High-precision laser welding and cutting method for industrial robot

Abstract

The invention discloses an industrial robot high-precision laser welding and cutting method, and relates to the technical field of industrial robot laser welding and cutting, and the industrial robot high-precision laser welding and cutting method comprises the following steps: mounting a graphic machine on a flange surface of an industrial robot body, and mounting a laser head or a cutting head at the tail end of the graphic machine in a compatible manner; the cutting system controls all shafts of the graphic machine to operate, and meanwhile the cutting system is arranged to control light emitting, light closing and welding or cutting process parameters of a laser head or a cutting head. The method comprises the following steps: establishing NetPLC communication connection between an industrial robot controller system and a cutting system, setting the industrial robot control system as a master station, setting the cutting system as a slave station, and configuring IP addresses, subnet masks, network office numbers and register parameters of the two parties; for the to-be-machined workpiece, if the to-be-machined workpiece is a large-size circle and contour box body, the industrial robot is controlled to drive the graphic machine to operate for welding or cutting; if the pattern is a small-size pattern, the industrial robot is controlled to position the pattern machine, and then the pattern machine operates welding or cutting. The application range of the industrial robot in the welding and cutting field is widened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robot laser welding and cutting, and more particularly to an industrial robot high-precision laser welding and cutting method. BACKGROUND

[0002] Laser welding and cutting technology is widely used in the processing of metal and non-metal materials, which can greatly reduce processing time, reduce processing cost and improve workpiece quality. At present, some large-scale automobile manufacturers have introduced advanced five-axis laser welding and cutting machines from abroad, which greatly improves the process effect and provides production efficiency. However, the price of five-axis laser welding and cutting machines on the market is expensive, with a cost of more than one million per unit, which is a difficult threshold for most small and medium-sized manufacturers to popularize.

[0003] Now, research uses an industrial robot to drive a laser welding and cutting head to replace the five-axis laser welding and cutting machine on the market. Due to the flexibility of the industrial robot, processing laser heads, cutting heads and other devices are often installed at the end of the industrial robot to realize welding, cutting, perforating and other processing. However, there are certain limitations in the use of robots at home and abroad, such as the inability to weld or cut 5㎜ and below diameter circles, the inability to meet the demand for roundness in welding or cutting, and the low efficiency of 5㎜-12㎜ diameter circle welding or cutting, which cannot meet the production demand.

[0004] Disadvantages of the prior art: Currently, in the application of industrial robots in the field of welding and cutting, imported industrial robots can barely meet the demand in precision and cannot meet the demand in efficiency in welding and cutting of 5㎜-13㎜ circles. Even for circles below 5㎜ in diameter, domestic and foreign industrial robots cannot meet the demand for welding and cutting. Based on the above problems, the development of industrial robots in the field of welding and cutting is greatly hindered.

[0005] In view of the above problems, the present application provides a solution. SUMMARY

[0006] In order to overcome the above-mentioned defects of the prior art, the embodiments of the present application provide an industrial robot high-precision laser welding and cutting method to solve the problems in the above background art.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical scheme: An industrial robot high-precision laser welding and cutting method, comprising the following steps: install a graphic machine on the flange surface of the industrial robot body, and compatibly install a laser head or a cutting head at the end of the graphic machine; The cutting system controls the operation of each axis of the graphic machine, and sets the light output, light off, and welding or cutting process parameters of the controllable laser head or cutting head of the cutting system. The NetPLC communication connection between the industrial robot controller system and the cutting system is established, the industrial robot control system is set as the master station, the cutting system is set as the slave station, and the IP address, subnet mask, network local number, and temporary register parameters of both are configured. For the workpiece to be processed, if it is a large-size circle or a profile box, the industrial robot is controlled to drive the graphic machine to weld or cut; if it is a small-size graphic, the industrial robot is first controlled to position the graphic machine, and then the graphic machine is operated to weld or cut.

[0008] In a preferred embodiment, the graphic machine is composed of three axes, namely X-axis, Y-axis, and Z-axis height adjustment axis. The X-axis and Y-axis are responsible for the trajectory operation of small-diameter graphics, and the Z-axis height adjustment axis is responsible for the Z-axis follow-up of the cutting head.

[0009] In a preferred embodiment, the graphic machine is directly installed at the end of the arm, and the laser welding head or laser cutting head is fixedly installed on the graphic machine.

[0010] In a preferred embodiment, the laser head or cutting head is compatible with the installation at the end of the graphic machine as follows: According to the specifications of the clamp at the end of the graphic machine, select the laser head or cutting head; Insert the mounting handle of the laser head or cutting head into the clamp at the end of the graphic machine, adjust the angle of the laser head or cutting head so that the laser output direction or cutting edge direction is perpendicular to the X-axis and Y-axis movement plane of the graphic machine, and firmly clamp the laser head or cutting head through the locking mechanism of the clamp; Shake the laser head or cutting head and check the stability of the connection with the end of the graphic machine, which should have no obvious shaking or displacement; If the laser head or cutting head needs to be connected with a cable, arrange and fix the cable to avoid the influence of cable entanglement on the movement of each axis of the graphic machine.

[0011] In a preferred embodiment, if it is a large-size circle or a profile box, the industrial robot is controlled to drive the graphic machine to weld or cut as follows: For the workpiece to be processed, if it is a large-size circle or a profile box, the industrial robot controller system sends processing instructions and workpiece profile data to the cutting system through NetPLC communication; The industrial robot moves the graphic machine and the laser head or cutting head as a whole according to the preset movement trajectory; The cutting system controls the fine adjustment of each axis of the graphic machine and synchronously controls the light output, light off, and process parameters of the laser head or cutting head according to the received instructions, to complete the welding or cutting of large-size circles and profile boxes.

[0012] In a preferred embodiment, if it is a small size pattern, first control the industrial robot to position the pattern machine, and then the pattern machine runs the welding or cutting process as follows: If it is a small size pattern, the industrial robot controller system controls the industrial robot to drive the pattern machine to move to the specified position of the small size pattern to be processed; After positioning is completed, the industrial robot remains stationary; The industrial robot controller system sends small size pattern processing instructions and trajectory data to the cutting system through NetPLC communication; After receiving the instructions, the cutting system independently controls the X axis and Y axis of the pattern machine to run according to the preset small size pattern trajectory, and simultaneously controls the Z direction to realize the real-time following of the cutting head in the Z direction, controls the light output, light off of the laser head or cutting head, and corresponding process parameters, to complete the welding or cutting work of the small size pattern.

[0013] In a preferred embodiment, the cutting process is as follows: cutting a small size pattern or a large size pattern, the program teaching and process setting are all operated or modified through the industrial robot controller, and the industrial robot control system teaches the cutting program and modifies the cutting process flow as follows: The industrial robot control system includes standard pattern functions, including standard circle, rectangle, waist circle, and polygon instructions; According to the requirements, standard pattern instructions are input in the program, and the required process parameters are set in the standard pattern instructions; After the instructions and parameters are set, the industrial robot control system is started, and the cutting operation can be started.

[0014] In a preferred embodiment, the welding process is as follows: when welding a small size or a large size workpiece, the program teaching and process setting are all operated or modified through the industrial robot controller, and the industrial robot control system teaches the welding program and modifies the welding process flow as follows: The industrial robot control system includes straight line and arc instructions, according to the requirements, single or multiple straight line instructions, single or multiple arc instructions, and straight line and arc mixed instructions are input in the program, and the required process parameters are set in the straight line or arc instructions, after the instructions and parameters are set, the industrial robot control system is started, and the welding operation can be started.

[0015] In a preferred embodiment, the NetPLC communication connects the cutting system to the industrial robot system, the industrial robot system controls the cutting system, and the cutting system controls the operation of the laser and the pattern machine.

[0016] The technical effects and advantages of the industrial robot high-precision laser welding and cutting method are as follows: The application widens the use range of the industrial robot in the welding and cutting field by connecting two different systems through NetPLC communication connection, setting welding or cutting parameters on the industrial robot system, and controlling the operation instruction of the welding or cutting system in real time. The application can effectively solve the problem that the current industrial robot cannot improve the welding and cutting speed when welding and cutting the circle, polygon, race track circle and other patterns with a diameter of less than 12 mm, widen the practical application of the industrial robot in the welding and cutting field, and effectively solve the problem that the industrial robot cannot meet the welding and cutting of a circle with a diameter of less than 5 mm. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A flow chart of the industrial robot high-precision laser welding and cutting method.

[0018] Figure 2 A cutting mechanism installation drawing.

[0019] Figure 3 A graphic machine structure schematic view. DETAILED DESCRIPTION

[0020] In order to enable the personnel in the technical field to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the accompanying drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by equivalent changes and modifications made by the personnel in the field with ordinary skills should belong to the protection scope of the present application.

[0021] Embodiment 1, Figure 1 The present application provides an industrial robot high-precision laser welding and cutting method.

[0022] S1, install the graphic machine on the flange surface of the industrial robot body, and compatibly install the laser head or cutting head at the end of the graphic machine; Prepare the industrial robot, the graphic machine composed of X axis, Y axis and Z height adjustment axis, the cutting system, the industrial robot controller system and the laser head or cutting head, and ensure that each device functions normally and is suitable. Install a graphic machine with three axes on the flange surface of the industrial robot body, the three axes of the graphic machine are X axis, Y axis and Z height adjustment axis, the X axis and Y axis are responsible for the track operation of small diameter patterns, and the Z height adjustment axis is responsible for the Z direction following of the cutting head.

[0023] After installation, use a level to check the levelness of the graphics machine after installation, ensure that the X-axis and Y-axis movement directions of the graphics machine are consistent with the end movement reference direction of the industrial robot, and the deviation is controlled within the allowed precision range of the equipment (such as ≤0.1mm / m); manually push the X-axis and Y-axis sliders of the graphics machine, check if the movement is smooth and not stuck, and if the Z-axis height adjustment shaft lifting action is flexible, verify that the basic movement function of each axis of the graphics machine after mechanical connection is normal.

[0024] The graphics machine is directly installed at the end of the arm, and the end of the graphics machine is compatible with the installation of a laser head or a cutting head to realize the switching of welding or cutting functions, as shown in Figure 2 The process is as follows: According to the specifications of the fixture at the end of the graphics machine (such as clamping diameter, installation method), select the appropriate laser head or cutting head, confirm the size of the installation handle of the laser head / cutting head, and the positioning reference matches the fixture at the end of the graphics machine, to avoid problems such as offset or unstable fixation after installation due to interface incompatibility; Slowly insert the installation handle of the laser head or cutting head into the fixture at the end of the graphics machine, adjust the angle of the laser head or cutting head, so that the laser output direction (or cutting edge direction) is perpendicular to the X-axis and Y-axis movement plane of the graphics machine (or meets the preset processing angle requirement), and firmly clamps the laser head or cutting head through the locking mechanism of the fixture (such as manual knob, pneumatic clamping jaw), to ensure that there is no radial or axial looseness after installation; Gently shake the laser head or cutting head to check its connection stability with the end of the graphics machine, and there is no obvious shaking or displacement; if the laser head or cutting head needs to be connected with a cable (such as a control line, an air pipe), arrange and fix the cable to avoid cable entanglement affecting the movement of each axis of the graphics machine, while ensuring that the cable interface connection is firm and there is no contact problem.

[0025] The structure diagram of the graphics machine is shown in Figure 3 .

[0026] S2, the cutting system controls the operation of each axis of the graphics machine, and sets the light output, light off, and welding or cutting process parameters of the laser head or cutting head; The cutting system controls the operation process of each axis of the graphics machine as follows: if it is a small size graphics (such as a 3mm diameter circle, a 5mm×5mm square), the cutting system first reads the preset graphics trajectory data (such as the center coordinates of the circle, the radius, the vertex coordinates of the square), combines the processing speed parameters, and decomposes the trajectory into continuous micro-displacement instructions (such as 0.01mm per displacement) through interpolation algorithm (such as circular arc interpolation, straight line interpolation); For fine-tuning requirements of the graphics processing machine in large-size graphic processing (such as the X-axis / Y-axis auxiliary correction of trajectory deviation when the industrial robot drives the graphics processing machine), the cutting system receives the "deviation compensation signal" (such as X-axis + 0.02mm, Y-axis - 0.01mm) sent by the industrial robot controller through NetPLC communication and converts it into the corresponding displacement command.

[0027] The cutting system acquires Z-axis follow-up detection signals in real time (such as the distance detection value between the cutting head and the workpiece surface) and compares them with the preset target cutting height (such as 1mm). If the detection value is greater than the target height (such as 1.2mm), a Z-axis descent command is generated; if the detection value is less than the target height (such as 0.8mm), a Z-axis ascent command is generated. The command displacement is dynamically adjusted according to the deviation (such as a deviation of 0.1mm corresponds to a displacement of 0.1mm).

[0028] The cutting system generates X / Y axis displacement commands and Z-axis height adjustment axis follow-up commands, which are then transmitted to the drivers of each axis of the graphics machine via dedicated control cables (such as servo driver cables). The drivers convert the commands into motor drive signals (such as current signals), which drive the motors to move each axis according to the commands.

[0029] In the "Laser Control" module of the cutting system, the laser head / cutting head's light emission and light shut-off signals are associated, and light emission trigger conditions (such as triggering light emission after the graphic machine moves to the processing start point) and light shut-off trigger conditions (such as triggering light shut-off when processing ends or during emergency stop) are set. At the same time, light emission delay and light shut-off delay parameters are configured (such as light emission delay of 0ms and light shut-off delay of 0ms, which can be adjusted according to the processing material) to ensure that the light emission and light shut-off actions of the laser head / cutting head are synchronized with the movement of the graphic machine.

[0030] Based on the material (e.g., metal, non-metal) and thickness of the workpiece to be processed, set the corresponding parameters for welding or cutting in the "Process Parameters" module of the cutting system: Welding parameters include welding speed (e.g., 1000-1500 mm / min), welding power (e.g., 20%-100% of the laser's rated power), wire feed speed (e.g., 60-100 mm / min, if it is a welding operation), wire feed advance time, wire retraction time, etc. Cutting parameters include cutting speed (e.g., 5000-10000 mm / min), cutting power (e.g., 80%-100% of the laser's rated power), cutting duty cycle (e.g., 50%-80%), cutting gas pressure (e.g., 0.5 MPa), and cutting follow-up on / off status. After setting the parameters, save them as the corresponding process parameter group for easy recall later.

[0031] S3. Establish a NetPLC communication connection between the industrial robot controller system and the cutting system. Set the industrial robot control system as the master station and the cutting system as the slave station. Configure the IP addresses, subnet masks, network addresses and register parameters of both parties. The cutting system is connected to the industrial robot system via NetPLC communication. The industrial robot system controls the cutting system, and the cutting system controls the operation of the laser and the graphic machine.

[0032] Use a LAN cable that meets communication standards (such as CAT5e and above). Connect one end to the network port of the industrial robot controller system and the other end to the network port of the cutting system. Ensure that the cable plug is firmly inserted and not loose. If the communication distance is long (such as more than 100m), a network switch or repeater needs to be installed to ensure stable communication signal.

[0033] Industrial robot controller system (master station): Enter the system's "Network Settings" interface, configure the IP address (e.g., 192.168.1.10), subnet mask (e.g., 255.255.255.0), set the network address (e.g., master station address 1), register start number (e.g., 1024), and register length (set according to the number of parameters to be transmitted), and enable the NetPLC master station function; Enter the "Communication Settings" interface of the cutting system, configure the IP address (e.g., 192.168.1.11) and subnet mask (255.255.255.0) of the same network segment as the industrial robot controller system, set the network station number (e.g., slave station number 2), the starting number of the register corresponding to the master station (1024) and the register length, and enable the NetPLC slave function; Send a "communication handshake" test command in the industrial robot controller system to check whether the cutting system can receive and return an acknowledgment signal in real time; read the process parameters of the cutting system (such as cutting speed) through the industrial robot controller system, and at the same time read the positioning signal of the industrial robot through the cutting system to verify that the bidirectional data transmission is normal and there are no packet loss or delay exceeding the tolerance (such as communication delay ≤200ms) issues, ensuring that the NetPLC communication connection is stable.

[0034] This architecture uses an industrial robot control system as the master station and a cutting system as the slave station, built on industrial Ethernet protocols such as Profinet. The core configuration requires both to be set to static IP addresses on the same network segment (e.g., master station 192.168.1.10, slave station 192.168.1.20), configured with unique network access numbers, and establishing register address mapping to achieve command and status interaction. Communication adopts a mode where the master station actively issues commands and the slave station passively responds, achieving centralized control and real-time monitoring of the cutting task. This architecture combines the advantages of strong control synchronization, efficient data interaction, and good scalability. During deployment, network stability and parameter consistency must be ensured. It is suitable for various welding or cutting processing scenarios.

[0035] S4: For the workpiece to be processed, if it is a large circle or contour box, control the industrial robot to drive the graphic machine to perform welding or cutting; if it is a small graphic, first control the industrial robot to position the graphic machine, and then the graphic machine will perform welding or cutting.

[0036] For the workpiece to be processed, the standard for the size of the circle is 5 mm in diameter. Circles with a diameter of less than 5 mm are considered small circles, and circles with a diameter of more than 5 mm are considered large circles. For small-sized graphics, the standard is a graphics machine travel limit of 35mm. If the graphics size exceeds 35mm, it cannot be used to run on the XY axis of the graphics machine. For large circular or box-shaped objects, an industrial robot drives a pattern printer, and a cutting system synchronously controls the three axes of the pattern printer and the laser head or cutting head to complete the welding or cutting operation; the process is as follows: The industrial robot controller system (master station) sends processing instructions and workpiece contour data to the cutting system (slave station) via NetPLC communication; The industrial robot moves the graphic machine and laser head / cutting head together according to the preset motion trajectory. At the same time, the cutting system controls the fine adjustment of each axis of the graphic machine according to the received instructions (such as the Z-axis height adjustment axis adjusting the height in real time according to the flatness of the workpiece surface), and synchronously controls the laser head / cutting head to emit light, turn off light and process parameters to complete the welding or cutting of large-size circles and contour boxes.

[0037] For small-sized graphics, first control the industrial robot to move the graphics machine to the processing position for positioning. Then, the cutting system controls the X and Y axes of the graphics machine to complete the trajectory movement of the small-diameter graphics. The Z-axis height adjustment synchronously realizes the Z-axis follow-up of the cutting head, thereby completing the welding or cutting operation. The process is as follows: The industrial robot controller system controls the industrial robot to move the graphic printer to the designated position of the small graphic to be processed. Through visual positioning or tooling positioning, it ensures that the laser head / cutting head at the end of the graphic printer is aligned with the processing start point. After positioning is completed, the industrial robot remains stationary. The industrial robot controller system sends small-sized graphic processing instructions and trajectory data to the cutting system via NetPLC communication; After receiving the command, the cutting system independently controls the X and Y axes of the graphic machine to run along the preset small-sized graphic trajectory (such as the circumferential trajectory of a 3mm diameter circle). The Z-axis height adjustment axis realizes the Z-axis follow-up of the cutting head in real time. At the same time, it controls the laser head / cutting head to emit light, turn off light, and control the corresponding process parameters to complete the welding or cutting operation of small-sized graphics.

[0038] For cutting small or large shapes, both program teaching and process settings are operated or modified through the industrial robot controller. The industrial robot control system teaches the cutting program and modifies the cutting process as follows: The industrial robot control system includes standard graphic functions, including instructions for standard circles, rectangles, oval shapes, polygons, etc. Standard graphic instructions are given in the program according to requirements, and the required process parameters are set in the standard graphic instructions. After the instructions and parameters are set, the industrial robot control system is started, and cutting can begin.

[0039] When welding small or large workpieces, both program teaching and process settings are operated or modified through the industrial robot controller. The industrial robot control system teaches the welding program and modifies the welding process as follows: The industrial robot control system includes linear and circular arc commands. As needed, single or multiple linear commands, single or multiple circular arc commands, and mixed linear and circular arc commands are issued in the program. The required process parameters are set in the linear or circular arc commands. After the commands and parameters are set, the industrial robot control system is started, and welding can begin.

[0040] The industrial robot system effectively integrates cutting and welding functions, and can switch between different functions to meet different needs.

[0041] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0042] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0043] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0044] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0045] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. At the same time, those skilled in the art should understand and implement the above description. Therefore, any equivalent changes or modifications made without departing from the concept disclosed in the present invention should be covered within the scope of protection of the present invention.

Claims

1. A high-precision laser welding and cutting method for industrial robots, characterized in that, Includes the following steps: The graphic printer is mounted on the flange surface of the industrial robot body, and the laser head or cutting head is compatiblely mounted at the end of the graphic printer; The cutting system controls the operation of each axis of the graphic machine, and at the same time, the cutting system can control the laser head or cutting head to emit light, turn off light, and the welding or cutting process parameters. Establish a NetPLC communication connection between the industrial robot controller system and the cutting system, set the industrial robot control system as the master station and the cutting system as the slave station, and configure the IP addresses, subnet masks, network addresses and register parameters of both parties. For workpieces to be processed, if they are large circles or contoured boxes, the industrial robot is controlled to drive the graphic machine to perform welding or cutting; if they are small graphics, the industrial robot is first controlled to position the graphic machine, and then the graphic machine performs welding or cutting.

2. The high-precision laser welding and cutting method for industrial robots according to claim 1, characterized in that, The graphic machine consists of three axes: the X-axis, the Y-axis, and the Z-axis height adjustment axis. The X-axis and Y-axis are responsible for the trajectory movement of small-diameter graphics, while the Z-axis height adjustment axis is responsible for the Z-axis follow-up movement of the cutting head.

3. The high-precision laser welding and cutting method for industrial robots according to claim 2, characterized in that, The graphic printer is directly mounted on the end of the arm, and the laser welding head or laser cutting head is fixedly mounted on the graphic printer.

4. The high-precision laser welding and cutting method for industrial robots according to claim 3, characterized in that, The process of compatiblely mounting the laser head or cutting head at the end of the graphics machine is as follows: Select either a laser head or a cutting head based on the specifications of the fixture at the end of the graphics machine; Insert the mounting handle of the laser head or cutting head into the clamp at the end of the graphics machine, adjust the angle of the laser head or cutting head so that the laser output direction or cutting blade direction is perpendicular to the X-axis and Y-axis movement plane of the graphics machine, and firmly clamp the laser head or cutting head through the locking mechanism of the clamp. Shake the laser head or cutting head and check the stability of the connection with the end of the graphics machine; there should be no obvious shaking or displacement. If the laser head or cutting head requires a cable connection, organize and secure the cable to prevent it from becoming tangled and affecting the movement of the graphics machine's axes.

5. The high-precision laser welding and cutting method for industrial robots according to claim 4, characterized in that, For large circular or box-shaped objects, the process of controlling an industrial robot to drive a graphic printer for welding or cutting is as follows: For workpieces to be processed, if they are large circles or contoured boxes, the industrial robot controller system sends processing instructions and workpiece contour data to the cutting system via NetPLC communication. The industrial robot moves the graphics machine and laser head or cutting head together according to a preset motion trajectory; The cutting system controls the fine-tuning of each axis of the graphic machine according to the received instructions, and simultaneously controls the laser head or cutting head to emit and turn off the light and process parameters to complete the welding or cutting of large-sized circles and contour boxes.

6. The high-precision laser welding and cutting method for industrial robots according to claim 5, characterized in that, For small-sized graphics, first control the industrial robot to position the graphic machine, and then the graphic machine will run the welding or cutting process as follows: For small-sized graphics, the industrial robot controller system controls the industrial robot to move the graphic printer to the designated position of the small-sized graphics to be processed; After completing the positioning, the industrial robot remains stationary. The industrial robot controller system sends small-sized graphic processing instructions and trajectory data to the cutting system via NetPLC communication; After receiving the command, the cutting system independently controls the X and Y axes of the graphic machine to run along the preset small-sized graphic trajectory. The Z-axis height adjustment axis realizes the Z-axis follow-up of the cutting head in real time. At the same time, it controls the laser head or cutting head to emit light, turn off light, and control the corresponding process parameters to complete the welding or cutting operation of small-sized graphics.

7. The high-precision laser welding and cutting method for industrial robots according to claim 6, characterized in that, The cutting process is as follows: Cutting small or large shapes, the program teaching and process settings are all operated or modified through the industrial robot controller. The industrial robot control system teaches the cutting program and modifies the cutting process flow as follows: The industrial robot control system includes standard graphic functions, including standard circle, rectangle, oval, and polygon commands; According to the requirements, issue standard graphic commands in the program, and set the required process parameters in the standard graphic commands; Once the instructions and parameters are set, start the industrial robot control system to begin cutting.

8. The high-precision laser welding and cutting method for industrial robots according to claim 6, characterized in that, The welding process is as follows: When welding small or large workpieces, both program teaching and process settings are operated or modified through the industrial robot controller. The industrial robot control system teaches the welding program and modifies the welding process flow as follows: Industrial robot control systems include linear and circular arc commands. Depending on the requirements, single or multiple linear commands, single or multiple circular arc commands, and mixed linear and circular arc commands can be issued in the program. Set the required process parameters in the straight line or circular arc command. After the command and parameters are set, start the industrial robot control system to begin welding.

9. The high-precision laser welding and cutting method for industrial robots according to claim 8, characterized in that, The NetPLC communication connects the cutting system to the industrial robot system, which in turn controls the cutting system, and the cutting system controls the operation of the laser and the graphic machine.

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