Rule hole cutting method, device, cutting robot and storage medium

Abstract

Embodiments of the present application provide a regular hole cutting method and device, a cutting robot and a storage medium, and relate to the technical field of robots. Geometric parameters and cutting parameters corresponding to a regular hole to be cut are obtained according to user settings, and a plurality of cutting point positions corresponding to the regular hole to be cut are determined according to the geometric parameters. In a case where a current cutting mode is determined to be wrist cutting according to the cutting parameters, a robot Cartesian position of a six-axis body is calculated when a sixth joint position is taken as a zero-degree position through forward kinematics. A wrist joint position of a wrist mechanism at each cutting point position is calculated according to the robot Cartesian position, a point position Cartesian position of each cutting point position and a tool parameter of a cutting tool. The wrist mechanism is driven to move according to each wrist joint position, so as to move the cutting tool to each cutting point position for regular hole cutting. Therefore, the machining efficiency can be improved while the regular hole cutting precision and the degree of automation are improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a method, apparatus, cutting robot, and storage medium for cutting regular holes. Background Technology

[0002] In industrial manufacturing, especially in the production process involving sheet metal processing, cutting regular holes in materials is a common and critical operation. This type of processing task typically occurs in the manufacturing of automotive bodies, aerospace structural components, and precision mechanical parts, requiring the precise cutting of circular, polygonal, or other holes with fixed geometric features from the workpiece. To meet the production needs of varying batch sizes and complexities, automated laser cutting equipment is widely used. Among these, six-axis industrial robots, due to their large workspace and high flexibility, are often used as the core actuators that carry the laser head and enable its spatial trajectory movement.

[0003] In existing technologies, path planning for cutting regular holes of this type typically employs teach-in programming. This involves the operator manually guiding the cutting tool along the edge trajectory of the target hole, recording the coordinates of each key point. The system then connects these discrete points into a continuous path, repeating this path in subsequent runs to complete the cutting process. While this method achieves a degree of automation, it reveals significant performance bottlenecks when handling small, regular holes.

[0004] Specifically, due to the small radius of curvature and short path closure period of the trajectory corresponding to the small hole, the robot needs to complete high-frequency posture adjustments and direction changes in a short period of time. At this time, the cumulative error caused by its multi-joint linkage increases significantly. In addition, factors such as the response delay of the servo system, joint clearance, and reducer backlash cause the actual motion trajectory to deviate from the ideal contour, resulting in problems such as rough cutting edges, excessive melting at corners, or discontinuous cutting. At the same time, in order to suppress vibration and ensure basic forming quality, the cutting speed must be reduced, thus limiting the improvement of overall processing efficiency. Therefore, in high-precision small hole machining scenarios, traditional six-axis robots can no longer fully meet the process requirements in terms of trajectory control accuracy and dynamic response capability. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a method, apparatus, cutting robot and storage medium for cutting regular holes, so as to improve the accuracy and automation of cutting regular holes while increasing processing efficiency.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, this application provides a method for cutting regular holes, applied to a cutting robot. The cutting robot includes a six-axis body, a seventh joint, and a cutting tool. The seventh joint is mounted on a six-axis flange of the six-axis body, and the sixth joint and the seventh joint constitute the wrist mechanism of the cutting robot. The cutting tool is mounted on a seven-axis flange of the seventh joint. The method includes: Obtain the geometric parameters and cutting parameters corresponding to the regular holes to be cut set by the user, and determine multiple cutting points corresponding to the regular holes to be cut based on the geometric parameters; If the current cutting mode is determined to be wrist cutting based on the cutting parameters, the robot Cartesian position of the six-axis body is calculated by using forward kinematics solution when the sixth joint position is taken as the zero-degree position; the robot Cartesian position represents the end-effector spatial position of the six-axis body in the state of zeroing the sixth axis. Based on the robot's Cartesian position, the Cartesian positions of each of the cutting points, and the tool parameters of the cutting tool, calculate the wrist joint position of the wrist mechanism at each of the cutting points; The wrist mechanism is driven to move according to the position of each wrist joint to move the cutting tool to each cutting point for regular hole cutting.

[0007] In an optional implementation, calculating the wrist joint position of the wrist mechanism at each cutting point based on the robot's Cartesian position, the Cartesian positions of each cutting point, and the tool parameters of the cutting tool includes: For each of the cutting points, the Cartesian position of the seventh joint end corresponding to the cutting point is calculated based on the Cartesian position of the cutting point and the tool parameters. Construct a robot Cartesian coordinate system based on the robot's Cartesian position, and calculate the relative position of the end of the seventh joint in the robot Cartesian coordinate system based on the Cartesian position of the end of the seventh joint. Based on the relative position, the wrist joint position of the wrist mechanism at the cutting point is calculated by inverse kinematics.

[0008] In an optional implementation, the method further includes: When the current cutting mode is determined to be six-axis body cutting based on the cutting parameters, the joint positions of each joint in the six-axis body at each cutting point are calculated by inverse kinematics based on the Cartesian positions of each cutting point, the current position of the seventh joint, and the tool parameters of the cutting tool. Drive the joints in the six-axis body to move according to the joint positions of each joint at each cutting point, so as to move the cutting tool to each cutting point for regular hole cutting.

[0009] In an optional embodiment, before driving the wrist mechanism to move the cutting tool to each of the cutting points for regular hole cutting according to the respective wrist joint positions, the method further includes: When it is determined that posture adjustment is required based on the cutting parameters, the target posture parameters of the cutting tool are calculated based on the user coordinate system corresponding to the regular hole to be cut and the tool coordinate system corresponding to the cutting tool. Then, the joint angles of each joint in the six-axis body are calculated based on the target posture parameters through inverse kinematics. Wherein, the z-axis rotation component in the target attitude parameters is consistent with the z-axis rotation component in the current attitude parameters of the cutting tool; The movement of each joint in the six-axis body is driven according to the joint angle of each joint to adjust the cutting tool to be perpendicular to the regular hole to be cut.

[0010] In an optional implementation, calculating the target pose parameters of the cutting tool based on the user coordinate system corresponding to the regular hole to be cut and the tool coordinate system corresponding to the cutting tool includes: Calculate the z-axis angle between the user coordinate system and the tool coordinate system; When the z-axis angle is within a preset angle adjustment range, the target posture parameters of the cutting tool are calculated based on the user coordinate system corresponding to the regular hole to be cut and the tool coordinate system corresponding to the cutting tool.

[0011] Secondly, this application provides a regular hole cutting device for use in a cutting robot. The cutting robot includes a six-axis body, a seventh joint, and a cutting tool. The seventh joint is mounted on the six-axis flange of the six-axis body, and the sixth joint and the seventh joint constitute the wrist mechanism of the cutting robot. The cutting tool is mounted on the seven-axis flange of the seventh joint. The device includes: The acquisition module is used to acquire the geometric parameters and cutting parameters corresponding to the regular holes to be cut set by the user, and to determine multiple cutting points corresponding to the regular holes to be cut based on the geometric parameters. The calculation module is used to calculate the robot Cartesian position of the six-axis body when the sixth joint position is taken as the zero-degree position, by using forward kinematics, when the current cutting mode is determined to be wrist cutting based on the cutting parameters; the robot Cartesian position represents the end-effector spatial position of the six-axis body in the state of zeroing the sixth axis. The calculation module is also used to calculate the wrist joint position of the wrist mechanism at each cutting point based on the robot's Cartesian position, the Cartesian positions of each cutting point, and the tool parameters of the cutting tool. The drive module is used to drive the wrist mechanism to move according to the positions of each wrist joint, so as to move the cutting tool to each cutting point for regular hole cutting.

[0012] In an optional implementation, the calculation module is further configured to, for each of the cutting points, calculate the Cartesian position of the seventh joint end point corresponding to the cutting point based on the Cartesian position of the cutting point and the tool parameters; construct a robot Cartesian coordinate system based on the robot Cartesian position, and calculate the relative position of the end point of the seventh joint in the robot Cartesian coordinate system based on the Cartesian position of the seventh joint end point; and calculate the wrist joint position of the wrist mechanism at the cutting point by inverse kinematics based on the relative position.

[0013] In an optional implementation, the calculation module is further configured to, when the current cutting mode is determined to be six-axis body cutting based on the cutting parameters, calculate the joint position of each joint in the six-axis body at each cutting point by inverse kinematics based on the Cartesian position of each cutting point, the current position of the seventh joint, and the tool parameters of the cutting tool. The drive module is also used to drive the joints in the six-axis body to move according to the joint positions of each joint at each cutting point, so as to move the cutting tool to each cutting point for regular hole cutting.

[0014] Thirdly, this application provides a cutting robot, which includes a six-axis body, a seventh joint, and a cutting tool. The seventh joint is mounted on the six-axis flange of the six-axis body, and the sixth joint and the seventh joint constitute the wrist mechanism of the cutting robot. The cutting tool is mounted on the seven-axis flange of the seventh joint. The cutting robot also includes a motion controller, which includes a processor and a memory. The memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the method described in any of the foregoing embodiments.

[0015] Fourthly, this application provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in any of the foregoing embodiments.

[0016] The regular hole cutting method, apparatus, cutting robot, and storage medium provided in this application embodiment are as follows: The cutting robot consists of a six-axis body, a seventh joint, and a cutting tool. The seventh joint is mounted on the six-axis flange of the six-axis body, and the sixth and seventh joints together form the wrist mechanism of the cutting robot. The cutting tool is mounted on the seven-axis flange of the seventh joint. In this configuration, the cutting robot can achieve local high-precision trajectory control through the wrist mechanism formed by the sixth and seventh joints. The motion controller can first obtain the geometric parameters and cutting parameters corresponding to the regular hole to be cut, and then determine multiple cutting points based on these parameters. Subsequently, when the wrist cutting mode is determined, the robot's Cartesian position is calculated through forward kinematics. Based on this, the motion controller combines the robot's Cartesian position, the Cartesian positions of each cutting point, and the tool parameters of the cutting tool to further calculate the wrist joint position required by the wrist mechanism at each cutting point. Finally, the wrist mechanism is driven to move in conjunction with the calculated wrist joint positions, so that the cutting tool moves accurately to each cutting point in sequence, completing the trajectory cutting of the regular hole. In this way, in the wrist cutting mode, only the two-joint wrist mechanism with a simpler structure and faster control response undertakes the regular hole cutting work, while other joints remain stationary. This effectively reduces the cumulative error and dynamic lag caused by multi-axis linkage, and improves the cutting accuracy and processing efficiency of regular holes. At the same time, the generation of the cutting path is entirely based on the parameterized input of geometric parameters and cutting parameters. Precise motion commands can be automatically generated without manual teaching, which significantly improves the automation level of the cutting process.

[0017] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of one structure of the wrist mechanism of a cutting robot is shown; Figure 2 A block diagram of a motion controller provided in an embodiment of this application is shown; Figure 3 This paper illustrates a flowchart of a regular hole cutting method provided in an embodiment of this application. Figure 4 This paper illustrates a functional block diagram of a regular hole cutting device provided in an embodiment of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0023] This application provides a cutting robot, which includes a six-axis body, a seventh joint, and a cutting tool. The seventh joint is mounted on the six-axis flange of the six-axis body, and the sixth and seventh joints constitute the wrist mechanism of the cutting robot. The cutting tool is mounted on the seven-axis flange of the seventh joint.

[0024] In this architecture, the cutting robot consists of a six-axis body, a seventh joint, and a cutting tool. The six-axis body refers to the six-axis robot itself, which serves as the basic mechanical structure providing spatial positioning capabilities. It has a six-axis flange at its end for mounting additional mechanisms. The seventh joint is mechanically fixed to the six-axis flange of the six-axis body, forming a continuous mechanical transmission chain. The rotation axis of the seventh joint is aligned with or parallel to the rotation axis of the sixth joint, thus enabling the sixth and seventh joints to work together to form the wrist mechanism of the cutting robot, undertaking local posture adjustment functions. The cutting tool is mounted on the seven-axis flange of the seventh joint, achieving a rigid connection through this mounting interface to ensure the stability and accuracy of motion transmission.

[0025] In this embodiment, the cutting tool can be a laser head. The above structural configuration allows the wrist mechanism to independently complete fine movements within a limited range of degrees of freedom, while complementing the six-axis body to adapt to cutting tasks with different scales and precision requirements.

[0026] Figure 1 Please refer to the schematic diagram of a cutting robot's wrist mechanism. Figure 1 In practical implementation, a linkage structure can be first installed on the six-axis flange surface of the six-axis industrial robot. This linkage serves as an intermediate connector to integrate the seventh axis into the existing six-axis robot system. One end of the linkage connects to the six-axis flange, and the other end supports the seventh axis, ensuring that the installation position of the seventh axis has a defined spatial offset relative to the six-axis body. Since the rotation axis of the seventh axis is in the same direction as the rotation axis of the sixth axis, the two, together with the linkage, constitute an RR-type wrist mechanism, possessing two continuous rotational degrees of freedom, suitable for high-precision attitude adjustment scenarios.

[0027] A connecting plate is further installed on the seventh-axis flange. This connecting plate acts as an adapter to securely mount the cutting tool to the end of the seventh axis, thus forming a complete end-effector toolchain from the end of the seventh axis to the end of the laser head. The actual geometric parameters of this end-effector tool can be obtained through the tool calibration process and serve as key input data for subsequent kinematic calculations in trajectory generation and coordinate transformation.

[0028] As can be seen, the above architecture not only defines the physical connection between the components, but also establishes the functional division of the cutting robot in terms of structural topology: the six-axis body is responsible for large-scale spatial movement, the wrist mechanism composed of the sixth and seventh joints realizes small-amplitude high-precision posture adjustment, and the position and posture of the cutting tool are ultimately determined by this composite mechanism.

[0029] Optionally, the cutting robot also includes a motion controller and a drive mechanism, the motion controller being used to control the drive mechanism to drive the joints to move.

[0030] In this embodiment, Figure 2 For a block diagram of the motion controller provided in the embodiments of this application, please refer to [link / reference]. Figure 2 The motion controller includes a memory, a processor, and a communication module. These components are electrically connected directly or indirectly to enable data transmission or interaction. For example, they can be electrically connected via one or more communication buses or signal lines.

[0031] The memory is used to store computer programs or data that can be executed by the processor. The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc.

[0032] The processor is used to read / write data or computer programs stored in the memory, and execute the computer program to implement the regular hole cutting method provided in the embodiments of this application.

[0033] The communication module is used to establish communication connections between the motion controller and other communication terminals via the network, and to send and receive data via the network.

[0034] It should be understood that, Figure 2 The structure shown is only a schematic diagram of the motion controller; the motion controller may also include a ratio Figure 2 The more or fewer components shown, or having the same Figure 2 The different configurations shown. Figure 2 The components shown can be implemented using hardware, software, or a combination thereof.

[0035] The following section uses the aforementioned motion controller as the execution subject and, in conjunction with a flowchart, provides an exemplary description of the regular hole cutting method provided in this application's embodiments. Specifically, Figure 3 Please refer to the flowchart of a regular hole cutting method provided in the embodiments of this application. Figure 3 The method includes: Step S20: Obtain the geometric parameters and cutting parameters corresponding to the regular holes to be cut set by the user, and determine multiple cutting points corresponding to the regular holes to be cut based on the geometric parameters.

[0036] Optionally, the geometric parameters and cutting parameters can be set by the user according to their actual application requirements.

[0037] In this embodiment, geometric parameters are used to characterize the size and configuration features of the target cutting shape, while cutting parameters include configuration information related to processing mode, process requirements, or control logic.

[0038] During the above steps, the motion controller can determine multiple cutting points required to form the outline of the regular hole to be cut based on the acquired geometric parameters. These cutting points can provide a discrete set of target coordinates for subsequent motion control.

[0039] In practice, with the robot's end effector positioned at the center of the regular hole as the initial condition, the motion controller can initiate the point generation process based on pre-set geometric parameters. During this process, the geometric parameters may include, but are not limited to, key dimensional information such as the number of sides of the polygon, the radius or diameter of the circumscribed circle, etc. These parameters collectively define the basic shape of the regular hole.

[0040] Taking the cutting of a regular polygon as an example, the geometric parameters can include the number of sides of the polygon and the radius or diameter of its circumscribed circle. The motion controller can use the current position, i.e., the center of the regular hole, as the origin, and calculate the Cartesian coordinates of each vertex in the XOY plane of the current tool coordinate system based on the number of sides of the polygon and the size of its circumscribed circle, thereby obtaining multiple cutting points. Each cutting point corresponds to a corner of the polygon, forming a critical path node of the complete contour.

[0041] Furthermore, users can configure additional parameters to adjust the final cutting path's appearance. For example, by setting the rotation angle around the tool's Z-axis, the entire polygonal outline can be oriented and deflected, thus achieving flexible control over the spatial orientation of the cut graphic. Simultaneously, the robot can be specified to sequentially visit each cutting point in a clockwise or counterclockwise direction, changing the movement sequence to adapt to different process requirements or avoid interference risks. This parameterized processing method makes the cutting program highly configurable, automatically generating motion command sequences that meet actual needs without relying on manual teaching.

[0042] This embodiment transforms the geometric description of a regular hole into a series of precise spatial points, realizing the data mapping process from abstract graphic definition to a specific executable path, improving programming efficiency and trajectory consistency, and is especially suitable for small-sized regular hole processing scenarios with high repeatability and strict precision requirements.

[0043] Step S21: If the current cutting mode is determined to be wrist cutting based on the cutting parameters, the Cartesian position of the six-axis robot body is calculated using forward kinematics, with the sixth joint position as the zero-degree position. The Cartesian position represents the end-effector spatial position of the six-axis robot body when the sixth axis is at zero.

[0044] Step S22: Calculate the wrist joint position of the wrist mechanism at each cutting point based on the robot's Cartesian position, the Cartesian positions of each cutting point, and the tool parameters of the cutting tool.

[0045] Optionally, the cutting parameters include a mode parameter to characterize the current cutting mode, which can be configured by the user in advance according to the cutting requirements of the regular hole to be cut. In one possible implementation, the wrist cutting mode is suitable for the control mode of high-precision small-sized regular hole machining.

[0046] In this embodiment, the motion controller can determine the current cutting mode as wrist cutting based on the cutting parameters. In this mode, the first to fifth joints of the six-axis body can be controlled to maintain their current positions and not participate in real-time trajectory movement. Only the sixth and seventh joints work together to complete the execution of the cutting path.

[0047] To achieve independent and precise motion control of the wrist mechanism, a stable local coordinate reference needs to be established. To this end, the motion controller first uses a forward kinematics algorithm to calculate the theoretical Cartesian coordinate position of the six-axis end effector in three-dimensional space, based on the current angles of joints one through five, and setting the position of the sixth joint to zero degrees. This position represents the spatial pose of the six-axis body when the sixth joint is at zero, forming the basis for subsequent relative coordinate transformations.

[0048] Building upon this, the Cartesian positions of each cutting point and the tool parameters of the cutting tool are further introduced as key inputs for calculating the target postures of the wrist mechanism. Ultimately, the wrist joint position of the wrist mechanism at each cutting point is calculated. This wrist joint position refers to the combined joint angle combination of the sixth and seventh joints. Each cutting point corresponds to a unique set of wrist joint positions, ensuring that the cutting tool can accurately move to that point and maintain a stable posture.

[0049] In this embodiment, the tool parameters can be obtained through the tool calibration process, including but not limited to the distance from the end of the seven-axis to the end of the cutting tool, and the performance parameters of the cutting tool itself (such as the size of the laser head plate, laser power, etc.).

[0050] Step S23: Drive the wrist mechanism to move according to the position of each wrist joint, so as to move the cutting tool to each cutting point for regular hole cutting.

[0051] In this embodiment, after the motion controller completes the calculation of the wrist joint positions of the wrist mechanism at each cutting point, it enters the trajectory execution stage. During this process, the motion controller can send the positions of each wrist joint to the servo drive system of the cutting robot in the form of motion commands, driving the sixth and seventh joints to adjust their rotation angles in a predetermined order, thereby causing the cutting tool mounted on the seven-axis flange to gradually move to each corresponding cutting point and complete the continuous cutting operation of the regular holes along the preset path.

[0052] During the execution of the above steps, the motion controller can generate control commands containing parameters such as target joint coordinates, velocity, and acceleration based on the wrist joint position data obtained in the previous stage. After receiving the command, the servo driver drives the corresponding motor to rotate to the calculated joint position, thereby achieving precise angular displacement control of the wrist mechanism.

[0053] It should be noted that the wrist mechanism formed by the sixth and seventh joints features a simple structure and a short transmission chain. Therefore, it can significantly reduce the dynamic lag caused by gear backlash, link elastic deformation, or reverse travel in traditional multi-joint robots at the mechanical level. Especially in small-scale, high-frequency reciprocating motion scenarios, the impact of such structural nonlinear factors on trajectory accuracy is effectively suppressed, enabling the cutting tool to maintain good path tracking capabilities within a small scale. Furthermore, since only two adjacent rotational degrees of freedom need to be controlled, the motion controller does not need to coordinate the coupling relationships between multiple distal joints, thus simplifying the dynamic compensation and synchronization adjustment algorithms and further improving motion smoothness and repeatability.

[0054] Understandably, this execution mechanism is particularly suitable for the high-quality and high-efficiency machining requirements of small-sized, regular holes. For example, when processing holes with well-defined geometric features such as circles and polygons, the cutting path is usually a closed curve with the starting and ending points coinciding, requiring the equipment to have excellent contour closed-loop performance. By activating only the local degrees of freedom of the wrist, not only is the inertial load of the overall system reduced, but the adaptability to high-speed start-stop and corner transitions is also enhanced, thus supporting higher cutting speeds without sacrificing edge quality. In addition, the fixed six-axis body serves as a stable support platform, avoiding vibration problems caused by the long arm movement and ensuring the consistency and safety of the machining process.

[0055] The regular hole cutting method provided in this application embodiment comprises a cutting robot consisting of a six-axis body, a seventh joint, and a cutting tool. The seventh joint is mounted on the six-axis flange of the six-axis body, and the sixth and seventh joints together form the wrist mechanism of the cutting robot. The cutting tool is mounted on the seven-axis flange of the seventh joint. In this configuration, the cutting robot can achieve high-precision local trajectory control through the wrist mechanism formed by the sixth and seventh joints. The motion controller first acquires the geometric parameters and cutting parameters corresponding to the regular hole to be cut, and then determines multiple cutting points based on these parameters. Subsequently, when the wrist cutting mode is determined, the robot's Cartesian position is calculated using forward kinematics. Based on this, the motion controller combines the robot's Cartesian position, the Cartesian positions of each cutting point, and the tool parameters of the cutting tool to further calculate the wrist joint positions required for each cutting point. Finally, the wrist mechanism is driven to move in conjunction with the calculated wrist joint positions, causing the cutting tool to move accurately to each cutting point sequentially, completing the trajectory cutting of the regular hole. In this way, in the wrist cutting mode, only the two-joint wrist mechanism with a simpler structure and faster control response undertakes the regular hole cutting work, while other joints remain stationary. This effectively reduces the cumulative error and dynamic lag caused by multi-axis linkage, and improves the cutting accuracy and processing efficiency of regular holes. At the same time, the generation of the cutting path is entirely based on the parameterized input of geometric parameters and cutting parameters. Precise motion commands can be automatically generated without manual teaching, which significantly improves the automation level of the cutting process.

[0056] The following provides a possible implementation method for calculating the wrist joint position of the wrist mechanism at each cutting point based on the robot's Cartesian position, the Cartesian positions of each cutting point, and the tool parameters of the cutting tool.

[0057] In this embodiment, the motion controller can calculate the Cartesian position of the seventh joint end point corresponding to each cutting point based on the Cartesian position of the cutting point and the tool parameters; construct a robot Cartesian coordinate system based on the robot Cartesian position, and calculate the relative position of the end point of the seventh joint in the robot Cartesian coordinate system based on the Cartesian position of the seventh joint end point; based on the relative position, calculate the wrist joint position of the wrist mechanism at the cutting point through inverse kinematics.

[0058] It should be understood that when the motion controller determines that the current cutting mode is wrist cutting, joints one to five in the six-axis body remain stationary, and only the wrist mechanism consisting of the sixth and seventh joints performs trajectory movement.

[0059] Under this premise, in order to achieve accurate tracking of the target cutting path, the cutting point information in the global coordinate system needs to be transformed into motion input suitable for the local mechanism. To this end, the motion controller can first perform coordinate mapping processing for each determined cutting point, combining its Cartesian position in space and the tool parameters of the cutting tool—that is, the spatial offset and attitude relationship between the seven-axis flange and the working end of the cutting tool (collectively referred to as tool parameters).

[0060] Specifically, after acquiring the target spatial coordinates of a certain cutting point, the motion controller can reverse-calculate the actual spatial position that the seven-axis end effector should reach to make the cutting tool reach the target point, based on pre-calibrated tool parameters. This process essentially converts the task-level process point into a mechanically executable end effector target pose, and the result is the Cartesian position of the seventh joint end effector corresponding to that cutting point. This position data not only includes three-dimensional coordinate information but also covers the orientation parameters required to maintain the correct machining posture, ensuring that subsequent relative motion calculations have a complete position and attitude reference.

[0061] Based on this, the motion controller can use the robot's Cartesian position obtained through forward kinematics as the origin to establish a reference coordinate system fixed to the end effector of the six-axis body—the robot Cartesian coordinate system. This coordinate system represents the theoretical pose of the end effector of the six-axis body when the sixth joint is at zero degrees, serving as a static reference framework for local motion planning. Subsequently, the Cartesian position of the end effector of the seventh joint, calculated above, is transformed into this coordinate system, and its coordinate increment relative to the origin is calculated, thereby obtaining the relative position of the end effector of the seventh joint in the robot Cartesian coordinate system. This relative position is devoid of the influence of the dynamic changes of the first to fifth joints, purely reflecting the local motion requirements achievable by the sixth and seventh joints, and therefore can be directly used as the input condition for the independent motion model of the RR wrist mechanism.

[0062] Based on this relative position, the motion controller can further employ an inverse kinematics algorithm to solve for the angle combination of the sixth and seventh joints that satisfies the target relative pose. Since the mechanism has two continuous rotational degrees of freedom and well-defined structural parameters, its inverse kinematics process can be completed efficiently, outputting a set of feasible wrist joint positions. Each cutting point corresponds to a unique set of joint positions, and the joint positions corresponding to multiple cutting points can collectively form a complete local trajectory sequence.

[0063] It should be understood that before performing a regular hole cutting task, to ensure processing quality and energy focusing effect, the light output direction or spindle direction of the cutting tool must be perpendicular to the surface to be cut. However, in actual operation, when the user moves the robot to the cutting starting point through teaching, it is often difficult to manually achieve completely precise attitude alignment. Therefore, this embodiment can also improve the geometric accuracy of subsequent trajectory execution through an automatic attitude correction process.

[0064] Specifically, before moving the wrist mechanism according to the positions of each wrist joint to move the cutting tool to each cutting point for regular hole cutting, the motion controller can, based on the cutting parameters and determining that posture adjustment is required, calculate the target posture parameters of the cutting tool according to the user coordinate system corresponding to the regular hole to be cut and the tool coordinate system corresponding to the cutting tool. Then, through inverse kinematics, it calculates the joint angles of each joint in the six-axis body according to the target posture parameters. The z-axis rotation component in the target posture parameters is consistent with the z-axis rotation component in the current posture parameters of the cutting tool. Afterwards, the motion controller drives the movement of each joint in the six-axis body according to the joint angles of each joint to adjust the cutting tool to be perpendicular to the regular hole to be cut.

[0065] During the execution of the above steps, the motion controller first needs to establish two key coordinate systems: one is the user coordinate system, and the other is the tool coordinate system.

[0066] The user coordinate system is defined based on the surface of the object to be cut, placing the surface within its XOY plane, with the Z-axis perpendicular to the cutting plane. This system characterizes the spatial orientation of the object being processed. The tool coordinate system, determined through the robot system's tool calibration function, reflects the spatial transformation relationship from the seven-axis end flange to the working end of the cutting tool (e.g., the laser head's emission point). Its Z-axis extends along the effective direction of the cutting tool. The existence of these two coordinate systems provides a benchmark for attitude comparison and adjustment.

[0067] Based on this, the motion controller acquires the relative attitude difference between the user coordinate system and the tool coordinate system, focusing on analyzing the relationship between their Z-axis directions. When calculating the target attitude parameters of the cutting tool, the goal is to align the Z-axis of the tool coordinate system with the Z-axis of the user coordinate system, that is, to make the cutting tool perpendicular to the cutting plane.

[0068] Specifically, the x-axis rotation component Rx and y-axis rotation component Rey in the target attitude parameters are set according to the consistency of the Z-axis direction of the two coordinate systems to ensure that the tool axis is orthogonal to the machining surface after attitude adjustment. At the same time, to avoid introducing unnecessary rotational disturbances, the z-axis rotation component Rz in the target attitude parameters is set to be consistent with the Rz in the current attitude parameters of the cutting tool, that is, the rotation angle of the tool around its own Z-axis is not changed, thereby maintaining the original graphic orientation or process settings unchanged.

[0069] Subsequently, based on the target posture parameters, combined with the current position of the seventh joint and the tool parameters of the cutting tool, the motion controller uses an inverse kinematics algorithm to solve for a set of joint angle values ​​from the first to the sixth joint, i.e., joint angles, that can achieve the posture adjustment. Finally, the motion controller drives each joint in the six-axis body to move to this set of joint angles, causing the cutting tool to be reoriented in space, ultimately achieving a state perpendicular to the plane containing the regular hole to be cut.

[0070] Understandably, this embodiment introduces an attitude comparison mechanism based on the user coordinate system and the tool coordinate system, and combines it with a strategy of selectively retaining the Rz rotation degree of freedom, thereby achieving local compensation only for non-orthogonal deviations without affecting the original path orientation.

[0071] In addition, before initiating the attitude adjustment process, the motion controller must also evaluate the relative orientation between the current cutting tool and the surface to be processed to determine whether the conditions for safely performing attitude correction are met.

[0072] Specifically, the motion controller can first calculate the z-axis angle between the user coordinate system and the tool coordinate system. If the z-axis angle is within the preset angle adjustment range, the target posture parameters of the cutting tool can be calculated based on the user coordinate system corresponding to the regular hole to be cut and the tool coordinate system corresponding to the cutting tool.

[0073] In this embodiment, the motion controller first calculates the angle between the user coordinate system z-axis and the tool coordinate system z-axis. This angle represents the degree of spatial deviation between the current light output direction or spindle direction of the cutting tool and the normal direction of the cutting plane. The user coordinate system z-axis is perpendicular to the plane containing the regular hole to be cut, representing the ideal vertical direction of processing; the tool coordinate system z-axis extends along the effective working axis of the cutting tool, reflecting its actual orientation.

[0074] During the above steps, the motion controller extracts the z-axis unit vectors of the two coordinate systems based on their defined data, and calculates the spatial angle between them using vector dot product. This angle serves as a key criterion for subsequent decision-making logic: when this angle is within a preset angle adjustment range, it indicates that the current attitude deviation is within a reasonable range that the mechanical system can compensate for, meaning there is no need for large-scale path reconstruction, nor is there a risk of structural interference or collision caused by drastic attitude adjustments. Under this premise, the motion controller can continue to execute the calculation process of the target attitude parameters.

[0075] It is worth noting that the purpose of setting this angle adjustment range is to introduce a safety threshold mechanism. If the z-axis angle exceeds the upper limit of this range, it indicates that the initial posture deviates significantly from the expected value, possibly due to workpiece installation errors, inaccurate coordinate system calibration, or abnormal initial positioning of the robot arm. Directly performing posture correction in this case may cause significant movement of the sixth and seventh joints, increasing the probability of collisions with surrounding equipment or the workpiece itself. The motion controller can trigger an alarm when the angle exceeds the upper limit of the angle adjustment range, prompting the operator to intervene and check, thus preventing safety accidents caused by abnormal conditions in the automated process. Conversely, if the z-axis angle is less than the lower limit of this range, it indicates that the cutting tool is already perpendicular to the regular hole to be cut, and no posture calibration of the cutting tool is required. Therefore, proceeding to the next calculation step is only allowed when the angle meets the condition, reflecting a dual consideration of safety and feasibility in the control logic.

[0076] This embodiment introduces a conditional judgment mechanism based on the Z-axis angle to achieve prerequisite verification for attitude adjustment operations. This design not only ensures the applicability of local fine-tuning strategies but also effectively constrains the boundaries of motion behavior, preventing dynamic risks caused by over-correction, thereby improving the robustness and engineering practicality of the entire attitude calibration process.

[0077] Optionally, based on the structure of the cutting robot, its six-axis body can also be used for regular hole cutting. The six-axis body cutting mode is suitable for control modes of large-size or complex trajectory processing. In this embodiment, when the current cutting mode is determined to be six-axis body cutting based on the cutting parameters, the motion controller calculates the joint positions of each joint in the six-axis body at each cutting point using inverse kinematics based on the Cartesian positions of each cutting point, the current position of the seventh joint, and the tool parameters of the cutting tool. The controller then drives the joints in the six-axis body to move according to the joint positions at each cutting point, thereby moving the cutting tool to each cutting point for regular hole cutting.

[0078] Understandably, when the motion controller determines the current cutting mode to be six-axis body cutting based on the cutting parameters, the seventh joint does not participate in active motion adjustment; its position remains constant, and all motion tasks are completed collaboratively by joints one through six of the six-axis body. This working mode fully leverages the wide workspace and high motion flexibility of the six-axis robot, making it suitable for processing regular holes with a large cutting range and high requirements for path continuity.

[0079] During the execution of the above steps, the motion controller can first obtain the Cartesian position of each cutting point, i.e. the target space coordinates, and combine it with the current position of the seventh joint and the tool parameters of the cutting tool as the input conditions for the inverse kinematics solution.

[0080] Since the cutting tool is mounted on the seven-axis flange of the seventh joint, the actual position and orientation of its working end depends on the end output of the entire mechanical chain. Therefore, before performing inverse kinematics calculations, the Cartesian coordinates of the target point need to be mapped from the tool end back to the end flange coordinate system of the six-axis body.

[0081] Specifically, the motion controller can use known tool parameters—namely, the spatial offset and directional relationship from the seven-axis flange to the working end of the cutting tool—and combine them with the current fixed angle state of the seventh joint to reverse-calculate the target pose that the six-axis end effector should reach in order for the cutting tool to reach the target point, thereby obtaining the equivalent end effector target coordinates for the six-axis robot model calculation.

[0082] Based on this, the motion controller can employ an inverse kinematics algorithm to solve for feasible combinations of joint positions for one to six joints based on the equivalent end-effector coordinates. This process considers the link geometry parameters, joint constraints, and singular configuration avoidance strategies of the six-axis robot, generating optimal or suboptimal joint path sequences while satisfying motion continuity and trajectory smoothness. Each set of joint positions corresponds to a cutting point, and the joint positions corresponding to multiple cutting points together constitute a complete motion command set.

[0083] Subsequently, the motion controller sends position commands for each joint to the servo drive system, which drives each joint in the six-axis body to adjust its angle in sequence, so that the robot arm can move the cutting tool to each cutting point step by step.

[0084] During this process, since the seventh joint remains stationary, its function is equivalent to extending the rigid arm of the end effector, without affecting the dynamic modeling and control logic of the main kinematic chain. The servo system implements closed-loop control based on the received joint target values ​​to ensure synchronous response and precise positioning of each axis, thereby achieving faithful reproduction of the preset cutting path.

[0085] In addition, the cutting tool can be calibrated before six-axis body cutting. The calibration process is similar to the above process and will not be elaborated on here.

[0086] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of a regular hole cutting device is given below. Optionally, the regular hole cutting device can adopt the above-described... Figure 2 The device structure of the motion controller is shown. Further, please refer to... Figure 4 , Figure 4This is a functional block diagram of a regular hole cutting device provided in an embodiment of this application. It should be noted that the basic principle and technical effects of the regular hole cutting device provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The regular hole cutting device includes: an acquisition module, a calculation module, and a driving module.

[0087] This acquisition module is used to acquire the geometric parameters and cutting parameters corresponding to the regular holes to be cut set by the user, and to determine multiple cutting points corresponding to the regular holes to be cut based on the geometric parameters.

[0088] Understandably, this acquisition module can be used to perform the above step S20.

[0089] The calculation module is used to calculate the robot Cartesian position of the six-axis body when the sixth joint position is taken as the zero-degree position, based on the cutting parameters and the current cutting mode is determined to be wrist cutting. The robot Cartesian position represents the end-effector spatial position of the six-axis body when the sixth axis is in the zero-degree state.

[0090] Understandably, this calculation module can be used to perform the above step S21.

[0091] The calculation module is also used to calculate the wrist joint position of the wrist mechanism at each cutting point based on the robot's Cartesian position, the Cartesian position of each cutting point, and the tool parameters of the cutting tool.

[0092] Understandably, this calculation module can be used to perform the above step S22.

[0093] This drive module is used to drive the wrist mechanism to move according to the position of each wrist joint, so as to move the cutting tool to each cutting point for regular hole cutting.

[0094] Understandably, this driver module can be used to perform the above step S23.

[0095] Optionally, the calculation module is also used to calculate the Cartesian position of the seventh joint end point corresponding to each cutting point, based on the Cartesian position of the cutting point and the tool parameters; construct a robot Cartesian coordinate system based on the robot Cartesian position, and calculate the relative position of the end point of the seventh joint in the robot Cartesian coordinate system based on the Cartesian position of the seventh joint end point; and calculate the wrist joint position of the wrist mechanism at the cutting point through inverse kinematics based on the relative position.

[0096] Optionally, the calculation module is also used to calculate the joint position of each joint in the six-axis body at each cutting point by inverse kinematics, based on the Cartesian position of each cutting point, the current position of the seventh joint, and the tool parameters of the cutting tool, when the current cutting mode is determined to be six-axis body cutting according to the cutting parameters.

[0097] Optionally, the drive module is also used to drive the movement of each joint in the six-axis body according to the joint position of each joint at each cutting point, so as to move the cutting tool to each cutting point for regular hole cutting.

[0098] Optionally, the calculation module is also used to calculate the target attitude parameters of the cutting tool according to the user coordinate system corresponding to the regular hole to be cut and the tool coordinate system corresponding to the cutting tool when the attitude adjustment is determined according to the cutting parameters, and to calculate the joint angles of each joint in the six-axis body according to the target attitude parameters through inverse kinematics; wherein, the z-axis rotation component in the target attitude parameters is consistent with the z-axis rotation component in the current attitude parameters of the cutting tool.

[0099] Optionally, the drive module is also used to drive the movement of each joint in the six-axis body according to the joint angle of each joint, so as to adjust the cutting tool to be perpendicular to the regular hole to be cut.

[0100] Optionally, the calculation module is also used to calculate the z-axis angle between the user coordinate system and the tool coordinate system; when the z-axis angle is within a preset angle adjustment range, the target posture parameters of the cutting tool are calculated according to the user coordinate system corresponding to the regular hole to be cut and the tool coordinate system corresponding to the cutting tool.

[0101] Optionally, the above modules can be stored in the form of software or firmware. Figure 2 The memory shown may be stored in or embedded in the operating system (OS) of the motion controller, and may be accessed by... Figure 2 The processor executes the commands. Meanwhile, the data and program code required to execute these modules can be stored in memory.

[0102] This application also provides a storage medium storing a computer program, which, when executed by a processor, can implement the regular hole cutting method provided in this application.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0104] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0105] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0106] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for cutting regular holes, characterized in that, An application is made to a cutting robot, the cutting robot comprising a six-axis body, a seventh joint, and a cutting tool, wherein the seventh joint is mounted on the six-axis flange of the six-axis body, and the sixth joint and the seventh joint of the six-axis body constitute the wrist mechanism of the cutting robot, and the cutting tool is mounted on the seven-axis flange of the seventh joint; the method includes: Obtain the geometric parameters and cutting parameters corresponding to the regular holes to be cut set by the user, and determine multiple cutting points corresponding to the regular holes to be cut based on the geometric parameters; If the current cutting mode is determined to be wrist cutting based on the cutting parameters, the robot Cartesian position of the six-axis body is calculated by using forward kinematics solution when the sixth joint position is taken as the zero-degree position; the robot Cartesian position represents the end-effector spatial position of the six-axis body in the state of zeroing the sixth axis. Based on the robot's Cartesian position, the Cartesian positions of each of the cutting points, and the tool parameters of the cutting tool, calculate the wrist joint position of the wrist mechanism at each of the cutting points; The wrist mechanism is driven to move according to the position of each wrist joint to move the cutting tool to each cutting point for regular hole cutting.

2. The method according to claim 1, characterized in that, The step of calculating the wrist joint position of the wrist mechanism at each cutting point based on the robot's Cartesian position, the Cartesian positions of each cutting point, and the tool parameters of the cutting tool includes: For each of the cutting points, the Cartesian position of the seventh joint end corresponding to the cutting point is calculated based on the Cartesian position of the cutting point and the tool parameters. Construct a robot Cartesian coordinate system based on the robot's Cartesian position, and calculate the relative position of the end of the seventh joint in the robot Cartesian coordinate system based on the Cartesian position of the end of the seventh joint. Based on the relative position, the wrist joint position of the wrist mechanism at the cutting point is calculated by inverse kinematics.

3. The method according to claim 1, characterized in that, The method further includes: When the current cutting mode is determined to be six-axis body cutting based on the cutting parameters, the joint positions of each joint in the six-axis body at each cutting point are calculated by inverse kinematics based on the Cartesian positions of each cutting point, the current position of the seventh joint, and the tool parameters of the cutting tool. Drive the joints in the six-axis body to move according to the joint positions of each joint at each cutting point, so as to move the cutting tool to each cutting point for regular hole cutting.

4. The method according to claim 1, characterized in that, Before driving the wrist mechanism to move according to the respective wrist joint positions to move the cutting tool to the respective cutting points for regular hole cutting, the method further includes: When it is determined that posture adjustment is required based on the cutting parameters, the target posture parameters of the cutting tool are calculated based on the user coordinate system corresponding to the regular hole to be cut and the tool coordinate system corresponding to the cutting tool. Then, the joint angles of each joint in the six-axis body are calculated based on the target posture parameters through inverse kinematics. Wherein, the z-axis rotation component in the target attitude parameters is consistent with the z-axis rotation component in the current attitude parameters of the cutting tool; The movement of each joint in the six-axis body is driven according to the joint angle of each joint to adjust the cutting tool to be perpendicular to the regular hole to be cut.

5. The method according to claim 4, characterized in that, The step of calculating the target pose parameters of the cutting tool based on the user coordinate system corresponding to the regular hole to be cut and the tool coordinate system corresponding to the cutting tool includes: Calculate the z-axis angle between the user coordinate system and the tool coordinate system; When the z-axis angle is within a preset angle adjustment range, the target posture parameters of the cutting tool are calculated based on the user coordinate system corresponding to the regular hole to be cut and the tool coordinate system corresponding to the cutting tool.

6. A regular hole cutting device, characterized in that, An application is made to a cutting robot, the cutting robot comprising a six-axis body, a seventh joint, and a cutting tool, wherein the seventh joint is mounted on the six-axis flange of the six-axis body, and the sixth joint and the seventh joint of the six-axis body constitute the wrist mechanism of the cutting robot; the cutting tool is mounted on the seven-axis flange of the seventh joint; the device includes: The acquisition module is used to acquire the geometric parameters and cutting parameters corresponding to the regular holes to be cut set by the user, and to determine multiple cutting points corresponding to the regular holes to be cut based on the geometric parameters. The calculation module is used to calculate the robot Cartesian position of the six-axis body when the sixth joint position is taken as the zero-degree position, by using forward kinematics, when the current cutting mode is determined to be wrist cutting based on the cutting parameters; the robot Cartesian position represents the end-effector spatial position of the six-axis body in the state of zeroing the sixth axis. The calculation module is also used to calculate the wrist joint position of the wrist mechanism at each cutting point based on the robot's Cartesian position, the Cartesian positions of each cutting point, and the tool parameters of the cutting tool. The drive module is used to drive the wrist mechanism to move according to the positions of each wrist joint, so as to move the cutting tool to each cutting point for regular hole cutting.

7. The apparatus according to claim 6, characterized in that, The calculation module is also used to calculate the Cartesian position of the seventh joint end corresponding to each of the cutting points, based on the Cartesian position of the cutting point and the tool parameters. A robot Cartesian coordinate system is constructed based on the robot's Cartesian position, and the relative position of the end of the seventh joint in the robot Cartesian coordinate system is calculated based on the Cartesian position of the end of the seventh joint. Based on the relative position, the wrist joint position of the wrist mechanism at the cutting point is calculated by inverse kinematics.

8. The apparatus according to claim 6, characterized in that, The calculation module is further configured to, when the current cutting mode is determined to be six-axis body cutting based on the cutting parameters, calculate the joint position of each joint in the six-axis body at each cutting point by inverse kinematics based on the Cartesian position of each cutting point, the current position of the seventh joint, and the tool parameters of the cutting tool. The drive module is also used to drive the joints in the six-axis body to move according to the joint positions of each joint at each cutting point, so as to move the cutting tool to each cutting point for regular hole cutting.

9. A cutting robot, characterized in that, The cutting robot includes a six-axis body, a seventh joint, and a cutting tool. The seventh joint is mounted on the six-axis flange of the six-axis body, and the sixth joint and the seventh joint constitute the wrist mechanism of the cutting robot. The cutting tool is mounted on the seven-axis flange of the seventh joint. The cutting robot also includes a motion controller, which includes a processor and a memory. The memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the method according to any one of claims 1-5.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1-5.

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