the connection direction between the vertices is determined based on the rotation direction. Finally, the movement speed of the trajectory segments between the vertices is set in conjunction with the cutting speed.

[0138] Reference Figure 4The steps for analyzing the parameters of the workpiece to be cut to determine the redundant axis locking angle include:

[0139] Step S400: Analyze the parameters of the workpiece to be cut to determine the maximum cutting span.

[0140] The maximum cutting span refers to the maximum straight-line distance spanned by the cutting contour of the workpiece to be cut. It is determined by the processing terminal through spatial distance calculation of the coordinates of all vertices on the cutting contour, and then selecting the values ​​of the two points with the largest straight-line distance.

[0141] Step S401: Determine whether the maximum cutting span meets the requirements of the preset six-axis cutting range.

[0142] The six-axis cutting range refers to the spatial area that the end-effector cutting tool of a seven-axis robot can cover after locking the redundant axes and coordinating the joints of the remaining six axes. The requirement for the six-axis cutting range is that the cutting span of the workpiece must be within the six-axis cutting range.

[0143] By processing the terminal to determine whether the maximum cutting span is within the six-axis cutting range, it can determine whether the six-axis robot can cut the workpiece to be cut, and then determine the redundant axis locking angle.

[0144] Step S4011: If the conditions are met, determine the coordinates of the cutting vertex based on the parameters of the workpiece to be cut.

[0145] If the processing terminal determines that the maximum cutting span is within the six-axis cutting range, it indicates that the six-axis robot can independently cut the workpiece. Therefore, when determining the redundant axis locking angle, the redundant axis angle is locked at the angle that minimizes the cutting pose error of the six-axis robot. This allows the coordinates of the cutting vertex to be determined based on the parameters of the workpiece, providing data support for the subsequent determination of the redundant axis locking angle.

[0146] The coordinates of the cutting vertex are consistent with those in step S302, and are determined by the processing terminal through analysis of the workpiece design drawings.

[0147] Step S4012: Obtain the redundant axis angle range and the six-axis angle range.

[0148] The redundant axis angle range refers to the angle range in which the seventh axis can rotate safely and stably, which is determined by the processing terminal by reading the redundant axis mechanical parameters preset when the robot leaves the factory.

[0149] The six-axis angle range refers to the angle range in which each of the six main motion joints of a six-axis cutting robot can rotate safely and stably. It is determined by the processing terminal in conjunction with the mechanical structure parameters of the robot at the time of manufacture.

[0150] Step S4013: Analyze the coordinates of the cutting vertex, the range of redundant axis angles, and the range of six-axis angles to determine the minimum pose error.

[0151] The minimum pose error refers to the minimum deviation between the actual pose and the ideal pose of the robot cutting tool. The processing terminal extracts the ideal pose data from the coordinates of the cutting vertices, combines the redundant axis angle range and the six-axis angle range, calls the robot's forward kinematics algorithm, inputs different combinations of redundant axis angles and six-axis angles, iterates through the values ​​within their respective angle ranges, calculates the theoretical and actual poses of the robot's end effector to each cutting vertices under the corresponding combination, calculates the total deviation between each set of theoretical and actual poses and the ideal pose, and finally selects the minimum value from all deviation values ​​to determine the minimum pose.

[0152] Step S4014: Determine the redundant axis locking angle based on the minimum pose error and the redundant axis angle range.

[0153] The redundant axis locking angle is consistent with the redundant axis locking angle in step S2012. It is determined by the processing terminal based on the redundant axis locking angle corresponding to the minimum pose error after determining the minimum pose error.

[0154] Step S4015: If it does not meet the requirements, obtain the range of redundant axis angles.

[0155] If the processing terminal determines that the maximum cutting span is not within the six-axis cutting range, it indicates that the current arm span of the six-axis cutting robot is insufficient and cannot cut the workpiece. Therefore, when determining the redundant axis locking angle, the redundant axis angle is determined to be the angle that maximizes the cutting range of the six-axis robot. Thus, the range of redundant axis angles is obtained to provide data support for the subsequent determination of the maximum arm span angle.

[0156] Step S4016: Analyze the range of redundant axis angles to determine the maximum arm span angle.

[0157] The maximum arm span angle refers to the redundant axis angle that makes the arm span of the six-axis robot the longest within the range of redundant axis angles. The processing terminal first extracts all candidate angle values ​​within the range of redundant axis angles, then calls the robot kinematics forward solving algorithm for each candidate angle to calculate the farthest distance that the end tool of the six-axis robot can reach at that angle, and finally compares the arm span lengths corresponding to all candidate angles to select the redundant axis angle corresponding to the maximum arm span value.

[0158] Step S4017: Determine the maximum arm span angle as the redundant axis locking angle.

[0159] Once the maximum arm span angle is determined, it is set as the redundant axis locking angle. Then, the redundant axis is locked according to the redundant axis locking angle, so that the redundant axis can maximize the cutting coverage of the six-axis robot.

[0160] Reference Figure 5 The steps for analyzing the parameters of the workpiece to be cut, the current working range, and the workpiece cutting trajectory to determine the locking parameters include:

[0161] Step S500: Determine whether the current working range meets the requirements of the workpiece cutting trajectory.

[0162] The workpiece cutting trajectory refers to the cutting path taken when cutting a workpiece. The requirement for the workpiece cutting trajectory is that the working range must completely cover the workpiece cutting angle range and workpiece cutting length range corresponding to the workpiece cutting trajectory.

[0163] The processing terminal determines whether the current working range can fully cover the workpiece cutting angle range and workpiece cutting length range, thereby determining whether the six-axis robot can independently cut the workpiece to be cut, and further determining whether it is necessary to lock the external axis or the body axis.

[0164] Step S501: If the conditions are met, determine the external axis locking parameters based on the workpiece cutting trajectory, and set the external axis locking parameters as the locking parameters.

[0165] If the processing terminal determines that the current working range can completely cover the workpiece cutting angle range and the workpiece cutting length range, it indicates that the six-axis robot can independently cut the workpiece. Therefore, the external axis locking parameters are determined based on the workpiece cutting trajectory and are set as the locking parameters. The specific calculation steps are as follows: Figure 6 The steps in the process.

[0166] Step S502: If not, analyze the parameters of the workpiece to be cut and the workpiece cutting trajectory to determine the maximum cutting edge length and the external axis cutting speed.

[0167] If the processing terminal determines that the current working range cannot fully cover the workpiece cutting angle range and workpiece cutting length range, it indicates that the six-axis robot cannot cut the workpiece independently. Therefore, it is necessary to lock some of the body axes and coordinate the control of the six-axis robot with external axes to expand the cutting range of the six-axis robot.

[0168] The maximum cutting edge length refers to the largest single continuous cutting path in the workpiece cutting trajectory. It is determined by the processing terminal by extracting the length information of all continuous line segments in the workpiece cutting trajectory, comparing them one by one, and then selecting the single path length with the largest value.

[0169] The external axis cutting speed refers to the speed at which the external axis drives the robot body or workpiece to move. It is determined by the processing terminal based on the overall cutting speed requirements in the process parameters of the workpiece to be cut.

[0170] Step S503: Analyze the external axis cutting speed, the preset body axis angular velocity, and the preset effective tool radius to determine the cutting speed ratio.

[0171] Among them, the body axis angular velocity refers to the angular velocity of the end tool rotating when the end tool of the body axis cuts the workpiece to be cut. It is determined by the processing terminal retrieving a fixed angular velocity value that matches the current workpiece, cutting tool and cutting path type from the cutting process parameter library stored in the system.

[0172] The effective radius of a cutting tool refers to the radius of the core area where the cutting tool actually participates in the cutting action. It is determined by the processing terminal by retrieving the effective radius data of the cutting tool from the tool database.

[0173] The cutting speed ratio refers to the ratio of the linear motion speed of the external axis to the rotational motion speed of the main body axis. It is calculated by the processing terminal based on the cutting speed of the external axis, the angular velocity of the main body axis, and the effective radius of the tool. The specific calculation formula is as follows:

[0174] ,

[0175] In the formula, The cutting speed ratio, For external shaft cutting speed, The angular velocity of the body axis The effective radius of the cutting tool.

[0176] By multiplying the angular velocity of the main shaft by the effective radius of the tool using the above formula, we obtain the linear velocity generated at the cutting point of the tool when the main shaft drives the end tool to rotate. By calculating the ratio between the cutting speed of the external shaft and the linear velocity generated at the cutting point of the tool, we obtain the correlation index between the motion characteristics of the external shaft and the main shaft.

[0177] Step S504: Analyze the cutting speed ratio, the preset maximum external axis stroke, and the maximum cutting edge length to determine the number of main body axis locks.

[0178] The maximum travel of the external axis refers to the maximum distance that the external axis can move within a safe range, which is determined by the processing terminal by retrieving the maximum range of movement of the external axis stored in the system.

[0179] The number of locked body axes refers to the number of robot body axes locked to ensure the accuracy of the cutting trajectory during collaborative cutting operations between a six-axis robot and external axes. This number is calculated by the processing terminal based on the cutting speed ratio, the preset maximum travel of the external axes, and the maximum cutting edge length. The specific calculation formula is as follows:

[0180] ,

[0181] In the formula, The number of locks for the main axis. For the maximum cutting edge length, The cutting speed ratio, This represents the maximum travel of the external shaft.

[0182] Using the above formula, the effective cutting length that the external axis needs to bear is determined by calculating the ratio of the maximum cutting edge length to the cutting speed. Then, it is divided by the maximum stroke of the external axis and rounded up to obtain the theoretical number of times the external axis needs to cover this length. Subsequently, based on the rounded-up result, a locking axis is added on the basis of the reference locking axis to finally determine the number of locking axes of the main body axis.

[0183] Step S505: Determine the locking angle of the body shaft and the body shaft to be locked based on the number of body shaft locks and the parameters of the workpiece to be cut.

[0184] Among them, the body axis to be locked refers to the robot body axis locked to ensure the accuracy of the cutting trajectory. The processing terminal first determines the reference body locking axis, with the core position axis J1-J3 as the base reference by default. It is the core to ensure the overall position reference of the robot and is the mandatory axis for all locking schemes. Then, according to the number of body axes locked, different axis combinations are made in the attitude axes other than the base axis. Subsequently, these combinations are input into the robot motion simulation algorithm one by one to simulate the performance of each combination in the actual cutting scenario, and verify key indicators such as tool attitude stability after locking, cooperative adaptability with external axes, and cutting trajectory accuracy deviation value. Finally, the optimal combination that adapts to the current workpiece cutting requirements is selected and determined as the final body axis to be locked.

[0185] The locking angle of the main axis refers to the fixed angle value that the main axis to be locked must maintain during collaborative cutting operations between a six-axis robot and external axes. The processing terminal first extracts the cutting angle requirements, the workpiece's coordinate position on the worktable, and the coordinates of the cutting start point from the parameters of the workpiece to be cut. The locking angle is calculated separately for different types of main axes to be locked. For the core position axes J1-J3, the positioning angle that ensures the tool is accurately aligned with the cutting start point is calculated based on the relative position relationship between the workpiece coordinates and the robot base. For the attitude axes J4-J6, the fixed angle of the corresponding axis is determined by directly using the workpiece cutting angle as the reference and combining the attitude requirements of the tool and the workpiece surface.

[0186] Step S506: Determine the locking parameters of the main body axis based on the locking angle of the main body axis and the main body axis to be locked, and set the locking parameters of the main body axis as the locking parameters.

[0187] Among them, the body axis locking parameter refers to the locking angle between the body axis to be locked and its corresponding body axis, which is determined by the processing terminal by integrating the body axis to be locked and the body axis locking angle.

[0188] Once the body axis parameters are determined, the body axis locking parameters are set as locking parameters to provide data support for the subsequent determination of joint motion coordinates.

[0189] Reference Figure 6 The steps for determining the external axis locking parameters based on the workpiece cutting trajectory include:

[0190] Step S600: Analyze the workpiece cutting trajectory to determine the axial trajectory center.

[0191] The axial trajectory center refers to the center position of the workpiece cutting trajectory in the axial direction of the external linear axis. The processing terminal analyzes the workpiece cutting trajectory to obtain the coordinates of the trajectory point with the smallest axial coordinate and the trajectory point with the largest axial coordinate, and then calculates the axial value of the trajectory point with the smallest axial coordinate and the trajectory point with the largest axial coordinate by performing an arithmetic average calculation.

[0192] Step S601: Obtain the axial arm span center.

[0193] The axial arm span center refers to the center position of the robot's range of motion in the axial direction of the external linear axis. It is determined by the processing terminal by performing an arithmetic average of the minimum axial value point and the maximum axial value point of the robot's movement in the axial direction of the external linear axis.

[0194] Step S602: Analyze the axial trajectory center and axial arm span center to determine the external shaft locking position.

[0195] The external axis locking position refers to the final locking position of the external linear axis. The difference between the axial arm span center and the axial trajectory center is obtained by the processing terminal. This difference is the amount of displacement required by the external axis in the axial direction. The position obtained by adding the displacement to the current position of the external axis is the external axis locking position.

[0196] Step S603: Analyze the workpiece cutting trajectory to determine the cutting center angle.

[0197] Among them, the cutting center angle refers to the arithmetic mean of the minimum and maximum cutting angles among all cutting angles on the workpiece cutting trajectory. It is determined by the processing terminal by extracting the cutting angle data of all points on the workpiece cutting trajectory, selecting the minimum cutting angle with the smallest value and the maximum cutting angle with the largest value, and then calculating the arithmetic mean of the two.

[0198] Step S604: Obtain the rotation center angle.

[0199] Among them, the rotation center angle refers to the arithmetic mean of the minimum and maximum rotation cutting angle values ​​that a six-axis industrial robot can cover for the rotation cutting requirements of the workpiece when the robot body axis is locked. It is determined by the processing terminal through integrated analysis of the mechanical motion limit parameters of the robot body rotation axis and the angle range data involving rotation cutting in the workpiece cutting trajectory.

[0200] Step S605: Determine the external shaft locking angle based on the cutting center angle and the rotation center angle.

[0201] The external axis locking angle refers to the angle at which the external rotating axis is finally locked. It is determined by the processing terminal by calculating the difference between the cutting center angle and the rotating center angle to obtain the angle deviation value.

[0202] Step S606: Determine the external shaft locking parameters based on the external shaft locking position and external shaft locking angle.

[0203] Once the external shaft locking position and external shaft locking angle are determined, the external shaft locking position and external shaft locking angle are integrated to form the external shaft locking parameters.

[0204] Reference Figure 7 The steps for determining the joint motion coordinates based on the redundant axis locking angle, locking parameters, and workpiece cutting trajectory include:

[0205] Step S700: Lock the preset redundant axis according to the redundant axis locking angle.

[0206] In this process, after determining the redundant axis locking angle, the redundant axis is locked according to the redundant axis locking angle. This allows the seven-axis industrial robot to be fixed as a six-axis industrial robot to cut high-precision workpieces under high-precision cutting requirements, thereby eliminating the extra degree of freedom interference caused by the redundant axis, simplifying the robot motion control logic, and improving cutting efficiency.

[0207] A redundant axis refers to an additional axis with independent motion freedom in a seven-axis industrial robot, in addition to the six core body axes required to ensure basic cutting motion. Its core function is to improve the robot's operational flexibility.

[0208] Step S701: Determine whether the locking parameters meet the preset requirements for external shaft cutting.

[0209] External axis cutting refers to a cutting method where a portion of the main axis is locked, but the external axis is not. The workpiece is cut through the coordinated action of the main axis and the external axis. The requirement for external axis cutting is that a portion of the main axis is locked, but the external axis is not.

[0210] The terminal determines whether the locking parameters are locked to the body axis, thereby determining different cutting methods. Based on different cutting methods, different algorithms are used to obtain the joint motion coordinates.

[0211] Step S7011: If the conditions are met, the preset body axis is locked according to the locking parameters, and the joint motion coordinates are determined according to the workpiece cutting trajectory and the preset SCRA algorithm.

[0212] If the locking parameter is determined by the processing terminal to be a lock on the body axis, then the preset body axis is locked according to the locking parameter, and the joint motion coordinates are determined according to the workpiece cutting trajectory and the SCRA algorithm.

[0213] The body axis refers to the core motion axis of a six-axis industrial robot, including the J1-J3 position axes responsible for rotating the robot base and swinging the upper or lower arm to determine the spatial position, and the J4-J6 attitude axes responsible for adjusting the attitude of the end effector. It is the basic execution unit for the robot to achieve attitude fixation and cutting actions.

[0214] The SCARA algorithm is a kinematics solution algorithm for multi-axis linkage. The algorithm first establishes the mapping relationship between the six-axis robot body coordinate system and the external axis coordinate system. Then, combined with the locked body axis parameters, it calculates the rotation angle of the remaining unlocked body axis and the movement of the external axis through inverse kinematics solution. At the same time, according to the continuity of the cutting trajectory, it dynamically allocates the motion ratio of the body axis and the external axis to avoid the motion of a single axis exceeding the limit range. Finally, by coordinating the timing and phase of the multi-axis motion, the algorithm ensures that the robot end tool strictly follows the workpiece cutting trajectory in space, while avoiding interference between the body axis and the external axis during motion.

[0215] Step S7012: If not, lock the preset external axis according to the locking parameters, and determine the joint motion coordinates according to the workpiece cutting trajectory and the preset 6-axis algorithm.

[0216] If the locking parameter is determined by the processing terminal to be a lock on the external axis, then the external axis is locked according to the locking parameter, and the joint motion coordinates are determined according to the workpiece cutting trajectory and the 6-axis algorithm.

[0217] External axes refer to auxiliary motion axes that are independent of the six-axis industrial robot body and are used to expand the working range or adjust the relative position of the workpiece and the robot. Specifically, they include linear axes and rotary axes. Linear axes can move in a straight line along a preset direction and are mainly used to drive the workpiece or the robot as a whole to move to cover a larger cutting area. Rotary axes move in a circle around a fixed axis and are mainly used to adjust the placement angle of the workpiece or the working position of the robot.

[0218] The 6-axis algorithm refers to the kinematic solution algorithm for the independent motion of a six-axis industrial robot. Its core function is to convert the spatial coordinates of the workpiece cutting trajectory into the motion parameters of each joint of the six-axis robot through inverse kinematics calculation, under the premise that the external axes are locked. This enables the precise coverage of the cutting trajectory by relying solely on the motion of the body axes. Based on the linkage structure model of the six-axis robot, under the constraint of the fixed working space due to the locking of the external axes, the algorithm solves the inverse kinematic equations analytically to calculate the required rotation angles of axes J1-J6. Axes J1-J3 are responsible for adjusting the spatial position of the end effector to ensure that the center point of the tool accurately reaches each coordinate point on the trajectory. Axes J4-J6 are responsible for adjusting the tool posture to ensure that the cutting angle is consistent with the requirements of the workpiece surface. The algorithm combines the motion limits of each joint for path planning, automatically avoids motion interference, and generates smooth joint motion curves, ensuring that the entire cutting trajectory can be completed by the coordinated linkage of the body axes without the external axes participating in the motion.

[0219] Based on the same inventive concept, embodiments of this application provide a seven-axis industrial robot cutting system, including:

[0220] The acquisition module is used to acquire parameters of the workpiece to be cut, the range of redundant axis angles, the minimum arm span coordinates, the maximum arm span coordinates, the minimum rotation angle, and the maximum rotation angle.

[0221] Memory for storing a program for a seven-axis industrial robot cutting method;

[0222] The processor can load and execute programs in memory to implement a seven-axis industrial robot cutting method.

[0223] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0224] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a seven-axis industrial robot cutting method.

[0225] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0226] Based on the same inventive concept, this application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to perform a seven-axis industrial robot cutting method.

[0227] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0228] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A seven-axis industrial robot cutting method, characterized in that, include: Obtain the preset parameters of the workpiece to be cut; Determine whether the parameters of the workpiece to be cut meet the requirements of the preset high-precision cutting range; If it meets the requirements, the preset six-axis cutting method will be defined as the robot cutting method; If it does not meet the requirements, the preset seven-axis cutting method will be defined as the robot cutting method. The parameters of the workpiece to be cut and the robot cutting method are analyzed to determine the joint motion coordinates; The seven-axis industrial robot is controlled by the joint motion coordinates to cut the workpiece. The steps for analyzing the parameters of the workpiece to be cut and the robot cutting method to determine the joint motion coordinates include: Analyze the parameters of the workpiece to be cut to determine the workpiece cutting trajectory; Determine whether the robot's cutting method meets the requirements of a seven-axis cutting method; If the conditions are met, the joint motion coordinates are determined based on the workpiece cutting trajectory. If it does not meet the requirements, the parameters of the workpiece to be cut are analyzed to determine the redundant axis locking angle. The current working range is determined based on the redundant axis locking angle; Analyze the parameters of the workpiece to be cut, the current working range, and the workpiece cutting trajectory to determine the locking parameters; Determine the joint motion coordinates based on the redundant axis locking angle, locking parameters, and workpiece cutting trajectory; The steps for analyzing the parameters of the workpiece to be cut, the current working range, and the workpiece cutting trajectory to determine the locking parameters include: Determine whether the current working range meets the requirements of the workpiece cutting trajectory; If the conditions are met, the external axis locking parameters are determined based on the workpiece cutting trajectory, and the external axis locking parameters are set as the locking parameters. If not, the parameters of the workpiece to be cut and the workpiece cutting trajectory are analyzed to determine the maximum cutting edge length and the external axis cutting speed. The cutting speed ratio is determined by analyzing the external axis cutting speed, the preset body axis angular velocity, and the preset effective tool radius. The cutting speed ratio, the preset maximum external axis stroke, and the maximum cutting edge length are analyzed to determine the number of body axis locks. Determine the locking angle of the main body axis and the main body axis to be locked based on the number of main body axis locks and the parameters of the workpiece to be cut; The locking parameters of the main body shaft are determined based on the locking angle of the main body shaft and the main body shaft to be locked, and the locking parameters of the main body shaft are set as the locking parameters. The steps for determining the external axis locking parameters based on the workpiece cutting trajectory include: The workpiece cutting trajectory is analyzed to determine the axial trajectory center; Obtain the axial arm span center; The axial trajectory center and axial arm span center are analyzed to determine the external axis locking position; Analyze the workpiece cutting trajectory to determine the cutting center angle; Obtain the rotation center angle; Determine the external shaft locking angle based on the cutting center angle and the rotation center angle; The external shaft locking parameters are determined based on the external shaft locking position and external shaft locking angle.

2. The seven-axis industrial robot cutting method according to claim 1, characterized in that, The steps for analyzing the parameters of the workpiece to be cut to determine the workpiece cutting trajectory include: Analyze the parameters of the workpiece to be cut to determine the cutting profile; Determine whether the cutting contour meets the preset requirements for outer contour cutting; If the conditions are met, then the counterclockwise direction will be determined as the rotation direction; If it does not meet the requirements, then the clockwise direction will be determined as the direction of rotation; Analyze the parameters of the workpiece to be cut to determine the coordinates of the cutting vertex; The workpiece cutting trajectory is determined based on the parameters of the workpiece to be cut, the rotation direction, and the coordinates of the cutting vertex.

3. The seven-axis industrial robot cutting method according to claim 1, characterized in that, The steps for analyzing the parameters of the workpiece to be cut to determine the redundant axis locking angle include: Analyze the parameters of the workpiece to be cut to determine the maximum cutting span; Determine whether the maximum cutting span meets the requirements of the preset six-axis cutting range; If the conditions are met, the coordinates of the cutting vertex are determined based on the parameters of the workpiece to be cut; Obtain the redundant axis angle range and the six-axis angle range; The coordinates of the cutting vertex, the range of redundant axis angles, and the range of six-axis angles are analyzed to determine the minimum pose error. The redundant axis locking angle is determined based on the minimum pose error and the redundant axis angle range. If it does not meet the requirements, then obtain the range of redundant axis angles; The range of redundant axis angles was analyzed to determine the maximum arm span angle; The maximum arm span angle is determined as the redundant axis locking angle.

4. A seven-axis industrial robot cutting method according to claim 1, characterized in that, The steps for determining the joint motion coordinates based on the redundant axis locking angle, locking parameters, and workpiece cutting trajectory include: The preset redundant axis is locked according to the redundant axis locking angle; Determine whether the locking parameters meet the preset requirements for external shaft cutting; If the conditions are met, the preset body axis is locked according to the locking parameters, and the joint motion coordinates are determined according to the workpiece cutting trajectory and the preset SCRA algorithm. If not, the preset external axis is locked according to the locking parameters, and the joint motion coordinates are determined according to the workpiece cutting trajectory and the preset 6-axis algorithm.

5. A seven-axis industrial robot cutting system, characterized in that, include: The acquisition module is used to acquire parameters of the workpiece to be cut; A memory for storing a program for a seven-axis industrial robot cutting method as described in any one of claims 1 to 4; The processor and the program in the memory can be loaded and executed by the processor to implement the seven-axis industrial robot cutting method as described in any one of claims 1 to 4.

6. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer program is stored and can be loaded by a processor and executed as described in any one of claims 1 to 4.

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