CN108857093A - The method and device cut using robotic laser - Google Patents
The method and device cut using robotic laser Download PDFInfo
- Publication number
- CN108857093A CN108857093A CN201810822245.0A CN201810822245A CN108857093A CN 108857093 A CN108857093 A CN 108857093A CN 201810822245 A CN201810822245 A CN 201810822245A CN 108857093 A CN108857093 A CN 108857093A
- Authority
- CN
- China
- Prior art keywords
- cutting
- cut
- robot
- workpiece
- positional relationship
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
- Numerical Control (AREA)
Abstract
The present invention relates to processing and manufacturing technologies, more particularly to using the method and device of robotic laser cutting, including：Three datum marks in the same plane are determined on workpiece to be cut；The teaching cusp for controlling the teaching body of robot is vertical with plane, and the relative positional relationship between robot and workpiece to be cut is target relative positional relationship；Obtain the three-dimensional coordinate of three datum marks；In cutting programming software, based on the three-dimensional coordinate of three datum marks, the relative positional relationship between the threedimensional model of workpiece to be cut and the threedimensional model of robot is adjusted to consistent with target relative positional relationship；The cutting process of cutting workpiece is treated using the threedimensional model of workpiece to be cut and the threedimensional model dummy robot of robot in cutting programming software based on default cutting profile, generates the cutting process comprising cutting parameter；Cutting process is imported into robot, is cut by laser so that robot treats cutting workpiece using the cutting parameter in cutting process.
Description
Technical field
The present invention relates to processing and manufacturing technologies, more particularly to utilize the method and device of robotic laser cutting.
Background technique
Current laser cutting method is first to cross to cutting position, and then manual operation robot carries out cutting position
Teaching, correction, so that it is determined that path to be cut, however be cut by laser using the above method, it is looked for due to visually observing
Quasi- score path, therefore there is a problem of that laser cutting accuracy is low.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State the method and device of problem cut using robotic laser.
The embodiment of the present invention provides a kind of method cut using robotic laser, the method includes：
Three datum marks in the same plane are determined on workpiece to be cut；
The teaching cusp for controlling the teaching body of the robot is vertical with the plane, wherein the robot with it is described
Relative positional relationship between workpiece to be cut is target relative positional relationship；
Under the three-dimensional system of coordinate established using the origin of the robot as basic coordinate origin, three bases are obtained
Three-dimensional coordinate on schedule；
In cutting programming software, based on the three-dimensional coordinate of three datum marks, by the three-dimensional of the workpiece to be cut
Relative positional relationship between model and the threedimensional model of the robot adjust to the target relative positional relationship phase one
It causes；
Based on default cutting profile, in the cutting programming software, using the workpiece to be cut threedimensional model and
The threedimensional model of the robot simulates the robot to the cutting process of the workpiece to be cut, and generating includes cutting parameter
Cutting process；
The cutting process is imported into the robot, so that the robot is cut using described in the cutting process
Parameter is cut to be cut by laser the workpiece to be cut.
Preferably, the relative positional relationship between the robot and the workpiece to be cut includes phase between points
To at least one of the relative positional relationship between positional relationship, line and line and the relative positional relationship between face and face phase
To positional relationship.
Preferably, the cutting parameter includes cutting path, cutting speed, cutting starting point, cutting end point, laser cutting function
At least one of rate, cut lengths accuracy rating and cutting position accuracy rating parameter.
Preferably, the generation includes the cutting process of cutting parameter, including：
It is offline to generate the cutting process comprising the cutting parameter.
Preferably, the quantity more than three of the datum mark.
Preferably, default cutting profile may include at least one of rectangle, ellipse, rectangular and triangle shape.
The embodiment of the present invention also provides a kind of device cut using robotic laser, and described device includes：
Determining module, for determining three datum marks in the same plane on workpiece to be cut；
Control module, it is vertical with the plane for controlling the teaching cusp of teaching body of the robot, wherein described
Relative positional relationship between robot and the workpiece to be cut is target relative positional relationship；
Module is obtained, under the three-dimensional system of coordinate using the origin of the robot as basic coordinate origin foundation,
Obtain the three-dimensional coordinate of three datum marks；
Module is adjusted, is used in cutting programming software, it, will be described to be cut based on the three-dimensional coordinate of three datum marks
The relative positional relationship between the threedimensional model of workpiece and the threedimensional model of the robot is cut to adjust to opposite with the target
Positional relationship is consistent；
Program generating module, for based on default cutting profile, in the cutting programming software, using described to be cut
The threedimensional model of the threedimensional model of workpiece and the robot simulates the robot to the cutting process of the workpiece to be cut,
Generate the cutting process comprising cutting parameter；
Import modul, for the cutting process to be imported the robot, so that the robot utilizes the cutting
The cutting parameter in program is cut by laser the workpiece to be cut.
Preferably, the relative positional relationship between the robot and the workpiece to be cut includes phase between points
To at least one of the relative positional relationship between positional relationship, line and line and the relative positional relationship between face and face phase
To positional relationship.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, feature
It is, which realizes method and step as the aforementioned when being executed by processor.
The embodiment of the present invention also provides a kind of computer equipment, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, which is characterized in that the processor is realized as the aforementioned when executing described program
Method and step.
One or more technical solutions in the embodiment of the present invention, have at least the following technical effects or advantages：
The present invention controls robot by determining three datum marks in the same plane on workpiece to be cut
The teaching cusp of teaching body is vertical with plane, wherein the relative positional relationship between robot and workpiece to be cut is target phase
Three datum marks are obtained under the three-dimensional system of coordinate established using the origin of robot as basic coordinate origin to positional relationship
Three-dimensional coordinate, in cutting programming software, based on the three-dimensional coordinate of three datum marks, by the threedimensional model of workpiece to be cut with
Relative positional relationship between the threedimensional model of robot is adjusted to consistent with target relative positional relationship, based on default cutting
Shape utilizes the threedimensional model of workpiece to be cut and the threedimensional model dummy robot couple of robot in cutting programming software
The cutting process of workpiece to be cut generates the cutting process comprising cutting parameter, cutting process is imported robot, so that machine
People treats cutting workpiece using the cutting parameter in cutting process and is cut by laser, and utilizes three benchmark being generally aligned in the same plane
The coordinate of point can be accurately by the relative positional relationship between the threedimensional model of robot and the threedimensional model of workpiece to be cut
It adjusts to consistent with target relative positional relationship, so as to more true simulating cut process, to obtain accurately
Cutting parameter, simultaneously because being simulated in cutting programming software to cutting process in advance, it is no longer necessary to artificial eye system
Surely path is cut and crossed, the accuracy of laser cutting is improved.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, identical component is indicated with identical reference pattern.In the accompanying drawings：
Fig. 1 shows the flow chart of the method using robotic laser cutting in the embodiment of the present invention；
Fig. 2 shows the signals of the relative positional relationship of plane and datum mark on workpiece to be cut in the embodiment of the present invention
Figure；
Fig. 3 shows the structure chart of the device using robotic laser cutting in the embodiment of the present invention；
Fig. 4 shows the structure chart of computer equipment in the embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
The embodiment of the present invention provides a kind of method cut using robotic laser, as shown in Figure 1, the method packet
It includes：
Step 101：Three datum marks in the same plane are determined on workpiece to be cut.
Specifically, workpiece to be cut can be fixed on platform by tooling, and platform can be for rotation function
Rotating platform, rotating platform, which can rotate, any needs angle.The shape of workpiece to be cut can be rectangle shell, square
Shell, triangle shell, circular shell or cylindrical housings, the application are not construed as limiting the shape of workpiece to be cut.Firstly,
Determine that three datum marks, three datum marks are respectively the first datum mark 1, the second datum mark 2 and third on workpiece to be cut
Datum mark 3, the first datum mark 1, the second datum mark 2 and third datum mark 3 need to be in same planes, by the first datum mark 1, the second base
On schedule 2 and third datum mark 3 constitute plane be A plane, as shown in Figure 2.For how to determine three datum marks, the present invention
Embodiment provides following implementations：One plane is intersected with workpiece to be cut, between the outer surface and plane of workpiece to be cut
Intersection is formed, three points are arbitrarily chosen on intersection as datum mark.
Step 102：The teaching cusp for controlling the teaching body of the robot is vertical with the plane, wherein the machine
Relative positional relationship between people and the workpiece to be cut is target relative positional relationship.
Specifically, manipulator shaft end is equipped with teaching body, and teaching cusp is the extreme apex of teaching body, usual teaching
Body is cone, so that teaching cusp is the cusp of cone.When adjusting the posture of robot, the teaching point of robot is controlled
Point is vertical with plane, and after teaching cusp is vertical with plane, the relative positional relationship between robot and workpiece to be cut is mesh
Relative positional relationship is marked, target relative positional relationship is the positional relationship under actual condition between robot and workpiece to be cut,
Wherein, the relative positional relationship between robot and workpiece to be cut includes relative positional relationship, line and line between points
Between relative positional relationship and face and face between at least one of relative positional relationship relative positional relationship, for example,
When the relative positional relationship between robot and workpiece to be cut includes relative positional relationship between points, by robot
On point and workpiece to be cut on point between relative positional relationship be asserted target relative positional relationship.
Step 103：Under the three-dimensional system of coordinate established using the origin of the robot as basic coordinate origin, institute is obtained
State the three-dimensional coordinate of three datum marks.
Specifically, in embodiments of the present invention, three-dimensional coordinate is established using the origin of robot as basic coordinate origin
System, after determining target relative positional relationship, under the three-dimensional system of coordinate, obtains the three-dimensional coordinate of three datum marks, point
It Wei not the first datum mark (x1, y1, z1), the second datum mark (x2, y2, z2) and third datum mark (x3, y3, z3).Wherein it is possible to sharp
The three-dimensional coordinate of three datum marks is obtained with robot.
It should be noted that under actual condition, after the position of robot fixes, relative to the origin of robot,
Either robot or workpiece to be cut, each point, line or face have a coordinate, that is, with the origin of robot
Under the three-dimensional system of coordinate established as basic coordinate origin, the coordinate in arbitrary point in robot, line or face can be obtained, it can be with
Obtain the coordinate of arbitrary point, line or face on workpiece to be cut.
Step 104：In cutting programming software, based on the three-dimensional coordinate of three datum marks, by the work to be cut
Relative positional relationship between the threedimensional model of part and the threedimensional model of the robot adjust to the target relative position
Relationship is consistent.
Specifically, for the threedimensional model of workpiece to be cut, the threedimensional model of workpiece to be cut can be pre- advanced
Row is established, and after the threedimensional model for establishing workpiece to be cut, can be obtained according to the threedimensional model of workpiece to be cut to be cut
Cut the coordinate relationship in the threedimensional model of workpiece between any two points.Meanwhile in the threedimensional model of established workpiece to be cut
Later, the threedimensional model of workpiece to be cut can be imported in cutting programming software, alternatively, it is also possible in cutting programming software
Establish the threedimensional model of workpiece to be cut.
Specifically, for the threedimensional model of robot, the threedimensional model of robot can be established in advance,
After the threedimensional model for establishing robot, it can be obtained according to the threedimensional model of robot any in the threedimensional model of robot
Coordinate relationship between two o'clock.It, can be by the threedimensional model of robot meanwhile after the threedimensional model of established robot
It imports in cutting programming software, alternatively, it is also possible to establish the threedimensional model of robot in cutting programming software.
In embodiments of the present invention, cutting programming software can be that ROBOTMASTER in the specific implementation process can be with
The threedimensional model of the threedimensional model of workpiece to be cut and robot is imported in ROBOTMASTER, in ROBOTMASTER
MASTERCAM module adjusts the relative positional relationship between the threedimensional model of workpiece to be cut and the threedimensional model of robot, will
Relative positional relationship between the threedimensional model of workpiece to be cut and the threedimensional model of robot adjust to target relative position
Relationship is consistent.Wherein, the relative positional relationship between the threedimensional model of robot and the threedimensional model of workpiece to be cut includes
The relative positional relationship between relative positional relationship and face and face between relative positional relationship between points, line and line
At least one of relative positional relationship.
Specifically, in the three-dimensional coordinate based on three datum marks by the three-dimensional of the threedimensional model of workpiece to be cut and robot
Relative positional relationship between model adjust to in target relative positional relationship process consistent：Due to any in robot
Any coordinate it is known that in conjunction with three datum marks three-dimensional coordinate, by the threedimensional model of workpiece to be cut with datum mark pair
The Coordinate Adjusting for the model reference point answered in the case where consistent with the coordinate of datum mark, meanwhile, by the three-dimensional mould of robot
The Coordinate Adjusting of type is extremely consistent with the coordinate of robot, it will be able to relative positional relationship and actual condition between implementation model
Relative positional relationship between middle robot and workpiece to be cut is consistent.For example, in the threedimensional model of workpiece to be cut with base
The coordinate of corresponding model reference point is respectively on schedule：The coordinate of the first model reference point corresponding with the first datum mark is
(x’1, y '1, z '1), the coordinate of the second model reference point corresponding with the second datum mark is (x '2, y '2, z ' 2), with third benchmark
The coordinate of the corresponding third model reference point of point is (x '3, y '3, z '3), by the Coordinate Adjusting of the threedimensional model of robot to
While the coordinate of robot is consistent, by the Coordinate Adjusting of the first model reference point to the coordinate phase one with the first datum mark
It causes, the Coordinate Adjusting of the second model reference point is extremely consistent with the coordinate of the second datum mark, by the seat of third model reference point
Mark is adjusted to consistent with the coordinate of third datum mark.
Step 105：The three of the workpiece to be cut are utilized in the cutting programming software based on default cutting profile
The threedimensional model of dimension module and the robot simulates the robot to the cutting process of the workpiece to be cut, and generation includes
The cutting process of cutting parameter.
Specifically, default cutting profile may include at least one of rectangle, ellipse, rectangular and triangle shape
Shape.It should be noted that default cutting profile may include multiple in cutting process.It, can be with during simulating cut
Cutting process is corrected and/or is optimized, to obtain optimal cutting parameter, specifically, five axial curves can be passed through
MOLDPLUS is corrected and/or is optimized.Wherein, cutting parameter includes cutting path, cutting speed, cutting starting point, cuts eventually
At least one of point, laser cutting power, cut lengths accuracy rating and cutting position accuracy rating parameter.In addition, at this
In inventive embodiments, cutting process can be generated offline, and Internet resources are accounted for can not only save and generate cutting process
With, and whether meet routine convenient for the posture in inspection machine people cutting process and be convenient for inspection welding cutting path
It is no with it is practical consistent, be also convenient for judging whether robot collides with workpiece to be cut, to simulate optimal cutling path,
For practical operation selection, in addition it is possible to further increase the cutting accuracy of workpiece to be cut, cutting cycle is reduced, is reduced
The labor intensity of operator improves working efficiency and work quality.
Step 106：The cutting process is imported into the robot, so that the robot is using in the cutting process
The cutting parameter workpiece to be cut is cut by laser.
Specifically, after generating cutting process, the cutting process of generation is imported in robot, robot can be from
Cutting parameter is extracted in cutting process, is treated cutting workpiece using the cutting parameter set and is cut.For example, when cutting
When in parameter comprising cutting path, cutting speed and laser cutting power, robot extracts cutting process from cutting process
In set cutting path, cutting speed and laser cutting power, according to cutting path, cutting speed and the laser set
Cutting power is treated cutting workpiece and is cut.
After the completion of cutting, the dimensional accuracy of the cutting profile obtained after examining cutting be can control ± 0.05mm's
In range, position precision is controlled in the range of ± 0.1mm, and accuracy and precision are significantly improved, while notch is smooth hairless
Pierce overlap.
It should be noted that in embodiments of the present invention, the quantity of datum mark can be with more than three, the datum mark determined
Quantity it is more, then can be more accurately by the three of the threedimensional model of workpiece to be cut and robot according to the coordinate of datum mark
Relative positional relationship between dimension module is adjusted to consistent with target relative positional relationship.For example, same when determining to be located at
When five datum marks in plane, in step 103, the three-dimensional coordinate of five datum marks is obtained, at step 104, is based on five
The three-dimensional coordinate of a datum mark, by the relative positional relationship between the threedimensional model of workpiece to be cut and the threedimensional model of robot
It adjusts to consistent with target relative positional relationship.
Based on the same inventive concept, the embodiment of the present invention also provides a kind of device cut using robotic laser, such as Fig. 3
Shown, described device includes：
Determining module 201, for determining three datum marks in the same plane on workpiece to be cut；
Control module 202, it is vertical with the plane for controlling the teaching cusp of teaching body of the robot, wherein
Relative positional relationship between the robot and the workpiece to be cut is target relative positional relationship；
Module 203 is obtained, in the three-dimensional system of coordinate established using the origin of the robot as basic coordinate origin
Under, obtain the three-dimensional coordinate of three datum marks；
Module 204 is adjusted, is used in cutting programming software, it, will be described based on the three-dimensional coordinate of three datum marks
Relative positional relationship between the threedimensional model of workpiece to be cut and the threedimensional model of the robot adjust to the target
Relative positional relationship is consistent；
Program generating module 205, for based on default cutting profile, in the cutting programming software, using it is described to
The threedimensional model of the threedimensional model and the robot that cut workpiece simulates cutting of the robot to the workpiece to be cut
Process generates the cutting process comprising cutting parameter；
Import modul 206, for the cutting process to be imported the robot, so as to be cut described in robot utilization
The cutting parameter cut in program is cut by laser the workpiece to be cut.
Preferably, the relative positional relationship between the robot and the workpiece to be cut includes phase between points
To at least one of the relative positional relationship between positional relationship, line and line and the relative positional relationship between face and face phase
To positional relationship.
Preferably, the cutting parameter includes cutting path, cutting speed, cutting starting point, cutting end point, laser cutting function
At least one of rate, cut lengths accuracy rating and cutting position accuracy rating parameter.
Preferably, the generation includes the cutting process of cutting parameter, including：
It is offline to generate the cutting process comprising the cutting parameter.
Preferably, the quantity more than three of the datum mark.
Preferably, default cutting profile may include at least one of rectangle, ellipse, rectangular and triangle shape.
Based on the same inventive concept, the embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with
Computer program realizes method and step described in previous embodiment when the program is executed by processor.
Based on the same inventive concept, the embodiment of the invention also provides a kind of computer equipments, as shown in figure 4, in order to just
In explanation, only parts related to embodiments of the present invention are shown, disclosed by specific technical details, please refers to implementation of the present invention
Example method part.The computer equipment can be include mobile phone, tablet computer, PDA (Personal Digital
Assistant, personal digital assistant), POS (Point of Sales, point-of-sale terminal), any terminal device such as vehicle-mounted computer,
By taking computer equipment is mobile phone as an example：
Fig. 4 shows the block diagram of part-structure relevant to computer equipment provided in an embodiment of the present invention.With reference to figure
4, which includes：Memory 401 and processor 402.It will be understood by those skilled in the art that being counted shown in Fig. 4
It calculates machine equipment structure and does not constitute the restriction to computer equipment, may include than illustrating more or fewer components or group
Close certain components or different component layouts.
It is specifically introduced below with reference to each component parts of the Fig. 4 to computer equipment：
Memory 401 can be used for storing software program and module, and processor 402 is stored in memory 401 by operation
Software program and module, thereby executing various function application and data processing.Memory 401 can mainly include storage journey
Sequence area and storage data area, wherein storing program area can the (ratio of application program needed for storage program area, at least one function
Such as sound-playing function, image player function) etc.；It storage data area can storing data (such as audio data, phone directory etc.)
Deng.In addition, memory 401 may include high-speed random access memory, it can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other volatile solid-state parts.
Processor 402 is the control centre of computer equipment, by running or executing the software being stored in memory 401
Program and/or module, and the data being stored in memory 401 are called, perform various functions and handle data.Optionally,
Processor 402 may include one or more processing units；Preferably, processor 402 can integrate application processor and modulation /demodulation
Processor, wherein the main processing operation system of application processor, user interface and application program etc., modem processor master
Handle wireless communication.
In embodiments of the present invention, processor 402 included by the computer equipment can have in previous embodiment and appoint
Function corresponding to one method and step.
In short, the present invention controls machine by determining three datum marks in the same plane on workpiece to be cut
The teaching cusp of the teaching body of device people is vertical with plane, wherein the relative positional relationship between robot and workpiece to be cut is
Target relative positional relationship obtains three under the three-dimensional system of coordinate established using the origin of robot as basic coordinate origin
The three-dimensional coordinate of datum mark, in cutting programming software, based on the three-dimensional coordinate of three datum marks, by the three-dimensional of workpiece to be cut
Relative positional relationship between model and the threedimensional model of robot is adjusted to consistent with target relative positional relationship, based on pre-
If cutting profile, in cutting programming software, the threedimensional model of workpiece to be cut and the threedimensional model analog machine of robot are utilized
Device people treats the cutting process of cutting workpiece, generates the cutting process comprising cutting parameter, cutting process is imported robot, with
Make robot treat cutting workpiece using the cutting parameter in cutting process to be cut by laser, utilizes three be generally aligned in the same plane
The coordinate of a datum mark can be accurately by the opposite position between the threedimensional model of robot and the threedimensional model of workpiece to be cut
The relationship of setting is adjusted to consistent with target relative positional relationship, so as to more true simulating cut process, to obtain
Accurate cutting parameter, simultaneously because being simulated in cutting programming software to cutting process in advance, it is no longer necessary to artificial
Naked eyes are formulated and cut and cross path, and the accuracy of laser cutting is improved.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method cut using robotic laser, which is characterized in that the method includes：
Three datum marks in the same plane are determined on workpiece to be cut；
The teaching cusp for controlling the teaching body of the robot is vertical with the plane, wherein the robot with it is described to be cut
Cutting the relative positional relationship between workpiece is target relative positional relationship；
Under the three-dimensional system of coordinate established using the origin of the robot as basic coordinate origin, three datum marks are obtained
Three-dimensional coordinate；
In cutting programming software, based on the three-dimensional coordinate of three datum marks, by the threedimensional model of the workpiece to be cut
Relative positional relationship between the threedimensional model of the robot is adjusted to consistent with the target relative positional relationship；
Based on default cutting profile, in the cutting programming software, the threedimensional model of the workpiece to be cut and described is utilized
The threedimensional model of robot simulates the robot to the cutting process of the workpiece to be cut, generates cutting comprising cutting parameter
Cut program；
The cutting process is imported into the robot, so that the robot is joined using the cutting in the cutting process
It is several that the workpiece to be cut is cut by laser.
2. as described in claim 1 using robotic laser cutting method, which is characterized in that the robot and it is described to
Relative positional relationship between cutting workpiece includes that the relative position between relative positional relationship between points, line and line is closed
At least one of system and the relative positional relationship between face and face relative positional relationship.
3. utilizing the method for robotic laser cutting as described in claim 1, which is characterized in that the cutting parameter includes cutting
Cut path, cutting speed, cutting starting point, cutting end point, laser cutting power, cut lengths accuracy rating and cutting position precision
At least one of range parameter.
4. utilizing the method for robotic laser cutting as described in claim 1, which is characterized in that described to generate comprising cutting ginseng
Several cutting process, including：
It is offline to generate the cutting process comprising the cutting parameter.
5. utilizing the method for robotic laser cutting as described in claim 1, which is characterized in that the quantity of the datum mark is more
In three.
6. utilizing the method for robotic laser cutting as described in claim 1, which is characterized in that default cutting profile can wrap
Include at least one of rectangle, ellipse, rectangular and triangle shape.
7. a kind of device cut using robotic laser, which is characterized in that described device includes：
Determining module, for determining three datum marks in the same plane on workpiece to be cut；
Control module, it is vertical with the plane for controlling the teaching cusp of teaching body of the robot, wherein the machine
Relative positional relationship between people and the workpiece to be cut is target relative positional relationship；
Module is obtained, for obtaining under the three-dimensional system of coordinate established using the origin of the robot as basic coordinate origin
The three-dimensional coordinate of three datum marks；
Module is adjusted, is used in cutting programming software, based on the three-dimensional coordinate of three datum marks, by the work to be cut
Relative positional relationship between the threedimensional model of part and the threedimensional model of the robot adjust to the target relative position
Relationship is consistent；
Program generating module, for utilizing the workpiece to be cut in the cutting programming software based on default cutting profile
Threedimensional model and the threedimensional model of the robot simulate the robot to the cutting process of the workpiece to be cut, generate
Cutting process comprising cutting parameter；
Import modul, for the cutting process to be imported the robot, so that the robot utilizes the cutting process
In the cutting parameter workpiece to be cut is cut by laser.
8. as claimed in claim 7 using robotic laser cutting device, which is characterized in that the robot and it is described to
Relative positional relationship between cutting workpiece includes that the relative position between relative positional relationship between points, line and line is closed
At least one of system and the relative positional relationship between face and face relative positional relationship.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
The method and step as described in any claim in claim 1-6 is realized when row.
10. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor is realized when executing described program such as any claim institute in claim 1-6
The method and step stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810822245.0A CN108857093A (en) | 2018-07-24 | 2018-07-24 | The method and device cut using robotic laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810822245.0A CN108857093A (en) | 2018-07-24 | 2018-07-24 | The method and device cut using robotic laser |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108857093A true CN108857093A (en) | 2018-11-23 |
Family
ID=64305085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810822245.0A Pending CN108857093A (en) | 2018-07-24 | 2018-07-24 | The method and device cut using robotic laser |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108857093A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376270A (en) * | 2020-03-31 | 2020-07-07 | 唐山英莱科技有限公司 | Laser vision locating correction method for robot to cut complex workpiece |
| CN111843241A (en) * | 2020-08-21 | 2020-10-30 | 苏州米尔精密仪器设备有限公司 | Laser cutting method for flexible screen of mobile phone |
| CN111889972A (en) * | 2020-07-21 | 2020-11-06 | 湖北坚丰科技股份有限公司 | Processing method for multi-directional cutting of shaft parts |
| CN112388710A (en) * | 2019-08-19 | 2021-02-23 | 维嘉数控科技（苏州）有限公司 | Method and device for cutting edges of board separator, storage medium and board separator |
| CN112440278A (en) * | 2020-11-12 | 2021-03-05 | 成都卡诺普自动化控制技术有限公司 | Parameterized cutting method for iron tower angle steel of robot |
| CN112847555A (en) * | 2019-11-27 | 2021-05-28 | 深南电路股份有限公司 | Cutting method, cutting apparatus, and computer-readable storage medium |
| CN113059289A (en) * | 2021-06-03 | 2021-07-02 | 成都飞机工业（集团）有限责任公司 | Aviation titanium alloy laser cutting clamp and method |
| CN113458837A (en) * | 2021-06-30 | 2021-10-01 | 中船黄埔文冲船舶有限公司 | Section bar cutting system and section bar cutting method |
| CN116944700A (en) * | 2023-08-31 | 2023-10-27 | 深圳市军志丰精密科技有限公司 | Detection and control method and system for laser cutting |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103713579A (en) * | 2013-12-12 | 2014-04-09 | 武汉钢铁(集团)公司 | Industrial robot operation method |
| JP2015139820A (en) * | 2014-01-30 | 2015-08-03 | 国立研究開発法人日本原子力研究開発機構 | Control device adapted for fusing and breaking using laser beam |
| CN106182018A (en) * | 2016-07-30 | 2016-12-07 | 福州大学 | A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph |
| CN106363621A (en) * | 2015-07-21 | 2017-02-01 | 南京中科川思特软件科技有限公司 | Method for generating whole route of robot laser cutting |
| CN107283426A (en) * | 2017-06-28 | 2017-10-24 | 重庆镭宝激光科技有限公司 | A kind of track capturing system and track capturing method for being cut by laser machine people |
| CN108235696A (en) * | 2015-09-25 | 2018-06-29 | 斗山机器人科技有限公司 | Robot control method and equipment |
-
2018
- 2018-07-24 CN CN201810822245.0A patent/CN108857093A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103713579A (en) * | 2013-12-12 | 2014-04-09 | 武汉钢铁(集团)公司 | Industrial robot operation method |
| JP2015139820A (en) * | 2014-01-30 | 2015-08-03 | 国立研究開発法人日本原子力研究開発機構 | Control device adapted for fusing and breaking using laser beam |
| CN106363621A (en) * | 2015-07-21 | 2017-02-01 | 南京中科川思特软件科技有限公司 | Method for generating whole route of robot laser cutting |
| CN108235696A (en) * | 2015-09-25 | 2018-06-29 | 斗山机器人科技有限公司 | Robot control method and equipment |
| CN106182018A (en) * | 2016-07-30 | 2016-12-07 | 福州大学 | A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph |
| CN107283426A (en) * | 2017-06-28 | 2017-10-24 | 重庆镭宝激光科技有限公司 | A kind of track capturing system and track capturing method for being cut by laser machine people |
Non-Patent Citations (1)
| Title |
|---|
| 张华君: "利用机器人激光切割的方法", 《中国硕士学位论文全文数据库 信息科技辑》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388710B (en) * | 2019-08-19 | 2021-07-06 | 苏州维嘉科技股份有限公司 | Method and device for cutting edges of board separator, storage medium and board separator |
| CN112388710A (en) * | 2019-08-19 | 2021-02-23 | 维嘉数控科技（苏州）有限公司 | Method and device for cutting edges of board separator, storage medium and board separator |
| CN112847555A (en) * | 2019-11-27 | 2021-05-28 | 深南电路股份有限公司 | Cutting method, cutting apparatus, and computer-readable storage medium |
| CN111376270B (en) * | 2020-03-31 | 2023-06-27 | 唐山英莱科技有限公司 | Laser vision locating correction method for robot to cut complex workpiece |
| CN111376270A (en) * | 2020-03-31 | 2020-07-07 | 唐山英莱科技有限公司 | Laser vision locating correction method for robot to cut complex workpiece |
| CN111889972A (en) * | 2020-07-21 | 2020-11-06 | 湖北坚丰科技股份有限公司 | Processing method for multi-directional cutting of shaft parts |
| CN111843241A (en) * | 2020-08-21 | 2020-10-30 | 苏州米尔精密仪器设备有限公司 | Laser cutting method for flexible screen of mobile phone |
| CN112440278B (en) * | 2020-11-12 | 2022-02-22 | 成都卡诺普机器人技术股份有限公司 | Parameterized cutting method for iron tower angle steel of robot |
| CN112440278A (en) * | 2020-11-12 | 2021-03-05 | 成都卡诺普自动化控制技术有限公司 | Parameterized cutting method for iron tower angle steel of robot |
| CN113059289A (en) * | 2021-06-03 | 2021-07-02 | 成都飞机工业（集团）有限责任公司 | Aviation titanium alloy laser cutting clamp and method |
| CN113458837A (en) * | 2021-06-30 | 2021-10-01 | 中船黄埔文冲船舶有限公司 | Section bar cutting system and section bar cutting method |
| CN116944700A (en) * | 2023-08-31 | 2023-10-27 | 深圳市军志丰精密科技有限公司 | Detection and control method and system for laser cutting |
| CN116944700B (en) * | 2023-08-31 | 2024-02-09 | 深圳市军志丰精密科技有限公司 | Detection and control method and system for laser cutting |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108857093A (en) | The method and device cut using robotic laser | |
| CN101893873B (en) | Method and device for generating control data for controlling cutter arranged on machine tool | |
| CN101204758B (en) | Producing method of leather pattern mould | |
| CN107516080A (en) | The Ins location method, apparatus and electronic equipment of PVR image | |
| CN113199486B (en) | Method and device for calibrating physical origin of mechanical arm flange and electronic equipment | |
| CN111666645B (en) | Modeling method, system and medium of spiral bevel gear based on discrete point data | |
| CN110969695A (en) | Three-dimensional modeling method and device for determining surface roughness of drill hole | |
| CN109814434A (en) | Control the calibration method and device of program | |
| CN114161711B (en) | Method and device for generating 3D printing file, computer equipment and storage medium | |
| CN110826146B (en) | Jig frame correction method, device and equipment based on CATIA (computer-graphics aided three-dimensional Interactive application), and storage medium | |
| CN106094721B (en) | The processing method of three-dimensional live topographic map sand table | |
| CN111144026A (en) | Data processing method and device for simulation software for path planning | |
| CN107393019B (en) | Particle-based cloth simulation method and device | |
| JP5322881B2 (en) | Processing simulation device and optimum process determination device | |
| CN103700129A (en) | Random human head and random human body 3D (three-dimensional) combination method | |
| TWI532007B (en) | Searching method for plane area of 3D module | |
| CN115509176A (en) | Curved surface shape following compensation processing system and processing method based on-machine measurement | |
| CN112200860B (en) | Object position relation determining method and device, storage medium and electronic device | |
| TW201025054A (en) | User-friendly human interactive CAD/CAM system | |
| CN110351951B (en) | System and method for selecting positioning hole during PCB contour machining | |
| Reddy et al. | Fitting of Bezier surfaces using the fireworks algorithm | |
| CN115488535B (en) | Welding gun track generation method and device for middle-group welding seam | |
| CN111667564B (en) | Texture data processing method and device, electronic equipment and storage medium | |
| JPH0811017A (en) | Method and device for preparing data to manufacture electrode for and data to control electric discharge machine | |
| CN115993803B (en) | Machining parameter adjusting method based on numerical control machine tool and related equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181123 |