Robot laser cutting machine system capable of automatic circular hole position correction

Abstract

A robot laser cutting machine system capable of automatic circular hole position correction, the system comprising: a teaching recording module (11), which is used for using a robot to perform circular hole teaching, recording N position points, and storing circular holes and the corresponding position points in a position register; a correction module (12), which is used for controlling an industrial personal computer to read data from the position register for computation correction, and rewriting content in the register; and a cutting control module (13), which is used for generating an analog signal, controlling the laser output power of a laser device by means of IO communication, and controlling a cutting head to complete circular hole cutting for a workpiece. Further provided are a robot laser cutting method capable of automatic circular hole position correction, and a computer-readable storage medium. By using the robot for teaching, recording the position points, performing computation correction on the data, and controlling the laser device to perform circular hole cutting, the system can realize accurate control, improve the cutting quality, and enhance the flexibility and adaptability.

Description

A robotic laser cutting machine system with automatic circular hole position correction Technical Field

[0001] The present application relates to the field of machine control technology, and in particular to a robotic laser cutting machine system with automatic circular hole position correction. Background Art

[0002] Currently, the common method for robotic laser cutting is to teach programming first and then cut. However, after teaching circular holes, the accuracy and roundness are poor, making it difficult to achieve high-precision circular hole cutting. Because the front end of the cutting head is a nozzle, not a tip, and it must maintain a certain distance from the workpiece, it is difficult to teach a relatively complete circle.

[0003] In summary, the existing technology of teaching programming lacks the correction of teaching points, resulting in poor roundness, which further affects the cutting accuracy and quality. Technical issues

[0004] The purpose of this application is to provide a robotic laser cutting machine system with automatic circular hole position correction, so as to solve the technical problem that the prior art lacks correction of the teaching point in the teaching programming, resulting in poor roundness and further affecting the cutting accuracy and quality. Technical Solutions

[0005] In view of the above problems, the present application provides a robotic laser cutting machine system with automatic circular hole position correction.

[0006] In the first aspect, the present application provides a method for a robot laser cutting machine with automatic circular hole position correction, and the method is implemented by a robot laser cutting machine system with automatic circular hole position correction, wherein the method includes: using the robot to teach circular holes, and recording N position points for each circular hole, and storing the circular holes and corresponding position points in a position register, arranging them in sequence; controlling the industrial computer to read the position register data, calculating and correcting the extracted position data, and rewriting the robot's position register content; generating analog signals based on the robot, and controlling the light output power of the laser through IO communication, and controlling the cutting head to complete the circular hole cutting of the workpiece.

[0007] In the second aspect, the present application also provides a robot laser cutting machine system with automatic circular hole position correction, which is used to execute a robot laser cutting machine method with automatic circular hole position correction as described in the first aspect, wherein the system includes: a teaching and recording module, which is used to teach circular holes with the robot, and record N position points for each circular hole, and store the circular holes and corresponding position points in the position register, arranged in sequence; a correction module, which is used to control the industrial computer to read the position register data, calculate and correct the extracted position data, and rewrite the position register content of the robot; a cutting control module, which is used to generate an analog signal based on the robot, and control the light output power of the laser through IO communication, and control the cutting head to complete the circular hole cutting of the workpiece.

[0008] In a third aspect, a computer-readable storage medium stores a computer program, and when the computer program is executed, the module in the system described in any one of the second aspects is implemented. Beneficial effects

[0009] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0010] 1. The robot is used to perform circular hole teaching, and N position points are recorded for each circular hole. The circular holes and corresponding position points are stored in a position register and arranged in sequence; the industrial computer is controlled to read the position register data, the extracted position data is calculated and corrected, and the content of the robot's position register is rewritten; the robot generates an analog signal, and the output power of the laser is controlled through IO communication to control the cutting head to complete the circular hole cutting of the workpiece. In other words, by robot teaching, recording position points, calculating correction data, and controlling the laser to perform circular hole cutting, precise control, improved cutting quality, and enhanced flexibility and adaptability can be achieved.

[0011] 2. By teaching and recording the position of each circular hole, the robot ensures accurate positioning data for each circular hole. The industrial computer reads and calculates and corrects this data, further improving cutting accuracy. This precise control ensures that the size and position of each circular hole meet design requirements. Precise control of the laser output power and the position of the cutting head ensures high-quality circular hole cutting. The cut edges are flat and smooth, and the circular holes are regularly shaped, meeting the quality requirements of industrial production.

[0012] 3. A robot laser cutting machine method with automatic circular hole position correction is adopted to replace the existing method, which effectively solves the technical problem that the existing technology lacks correction of the teaching point in the teaching programming, resulting in poor roundness and further affecting the cutting accuracy and quality. Through robot teaching, recording position points, calculating correction data and controlling the laser to perform circular hole cutting, precise control can be achieved, cutting quality can be improved, and flexibility and adaptability can be enhanced.

[0013] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, which can be implemented in accordance with the contents of the description, and to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are specifically listed below. It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in this application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and a person of ordinary skill in the art can obtain other drawings based on the provided drawings without creative work.

[0015] FIG1 is a schematic flow chart of a method for automatically correcting the position of a circular hole using a robotic laser cutting machine according to the present application;

[0016] FIG2 is a schematic structural diagram of a robotic laser cutting machine system with automatic circular hole position correction according to the present application;

[0017] FIG3 is a schematic diagram of the hardware structure of a robotic laser cutting machine system with automatic circular hole position correction according to the present application.

[0018] Description of reference numerals:

[0019] Teaching and recording module 11, correction module 12, cutting control module 13. Best Mode for Carrying Out the Invention

[0020] This application solves the technical problem that the existing teaching programming lacks correction of teaching points, resulting in poor roundness and further affecting cutting accuracy and quality by providing a robot laser cutting machine system with automatic circular hole position correction. This application can solve the technical problem that the existing teaching programming lacks correction of teaching points, resulting in poor roundness and further affecting cutting accuracy and quality. Through robot teaching, recording position points, calculating correction data and controlling the laser to perform circular hole cutting, precise control can be achieved, cutting quality can be improved, and flexibility and adaptability can be enhanced.

[0021] Below, the technical solutions in this application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this application, rather than all the embodiments of this application. It should be understood that this application is not limited to the example embodiments described herein. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. It should also be noted that, for the convenience of description, only the parts related to this application, rather than all of them, are shown in the accompanying drawings.

[0022] Referring to FIG. 1 , the present application provides a method for a robotic laser cutting machine with automatic circular hole position correction, wherein the method is applied to a robotic laser cutting machine system with automatic circular hole position correction, and the method specifically includes the following steps:

[0023] Step 1: Use the robot to teach the circular hole, and record N position points for each circular hole, and store the circular hole and the corresponding position points in the position register, arranging them in sequence;

[0024] Specifically, the robot moves its laser cutting head over a circular hole in the workpiece. It then records its current position, typically including X, Y, and possibly Z coordinates. For each hole, the robot records N position points. These points are typically evenly distributed around the hole's edge to more accurately describe the hole's position and shape. The value of N can be customized based on the required hole precision and the robot's control capabilities. The recorded position points, along with the corresponding hole information, are written to a position register. A position register is a storage device that stores and manages the robot's position information. Storing this information in the register allows the robot to quickly retrieve and use it when needed. When storing position information, it is arranged in a specific order or pattern. This helps the robot quickly find and use the correct position information during subsequent operations. For example, the holes can be arranged by number or position sequence. This allows the robot to learn and remember the location information for each hole and accurately locate and cut them during subsequent operations.

[0025] Step 2: Control the industrial computer to read the position register data, calculate and correct the extracted position data, and rewrite the position register content of the robot;

[0026] Specifically, the robot controller is connected via specific communication protocols such as TCP / IP, UDP, or serial communication. The industrial computer sends a read command to the robot controller, requesting the hole position data stored in the position register. The robot controller responds by sending the data in the position register to the industrial computer. After receiving the position data, the industrial computer extracts and analyzes it. It then performs computational corrections on the extracted position data. This includes noise removal, smoothing, coordinate transformation, and error compensation. The corrected position data is calculated to ensure it more accurately reflects the actual position of the hole. The industrial computer prepares the calculated and corrected position data in a format that the robot controller can recognize. The industrial computer then sends a rewrite command to the robot controller, along with the corrected position data. Upon receiving the rewrite command and the corrected data, the robot controller writes them into the position register, replacing the original position data. After rewriting the position register, the robot can perform laser cutting operations based on the new position data.

[0027] Step 3: Generate analog signals based on the robot, control the laser's output power through IO communication, and control the cutting head to complete the circular hole cutting of the workpiece.

[0028] Specifically, the required laser output power is calculated based on preset cutting parameters such as cutting speed, material type, and cutting depth, as well as the corrected circular hole position data read from the position register. Based on the calculation result, an analog signal is generated. This analog signal can be a voltage or current signal, and its magnitude corresponds to the required laser output power. The signal is connected to the laser via an I / O communication interface, such as a digital I / O interface, an analog I / O interface, or a dedicated communication protocol interface. The generated analog signal is sent to the laser via the I / O communication interface. After receiving the analog signal, the laser adjusts its internal power control module based on the signal magnitude. Based on the received signal, the power control module adjusts the laser output power to match the power expected by the robot control system. While the laser adjusts its output power, the robot's cutting head is controlled to move to the corresponding position based on the corrected circular hole position data. The robot cutting head then begins cutting the circular hole in the workpiece according to the preset path and speed.

[0029] Furthermore, step one of this application also includes:

[0030] Generate a circular hole number, wherein the circular hole number is a unique number for circular hole identification;

[0031] The hole numbers are data-bound to the corresponding N position points, and the position points are stored in sequence in the position register.

[0032] Specifically, hole numbers must be generated. These numbers must be unique to ensure they are not confused with other holes during identification and processing. A serial number, timestamp, or other unique identifier can be used to generate hole numbers. For example, P followed by an incrementing number, P1, P2, P3, or a timestamp such as 20230401T123456 can be used. After identifying the holes and recording N locations, the generated hole numbers are associated with these locations. Each hole number is associated with a specific set of locations that describe the hole's exact position on the workpiece. Data structures such as arrays, lists, dictionaries, or objects can be used to store the association between hole numbers and locations. For example, a dictionary can be created where the key is the hole number and the value is an array or list of corresponding locations. Sequential storage helps the robot move the cutting head in the correct order during the subsequent laser cutting process, ensuring accurate hole cutting. The location register can be the robot's internal memory or an external storage device such as an industrial computer.

[0033] Furthermore, step 2 of this application also includes:

[0034] Call the register value based on the hole number to obtain the coordinates of N-1 points on the teaching circle and the coordinates of the circle center;

[0035] Determine the plane equation of a circle using the center point and any two points on the circle;

[0036] The position data is calculated and corrected using the plane equation.

[0037] Specifically, based on the circular hole that currently needs to be cut, identify the corresponding circular hole number. Using the circular hole number as an index, retrieve the position data associated with the number from the position register. This will include the coordinates of the center of the circle and the coordinates of N-1 points on the circle. Select any two different points from the N-1 points on the circle. These two points, plus the center point, will be used to determine the plane equation of the circle. Use the three-point plane determination method to calculate the plane equation. Project all points on the taught circle, including the center, onto the calculated plane. This ensures that all points are on the same plane and reduces errors caused by inaccurate position data. Based on the projected points, calculate the correction amount for each point relative to the original position. The correction amount can be the displacement vector of each point on the plane. Use the calculated correction amount to correct the original position data. This includes correcting the coordinates of the center of the circle and the coordinates of each point on the circle. Update the position register: store the corrected position data back into the position register for subsequent use.

[0038] Furthermore, this application also includes:

[0039] Establish the equation system as follows:

[0040]

[0041] The coordinates of the center of the circle are O(a, b, c), R is the radius of the circle, the coordinates of the first point are OA(x1, y1, z1), and the coordinates of the second point are OB(x2, y2, z2);

[0042] Substitute the x-values ​​of the N-1 points on the teaching circle into the equations to obtain the corrected y and z coordinates to complete the position calculation correction.

[0043] Specifically, since the center of the circle and the two points are known to lie in the same plane, these two points also satisfy the plane equation. These two points can be used to construct a system of linear equations. Since the value of x is known, the x term in the first equation can be treated as a constant and solved for y and z. This results in a system of linear equations in two variables, involving y and z. Solving this system of linear equations yields the corrected y and z coordinates. This process can be accomplished using algebraic methods such as substitution or elimination, or numerical methods such as Gaussian elimination. For example, substitute x1 to find y and z. When B≠0, solve the equation y=k*z+m, where k=-C / B, m=-(Ax1+D) / B, and substitute into (xa)²+(yb)²+(zc)²=R², we get A1*z²+B1*z+C1=0, A1=k²+1, B1=2*k*(mb)-2*C, C1=(mb)²+C²-R²+(x1-a)², and finally we get This value is the corrected value of z1, and the two solutions retain values ​​close to z1. y = k*z + m to obtain the corrected value of y1. When B = 0, z = (-A*x1-D) / C, which is the corrected value of z1. (yb)² = R² - (x1-a)² - (zc)², taking the corrected value close to y1. The corrected coordinates can be used to update the values ​​in the position register, thereby improving laser cutting accuracy.

[0044] Furthermore, step one of this application also includes:

[0045] The number of N position points is constrained to be 5, and the last position point is the center point of the circle.

[0046] Specifically, if the number of N points is constrained to 5, and the last point is the center point, then there are actually 4 non-center points distributed on the circle. In this case, these four points and the center point can be used to establish a system of equations to solve the corrected coordinates.

[0047] Furthermore, step 2 of this application also includes:

[0048] Use X86 architecture industrial computer and develop EXE algorithm in C++ to read the position register data.

[0049] Specifically, install a C++ compiler for the x86 architecture and select an I / O communication protocol such as PCI, PCIe, USB, or serial port. Determine the physical or logical address of the location register. Assuming the location register is an array mapped to memory addresses, first read the location register data and then read the data. Run the EXE program on the industrial computer to observe whether it can correctly read the data in the location register and process the output.

[0050] In summary, the present invention provides a method for automatically correcting the position of circular holes in a robotic laser cutting machine, which has the following technical effects:

[0051] 1. The robot is used to perform circular hole teaching, and N position points are recorded for each circular hole. The circular holes and corresponding position points are stored in a position register and arranged in sequence; the industrial computer is controlled to read the position register data, the extracted position data is calculated and corrected, and the content of the robot's position register is rewritten; the robot generates an analog signal, and the output power of the laser is controlled through IO communication to control the cutting head to complete the circular hole cutting of the workpiece. In other words, by robot teaching, recording position points, calculating correction data, and controlling the laser to perform circular hole cutting, precise control, improved cutting quality, and enhanced flexibility and adaptability can be achieved.

[0052] 2. By teaching and recording the position of each circular hole, the robot ensures accurate positioning data for each circular hole. The industrial computer reads and calculates and corrects this data, further improving cutting accuracy. This precise control ensures that the size and position of each circular hole meet design requirements. Precise control of the laser output power and the position of the cutting head ensures high-quality circular hole cutting. The cut edges are flat and smooth, and the circular holes are regularly shaped, meeting the quality requirements of industrial production.

[0053] 3. A robot laser cutting machine method with automatic circular hole position correction is adopted to replace the existing method, which effectively solves the technical problem that the existing technology lacks correction of the teaching point in the teaching programming, resulting in poor roundness and further affecting the cutting accuracy and quality. Through robot teaching, recording position points, calculating correction data and controlling the laser to perform circular hole cutting, precise control can be achieved, cutting quality can be improved, and flexibility and adaptability can be enhanced. Modes for Carrying Out the Invention

[0054] Based on the same inventive concept as the robotic laser cutting method for automatic circular hole position correction in the aforementioned embodiment, the present application also provides a robotic laser cutting system for automatic circular hole position correction, the system comprising a laser, a robot, a cutting head, and an industrial computer, wherein the robot communicates with the laser via an IO, and the cutting head is provided at the robot end. Please refer to Figures 2 and 3. The system comprises:

[0055] The teaching and recording module 11 is used to perform circular hole teaching with the robot, record N position points for each circular hole, and store the circular holes and corresponding position points in a position register in order;

[0056] The correction module 12 is used to control the industrial computer to read the position register data, calculate and correct the extracted position data, and rewrite the position register content of the robot;

[0057] The cutting control module 13 is used to generate an analog signal based on the robot, and control the light output power of the laser through IO communication, thereby controlling the cutting head to complete the circular hole cutting of the workpiece.

[0058] Furthermore, the teaching recording module also includes:

[0059] A generating module, configured to generate a circular hole number, wherein the circular hole number is a unique number for circular hole identification;

[0060] The binding module is used to bind the circular hole number with the corresponding N position points and store the position points in sequence in the position register.

[0061] Furthermore, the correction module further includes:

[0062] The calling module is used to call the register value based on the hole number to obtain the coordinates of N-1 points on the teaching circle and the coordinates of the circle center;

[0063] A determination module is used to determine the plane equation of a circle using the center point of the circle and any two points on the circle;

[0064] The calculation and correction module is used to complete the calculation and correction of the position data through the plane equation.

[0065] Furthermore, the calculation correction module further includes:

[0066] Create a module to establish the system of equations as follows:

[0067]

[0068] The coordinates of the center of the circle are O(a, b, c), R is the radius of the circle, the coordinates of the first point are OA(x1, y1, z1), and the coordinates of the second point are OB(x2, y2, z2);

[0069] The Substitution module is used to substitute the x-coordinates of N-1 points on the teaching circle into the equations to obtain the corrected y and z coordinates to complete the position calculation correction.

[0070] Furthermore, the teaching recording module also includes:

[0071] The constraint module is used to constrain the number of N position points to 5, and the last position point is the center position point of the circle.

[0072] Furthermore, the correction module further includes:

[0073] The reading module is used to use an X86 architecture industrial computer to develop an EXE algorithm program in C++ to read the position register data.

[0074] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The method and specific examples of a robotic laser cutting machine with automatic circular hole position correction in the aforementioned embodiment 1 of Figure 1 are also applicable to a robotic laser cutting machine system with automatic circular hole position correction in this embodiment. Through the aforementioned detailed description of a robotic laser cutting machine method with automatic circular hole position correction, those skilled in the art can clearly understand the robotic laser cutting machine system with automatic circular hole position correction in this embodiment, so for the sake of brevity of the specification, it will not be described in detail here. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0075] Based on the same inventive concept as the method of a robotic laser cutting machine for automatic circular hole position correction in the aforementioned embodiment, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed, it implements the module in the system described in any one of the above-mentioned embodiments.

[0076] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

[0077] Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application is intended to include these modifications and variations. Industrial Applicability

[0078] The robot is used to teach circular holes, and N position points are recorded for each circular hole, and the circular holes and corresponding position points are stored in a position register and arranged in sequence; the industrial computer is controlled to read the position register data, the extracted position data is calculated and corrected, and the position register content of the robot is rewritten; the robot generates an analog signal, and the light output power of the laser is controlled through IO communication, and the cutting head is controlled to complete the circular hole cutting of the workpiece. That is to say, by teaching the robot, recording the position points, calculating the correction data, and controlling the laser to perform circular hole cutting, precise control can be achieved, the cutting quality can be improved, and the flexibility and adaptability can be enhanced.

Claims

1. A robotic laser cutting machine system with automatic circular hole position correction, the system comprising a laser, a robot, a cutting head and an industrial computer, wherein: The robot communicates with the laser via IO, and the cutting head sets the robot The terminal is characterized in that the system comprises: A teaching and recording module, for performing circular hole teaching with the robot, recording N position points for each circular hole, and storing the circular holes and corresponding position points in a position register in order; A correction module is used to control the industrial computer to read the position register data, calculate and correct the extracted position data, and rewrite the position register content of the robot; The cutting control module is used to generate an analog signal based on the robot, and control the light output power of the laser through IO communication to control the cutting head to complete the circular hole cutting of the workpiece.

2. A robotic laser cutting machine system with automatic circular hole position correction, the system comprising a laser, a robot, a cutting head and an industrial computer, wherein: The robot communicates with the laser via IO, and the cutting head is provided at the end of the robot. The system is characterized in that: A teaching and recording module, for performing circular hole teaching with the robot, recording N position points for each circular hole, and storing the circular holes and corresponding position points in a position register in order; A correction module is used to control the industrial computer to read the position register data, calculate and correct the extracted position data, and rewrite the position register content of the robot; The cutting control module is used to generate an analog signal based on the robot, and control the light output power of the laser through IO communication to control the cutting head to complete the circular hole cutting of the workpiece.

3. The system according to claim 1, wherein: The correction module includes: The calling module is used to call the register value based on the hole number to obtain the coordinates of N-1 points on the teaching circle and the coordinates of the circle center; A determination module is used to determine the plane equation of a circle using the center point of the circle and any two points on the circle; The calculation and correction module is used to complete the calculation and correction of the position data through the plane equation.

4. The system according to claim 3, wherein: The calculation correction module includes: Create a module to establish the system of equations as follows: ； The coordinates of the center of the circle are O (a, b, c), R is the radius of the circle, the coordinates of the first point are OA (x1, y1, z1), and the coordinates of the second point are OB (x2, y2, z2); The substitution module is used to substitute the x values ​​of the N-1 points on the teaching circle into the equation group to obtain the corrected y and z coordinates to complete the position calculation correction.

5. The system according to claim 1, wherein: The teaching recording module includes: The constraint module is used to constrain the number of N position points to 5, and the last position point is the center position point of the circle.

6. The system according to claim 1, wherein: The correction module includes: The reading module is used to use an X86 architecture industrial computer to develop an EXE algorithm program in C++ to read the position register data.

7. A robotic laser cutting method for automatic circular hole position correction, characterized in that: The method comprises: Performing circular hole teaching with the robot, recording N position points for each circular hole, and storing the circular holes and corresponding position points in a position register in order; Controlling the industrial computer to read the position register data, performing calculation and correction on the extracted position data, and rewriting the position register content of the robot; The robot generates analog signals and controls the output power of the laser through IO communication, thereby controlling the cutting head to complete the circular hole cutting of the workpiece.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the module in the system according to any one of claims 1 to 6 is implemented.

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