CN113751890B - Robot curved surface track cutting method and cutting system based on laser displacement sensor - Google Patents
Robot curved surface track cutting method and cutting system based on laser displacement sensor Download PDFInfo
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- CN113751890B CN113751890B CN202010496074.4A CN202010496074A CN113751890B CN 113751890 B CN113751890 B CN 113751890B CN 202010496074 A CN202010496074 A CN 202010496074A CN 113751890 B CN113751890 B CN 113751890B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 252
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000003698 laser cutting Methods 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 26
- 238000012545 processing Methods 0.000 claims description 13
- 238000003860 storage Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000013507 mapping Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 239000000284 extract Substances 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
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- 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
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/082—Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a robot curved surface track cutting method based on a laser displacement sensor, which belongs to the field of laser cutting and comprises the following steps: acquiring cutting parameter information of a workpiece to be cut; scanning the workpiece to be cut according to the scanning track processed by the cutting parameter information, mapping to form a cutting track, and acquiring first distance information of the cutting track relative to the scanning track; obtaining second distance information according to the first distance information; obtaining a cutting gesture according to the cutting track and the second distance information and generating a curved surface cutting track; and the robot moves according to the second distance information and the curved surface cutting track and cuts the workpiece to be cut. The invention has the beneficial effects that: scanning the workpiece through a laser displacement sensor, acquiring data and generating a curved surface cutting track, so as to realize automatic cutting of the curved surface workpiece; meanwhile, the workpiece is scanned in real time, the error is small, the precision is high, the workpiece scanning device is suitable for various different workpieces, the adaptability is high, and the production efficiency is high.
Description
Technical Field
The invention relates to the field of laser cutting, in particular to a robot curved surface track cutting method and system based on a laser displacement sensor.
Background
The existing robot generates a curve cutting track by adopting two modes of off-line programming and on-site teaching. Firstly, manufacturing a digital model in three-dimensional software of the robot, and performing quick programming teaching on a cutting track by using the digital model of the workpiece, so as to generate the cutting track of the robot and a corresponding program by the software; during actual production, the corresponding program generated in advance is led into a robot, track verification and adjustment are carried out according to the actual position of the workpiece, and the cutting of the curved surface workpiece is finally completed through off-line program and actual correction; each off-line programming can only be aimed at one workpiece, and when the workpiece is changed, the corresponding digital-analog is required to be manufactured to repeat the programming work again.
At present, in the actual curved surface cutting process, as the deviation exists between the workpiece number die and the actual workpiece, the positioning of the actual workpiece and the workpiece number die are difficult to be kept consistent, so that a pre-generated off-line program cannot be matched with the actual workpiece, and the on-site verification and adjustment are required before each time of cutting the actual workpiece according to the actual condition of the workpiece, so that the debugging time is greatly increased, the production efficiency is low, and the automatic production cannot be realized; in order to meet the requirements of a cutting process, the cutting head needs to be perpendicular to a curved surface to be cut, and for on-site debugging, due to certain deviation of human eyes, cutting precision and cutting quality cannot be guaranteed, therefore, aiming at the problems, a method and a system for cutting a curved surface track of a robot based on a laser displacement sensor are urgently needed to be designed so as to meet the requirements of actual use.
Disclosure of Invention
In order to solve the technical problems, the invention provides a robot curved surface track cutting method and a cutting system based on a laser displacement sensor.
The technical problems solved by the invention can be realized by adopting the following technical scheme:
a robot curved surface track cutting method based on a laser displacement sensor provides a robot, wherein the robot comprises a cutting actuator, and the cutting actuator is used for cutting a workpiece to be cut;
the curved track cutting method comprises the following steps:
step S1: acquiring cutting parameter information of the workpiece to be cut;
step S2: processing the cutting parameter information to obtain a scanning track;
step S3: scanning the workpiece to be cut according to the scanning track, mapping a cutting track on the workpiece to be cut, and acquiring first distance information of the cutting track relative to the scanning track;
step S4: obtaining second distance information of the cutting track relative to the cutting actuator according to the first distance information;
step S5: obtaining a cutting gesture of the cutting actuator relative to the workpiece to be cut according to the cutting gesture and the second distance information, and fitting according to the cutting gesture to generate the curved surface cutting gesture;
step S6: and the robot moves to a preset position according to the second distance information and the curved surface cutting track, and controls the cutting executor to cut the workpiece to be cut.
Preferably, in the step S1, the parameter information includes a plane cutting projection view, and/or a cutting position, and/or a cutting direction, and/or a cutting groove.
Preferably, in the step S3, the robot moves along the scanning track in the same plane above the workpiece to be cut, maps the workpiece to be cut to form the cutting track, segments the cutting track, forms the cutting track by fitting a plurality of points, and obtains a first distance corresponding to each point one by one to form the first distance information.
Preferably, a second distance of the cutting track relative to the cutting actuator is obtained according to each first distance, the second distance information is formed, and each point position corresponds to the second distance one by one;
and obtaining a normal direction corresponding to each point location according to the second distance information and the cutting track, and taking the normal direction as the cutting gesture.
The robot curved surface track cutting system based on the laser displacement sensor is applied to the robot curved surface cutting track generating method based on the laser displacement sensor, and comprises the robot and further comprises:
the cutting power supply is electrically connected with the cutting actuator and used for providing power for the cutting actuator;
the robot control cabinet is electrically connected with the robot and the cutting power supply respectively and used for controlling the robot to move to the preset position and controlling the working state of the cutting actuator through the cutting power supply;
the laser displacement sensor is arranged on the cutting actuator and used for scanning the workpiece to be cut and acquiring the first distance information of the workpiece to be cut relative to the laser displacement sensor;
and the sensor controller is respectively connected with the laser displacement sensor and the robot control cabinet and is used for controlling the laser displacement sensor and transmitting the first distance information to the robot control cabinet.
Preferably, the sensor controller includes:
the input unit is used for inputting the cutting parameter information of the workpiece to be cut by a user;
the processing unit is connected with the input unit and is used for processing the cutting parameter information to obtain a scanning track;
the first control unit is respectively connected with the processing unit and the laser displacement sensor and is used for controlling the laser displacement sensor to scan the workpiece to be cut according to the scanning track and receiving the first distance information;
the first communication unit is respectively connected with the first control unit and the robot control cabinet and is used for transmitting the first distance information to the robot control cabinet.
Preferably, the robotic control cabinet further comprises:
the second communication unit is connected with the first communication unit and is used for receiving the first distance information;
the conversion unit is connected with the second communication unit and is used for converting the first distance information into the second distance information of the cutting track relative to the cutting actuator;
the calculating unit is connected with the converting unit and is used for calculating the normal direction corresponding to each point position according to the second distance information and the cutting track;
the track generation unit is connected with the calculation unit and is used for generating the curved surface cutting track according to the normal line direction fitting;
the storage unit is connected with the track generation unit and is used for storing the curved surface cutting track;
and the second control unit is respectively connected with the storage unit, the robot and the cutting power supply and is used for controlling the robot to move according to the curved surface cutting track and controlling the on-off of the cutting power supply.
Preferably, the first communication unit is connected to the second communication unit by means of ethernet communication.
Preferably, the cutting actuator is a laser cutting head.
The invention has the beneficial effects that:
according to the invention, the laser displacement sensor is only required to scan the workpiece to be cut according to the scanning track, the data information is obtained and the curved surface cutting track is generated, the robot moves to the preset cutting position according to the data information and the curved surface cutting track, so that the curved surface workpiece can be automatically cut, a three-dimensional die is not required to be manufactured, and the programming mode is simple; meanwhile, the laser displacement sensor is used for scanning the workpiece in real time, so that the error is small, the cutting precision is high, the cutting quality is guaranteed, the laser displacement sensor is suitable for various different workpieces, the adaptability is high, and the production efficiency is high.
Drawings
FIG. 1 is a flow chart of a robot curved surface track cutting method based on a laser displacement sensor in the invention;
FIG. 2 is a block diagram of a robot curved track cutting system according to the present invention;
FIG. 3 is a block diagram of a sensor controller according to the present invention;
FIG. 4 is a block diagram of a robotic control cabinet according to the present invention;
fig. 5 is a schematic structural diagram of an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
A robot curved surface track cutting method and a cutting system based on a laser displacement sensor belong to the field of laser cutting, as shown in figures 1-5, a robot 1 is provided, the robot 1 comprises a cutting actuator 7, and the cutting actuator 7 is used for cutting a workpiece 2 to be cut;
the curved track cutting method comprises the following steps:
step S1: acquiring cutting parameter information of a workpiece 2 to be cut;
step S2: processing the cutting parameter information to obtain a scanning track;
step S3: scanning the workpiece 2 to be cut according to the scanning track, mapping a cutting track on the workpiece 2 to be cut, and acquiring first distance information of the cutting track relative to the scanning track;
step S4: obtaining second distance information of the cutting track relative to the cutting actuator 7 according to the first distance information;
step S5: obtaining a cutting gesture of the cutting actuator 7 relative to the workpiece 2 to be cut according to the cutting gesture and the second distance information, and fitting according to the cutting gesture to generate a curved surface cutting gesture;
step S6: the robot 1 moves to a predetermined position according to the second distance information and the curved surface cutting track, and controls the cutting actuator 7 to cut the workpiece 2 to be cut.
Specifically, the curved surface track cutting method acts on a curved surface workpiece 2 to be cut, scans the curved surface of the workpiece 2 to be cut in advance to obtain the overall contour of the curved surface, inputs cutting parameter information of the workpiece 2 to be cut, extracts the input cutting parameter information to obtain a scanning track, wherein the scanning track is in the shape of a cutting projection surface, and the shape of the cutting projection surface is in the shape of a simple geometric figure such as a circle, a rectangle, a trapezoid and the like; the laser displacement sensor 3 scans the workpiece 2 to be cut according to a scanning track, in the scanning process, a cutting track is formed by mapping on a curved surface of the workpiece 2 to be cut, distance information of points corresponding to the scanning track and the cutting track one by one is obtained, first distance information of the cutting track relative to the scanning track is obtained, the scanning track is a track of the laser displacement sensor 3 scribed in space, namely, the first distance information is a distance between the laser displacement sensor 3 and the curved surface cutting track, the laser displacement sensor 3 and the cutting actuator 7 are oppositely arranged, can be arranged on the same horizontal plane, can be arranged at a certain angle, can convert the first distance information into second distance information of the cutting actuator 7 relative to the curved surface cutting track based on a three-dimensional space, and particularly, in the embodiment, the scanning bottom end of the laser displacement sensor 3 and the cutting actuator 7 are arranged on the same horizontal plane; according to the curved surface profile of the workpiece 2 to be cut and the second distance information, calculating the normal direction of points corresponding to the points of the cutting track one by one, wherein the normal direction is the cutting gesture of the workpiece 2 to be cut, and all sampling points on the cutting track are fitted to form a curved surface cutting track; when the workpiece 2 to be cut is cut, the robot 1 controls the cutting actuator 7 to move to the scanning track and move downwards to the cutting track, the workpiece 2 to be cut is cut according to the curved surface cutting gesture fitted by the points on the cutting track, automatic cutting of the curved surface workpiece is achieved, a three-dimensional die is not required to be manufactured, meanwhile, the laser displacement sensor 3 scans the workpiece 2 to be cut on the curved surface in real time, errors are small, the robot is suitable for various different workpieces, and production efficiency is high.
In a preferred embodiment, in the curved-surface track cutting method, in step S1, the parameter information includes a plane cutting projection view, and/or a cutting position, and/or a cutting direction, and/or a cutting groove.
In the method for cutting curved surface track, in step S1, in step S3, the robot 1 moves along the scanning track in the same plane above the workpiece 2 to be cut, maps the cutting track on the workpiece 2 to be cut to form a cutting track, segments the cutting track, forms the cutting track by fitting a plurality of points, and the laser displacement sensor 3 obtains a first distance corresponding to each point one by one to form first distance information.
As a preferred embodiment, in the curved track cutting method, in step S1, a second distance of the cutting track relative to the cutting actuator 7 is obtained according to each first distance, and second distance information is formed, and each point corresponds to the second distance one by one;
and obtaining a normal direction corresponding to each point position according to the second distance information and the cutting track, and taking the normal direction as a cutting gesture.
The system for cutting the curved surface track of the robot 1 based on the laser displacement sensor 3 is applied to the method for generating the curved surface cutting track of the robot 1 based on the laser displacement sensor 3, and comprises the robot and further comprises the following steps:
a cutting power supply 6 electrically connected to the cutting actuator 7 for supplying power to the cutting actuator 7;
a robot control cabinet 5 electrically connected to the robot 1 and the cutting power supply 6, respectively, for controlling the robot 1 to move to a predetermined position and controlling the working state of the cutting actuator 7 by the cutting power supply 6;
the laser displacement sensor 3 is arranged on the cutting actuator 7 and is used for scanning the workpiece 2 to be cut and acquiring first distance information of the workpiece 2 to be cut relative to the laser displacement sensor 3;
and the sensor controller 4 is respectively connected with the laser displacement sensor 3 and the robot control cabinet 5 and is used for controlling the laser displacement sensor 3 and transmitting the first distance information to the robot control cabinet 5.
As a preferred embodiment, the curved track cutting system, wherein in step S1, the sensor controller 4 includes:
an input unit 41 for a user to input cutting parameter information of the workpiece 2 to be cut;
a processing unit 42, connected to the input unit 41, for processing the cutting parameter information to obtain a scanning track;
a first control unit 43, respectively connected to the processing unit 42 and the laser displacement sensor 3, for controlling the laser displacement sensor 3 to scan the workpiece 2 to be cut according to the scan track and receiving the first distance information;
the first communication unit 44 is connected to the first control unit 43 and the robotic control cabinet 5, respectively, and is configured to transmit the first distance information to the robotic control cabinet 5.
As a preferred embodiment, the curved track cutting system, wherein the robotic control cabinet 5 further comprises:
a second communication unit 51 connected to the first communication unit 44 for receiving the first distance information;
a conversion unit 52 connected to the second communication unit 51 for converting the first distance information into second distance information of the cutting trajectory with respect to the cutting actuator 7;
a calculating unit 53, connected to the converting unit 52, configured to calculate a normal direction corresponding to each point location according to the second distance information and the cutting track;
a track generating unit 54 connected with the calculating unit 53, and configured to generate a curved surface cutting track according to the normal direction fitting;
a storage unit 55 connected to the track generation unit 54 for storing the curved surface cutting track;
the second control unit 56 is respectively connected to the storage unit 55, the robot 1 and the cutting power supply 6, and is used for controlling the movement of the robot 1 according to the curved surface cutting track and controlling the on-off of the cutting power supply 6.
As a preferred embodiment, the curved track cutting system, wherein the first communication unit 44 is connected to the second communication unit 51 by way of ethernet communication, and the first communication unit 44 and the second communication unit 51 are connected by way of a local area network, which is low in cost, safe and reliable.
As a preferred embodiment, the curved track cutting system, wherein the cutting actuator 7 is a laser cutting head.
As a preferred embodiment, the curved track cutting system, wherein the scanning speed of the laser displacement sensor 3 is not more than 100mm/s, is limited by the performance of the apparatus.
As a preferable implementation mode, the curved-surface track cutting system has the advantages that the track precision of the scanning track is less than or equal to 1mm, the track precision is high, and the error is small.
A specific embodiment is provided to explain and illustrate the present technical solution:
as shown in fig. 5, the workpiece 2 to be cut is a wave plate, the laser displacement sensor 3 scans the curved surface of the workpiece 2 to be cut in advance to obtain the overall contour of the wave plate, the user inputs the required cutting parameter information of the workpiece 2 to be cut through the input unit 41, and the processing unit 42 extracts the input cutting parameter information to obtain a scanning track; the first control unit 43 controls the laser displacement sensor 3 to move to a preset cutting position according to the scanning track to scan the workpiece 2 to be cut, maps to form a cutting track on the curved surface of the workpiece 2 to be cut during scanning, obtains first distance information of points corresponding to the scanning track and the cutting track one by one, obtains first distance information of the cutting track relative to the scanning track, controls the first communication unit 44 to transmit the first distance information to the second communication unit 51 in an Ethernet communication mode, and the conversion unit 52 can convert the first distance information into second distance information of the cutting actuator 7 relative to the curved surface cutting track based on space parameters; the calculation unit 53 calculates the normal direction of the point corresponding to the point of the cutting track one by one according to the curved surface profile of the workpiece 2 to be cut and the second distance information, the normal direction is the cutting gesture of the workpiece 2 to be cut, and the track generation unit 54 fits to form a curved surface cutting track according to the normal direction (i.e. the cutting gesture) corresponding to all the sampling points on the cutting track one by one; the robot control cabinet 5 controls the movement of the robot 1, further controls the cutting actuator 7 to move to the scanning track and move downwards to the cutting track, and controls the on-off of the cutting power supply 6 to control the cutting head to cut the workpiece 2 to be cut according to the curved surface cutting gesture fitted by the points on the cutting track, so that the automatic cutting of the wave plate is realized.
The invention has the beneficial effects that:
according to the invention, the laser displacement sensor is only required to scan the workpiece to be cut according to the scanning track, the data information is obtained and the curved surface cutting track is generated, the robot moves to the preset cutting position according to the data information and the curved surface cutting track, so that the curved surface workpiece can be automatically cut, a three-dimensional die is not required to be manufactured, and the programming mode is simple; meanwhile, the laser displacement sensor is used for scanning the workpiece in real time, so that the error is small, the cutting precision is high, the cutting quality is guaranteed, the laser displacement sensor is suitable for various different workpieces, the adaptability is high, and the production efficiency is high.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.
Claims (9)
1. The robot curved surface track cutting method based on the laser displacement sensor is characterized by providing a robot which comprises a cutting actuator, wherein the cutting actuator is used for cutting a workpiece to be cut;
the curved track cutting method comprises the following steps:
step S1: acquiring cutting parameter information of the workpiece to be cut, wherein the cutting parameter information is input required cutting parameter information of the workpiece to be cut;
step S2: processing the cutting parameter information to obtain a scanning track;
step S3: the laser displacement sensor scans the workpiece to be cut according to the scanning track, maps a cutting track on the workpiece to be cut, and acquires first distance information of the cutting track relative to the scanning track, wherein the first distance information is the distance between the laser displacement sensor and the cutting track;
step S4: obtaining second distance information of the cutting track relative to the cutting actuator according to the first distance information, wherein the second distance information is the distance between the cutting actuator and the cutting track;
step S5: obtaining a cutting gesture of the cutting actuator relative to the workpiece to be cut according to the cutting gesture and the second distance information, and fitting according to the cutting gesture to generate a curved surface cutting gesture;
step S6: and the robot moves to a preset position according to the second distance information and the curved surface cutting track, and controls the cutting executor to cut the workpiece to be cut.
2. The method according to claim 1, wherein in the step S1, the cutting parameter information includes a plane cutting projection view, and/or a cutting position, and/or a cutting direction, and/or a cutting groove.
3. The method according to claim 1, wherein in the step S3, the robot moves along the scanning track in the same plane above the workpiece to be cut, maps the workpiece to be cut to form the cutting track, segments the cutting track, forms the cutting track by fitting a plurality of points, and obtains a first distance corresponding to each point one by one to form the first distance information.
4. The method for cutting the curved-surface track of the robot according to claim 3, wherein a second distance of the cutting track relative to the cutting actuator is obtained according to each first distance, the second distance information is formed, and each point position corresponds to the second distance one by one;
and obtaining a normal direction corresponding to each point location according to the second distance information and the cutting track, and taking the normal direction as the cutting gesture.
5. A laser displacement sensor-based robot curved surface track cutting system to which the laser displacement sensor-based robot curved surface track cutting method according to any one of claims 1 to 4 is applied, characterized in that the system comprises the robot, further comprising:
the cutting power supply is electrically connected with the cutting actuator and used for providing power for the cutting actuator;
the robot control cabinet is electrically connected with the robot and the cutting power supply respectively and used for controlling the robot to move to the preset position and controlling the working state of the cutting actuator through the cutting power supply;
the laser displacement sensor is arranged on the cutting actuator and used for scanning the workpiece to be cut and acquiring the first distance information of the workpiece to be cut relative to the laser displacement sensor;
and the sensor controller is respectively connected with the laser displacement sensor and the robot control cabinet and is used for controlling the laser displacement sensor and transmitting the first distance information to the robot control cabinet.
6. The laser displacement sensor-based robotic curved surface trajectory cutting system of claim 5, wherein the sensor controller comprises:
the input unit is used for inputting the cutting parameter information of the workpiece to be cut by a user;
the processing unit is connected with the input unit and is used for processing the cutting parameter information to obtain a scanning track;
the first control unit is respectively connected with the processing unit and the laser displacement sensor and is used for controlling the laser displacement sensor to scan the workpiece to be cut according to the scanning track and receiving the first distance information;
the first communication unit is respectively connected with the first control unit and the robot control cabinet and is used for transmitting the first distance information to the robot control cabinet.
7. The laser displacement sensor-based robotic curved surface trajectory cutting system of claim 6, wherein the robotic control cabinet further comprises:
the second communication unit is connected with the first communication unit and is used for receiving the first distance information;
the conversion unit is connected with the second communication unit and is used for converting the first distance information into the second distance information of the cutting track relative to the cutting actuator;
the calculating unit is connected with the converting unit and is used for calculating a normal direction corresponding to each point position according to the second distance information and the cutting track;
the track generation unit is connected with the calculation unit and is used for generating the curved surface cutting track according to the normal line direction fitting;
the storage unit is connected with the track generation unit and is used for storing the curved surface cutting track;
and the second control unit is respectively connected with the storage unit, the robot and the cutting power supply and is used for controlling the robot to move according to the curved surface cutting track and controlling the on-off of the cutting power supply.
8. The laser displacement sensor-based robotic curved track cutting system of claim 7, wherein the first communication unit is coupled to the second communication unit via ethernet communication.
9. The laser displacement sensor based robotic curved track cutting system of claim 5, wherein the cutting actuator is a laser cutting head.
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| CN107127755A (en) * | 2017-05-12 | 2017-09-05 | 华南理工大学 | A kind of real-time acquisition device and robot polishing method for planning track of three-dimensional point cloud |
| CN109954983A (en) * | 2017-12-25 | 2019-07-02 | 广州智信科技有限公司 | Automatic cutting method |
| CN110874082A (en) * | 2018-08-31 | 2020-03-10 | 大族激光科技产业集团股份有限公司 | Method, apparatus and storage medium for determining cutting path of workpiece corner |
| WO2020094560A1 (en) * | 2018-11-07 | 2020-05-14 | Schuler Pressen Gmbh | Method for calculating optimized machine-readable cutting curves for a laser cutting device |
| CN109623166A (en) * | 2018-11-13 | 2019-04-16 | 大族激光科技产业集团股份有限公司 | A kind of turning processing method and system of laser cutting |
| CN111192307A (en) * | 2019-12-20 | 2020-05-22 | 广西柳州联耕科技有限公司 | Self-adaptive deviation rectifying method based on laser cutting of three-dimensional part |
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