CN1319700C - Method of laser synchronous processing based on robot system - Google Patents
Method of laser synchronous processing based on robot system Download PDFInfo
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- CN1319700C CN1319700C CNB2003101033150A CN200310103315A CN1319700C CN 1319700 C CN1319700 C CN 1319700C CN B2003101033150 A CNB2003101033150 A CN B2003101033150A CN 200310103315 A CN200310103315 A CN 200310103315A CN 1319700 C CN1319700 C CN 1319700C
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Abstract
The present invention relates to a laser synchronous processing method based on a robot system. The present invention is characterized in that after a robot is controlled according to processing track data stored in an industrial control computer to locate a laser processing head in a processing starting point; a control cabinet of the robotic feeds a targeting signal back to the industrial control computer and starts a laser through the industrial control computer to generate laser; after the laser generates laser, a photoelectric detector arranged on the laser processing head transmits communications instructions to the control cabinet of the robot to control the robot to move; according to the set pulse width and pulse laser generating frequency of the laser and the moving velocity of the robot, the robot and the laser are synchronized through the industrial control computer. The method of the present invention makes the robot system have favorable stability and quick and correctly react to accidental events, such as failures. Besides, the present invention not only effectively controls the work of an integrated laser processing system and raises synchronously precision but also can achieve multiple kinds of laser processing.
Description
Technical field
The present invention relates to flexible transmission and multi-shaft interlocked laser processing, particularly a kind of method of the laser synchronous processing based on robot system.
Background technology
Robot and laser instrument overlap autonomous devices as two in having flexible transmission and multi-shaft interlocked laser processing device, as Chinese Academy of Sciences's mechanics the patent No. be 98101217.5 described a kind of flexible transmission and multi-shaft interlocked laser processing devices, inconsistent in the process owing to two equipment clocks, the robot system execution command has a response time, and the restriction on the laser instrument degree of opening, be difficult to realize the co-ordination of robot and laser instrument.Be by using oscillograph to observe the motion state of laser instrument and robot at present, and the machined parameters of setting laser device and robot respectively based on this, to realize the synchronous of laser instrument and robot, but, make that not only efficient is very low in actual applications in this way, and, on precision, can not satisfy the needs of processing.
For example, patent No. US4673795, exercise question has been described a kind of system that will combine with picture system based on the Materialbearbeitung mit Laserlicht of robot system for the United States Patent (USP) of " INTEGRATED ROBOTIC LASER MATERIALPROCESSING AND IMAGING SYSTEM ", it adopts vision system and the reception of slit tracking system combining image and treatment facility to control the motion and the laser parameter of robot arm. and its optical fiber has the function of transmitting high energy laser and image, this system can realize the correctness of the track of robot arm, but can not guarantee robot and laser instrument on the clock synchronously, though can be used for soldering, can not satisfy the requirement of laser synchronous processing with flexible transmission and multi-shaft interlocked laser processing device; Patent No. US5698121, exercise question is cut the equipment of cutting for the United States Patent (USP) of " THREE-DIMENSIONAL LASER BEAN MACHINING APPARATUS USING YAGCUTTING TOOL " has designed a three-dimensional YAG laser, this equipment will be cut at the figure tabular form of YAG cutting machine by a multitask function and cut order and be transformed into an internal processes at this order, the YAG of installation and robot arm end cuts the control that the instrument of cutting is subjected to two dimension, when YAG cuts when axle that the instrument of cutting moves through cylindrical parts, robot is compensated in the axial position of z-, make the distance of laser head and periphery keep normal value, this equipment and the method for synchronization thereof only are suitable for three-dimensional layering processing mode; Patent No. US6509576B2, exercise question is a kind of method of utilizing laser measuring equipment that the robot location is compensated for the United States Patent (USP) of " METHOD TOR COMPENDATING POSITION OF ROBOTUSING LASER MEASURING INSTRUMENT ", this method is coordinated laser instrument by teach mode and is finished attitude compensation work to the robot mechanical system, does not relate to the real-time problem of robot motion with the laser instrument bright dipping.
Summary of the invention
The objective of the invention is to: overcome robot and laser instrument difficult coordination that above-mentioned existing laser processing exists in process, and the defective of poor efficiency, low precision, thereby a kind of method of the laser synchronous processing based on robot system is provided.
The present invention seeks to realize like this: the method for a kind of laser synchronous processing based on robot system of the present invention, after this method method places the starting point of processing according to the machining locus Data Control robot in the industrial computer with laser Machining head, the ROBOT CONTROL cabinet will put signal feedback in place to industrial computer, and by industrial computer startup laser instrument, behind the laser instrument output light again by being installed on the photoelectric detector on the laser instrument processing head, and send communication instruction to the ROBOT CONTROL cabinet, the motion of control robot, pulse width according to the laser instrument of setting, the movement velocity of pulse output light frequency and robot, by industrial computer realize robot with between the laser instrument synchronously.
The method of the laser synchronous processing based on robot system provided by the invention may further comprise the steps:
(1) industrial computer sends control instruction according to the machining locus data of input to robot, and laser Machining head is placed the top of processing starting point, and simultaneously, the ROBOT CONTROL cabinet pulse signal that will put in place feeds back to industrial computer;
(2) after industrial computer captures this pulse signal that puts in place, start the laser instrument exciter and enter normal operating conditions;
(3) photoelectric detector on the laser instrument captures laser signal, and after converting this laser signal to photosignal, send communication instruction to the ROBOT CONTROL cabinet, this this switch board control robot carries out the movement instruction in the buffering area, the instruction laser Machining head arrives the starting point of processing, be issued to the digit pulse signal feedback by the robot switch board after laser Machining head puts in place and give industrial computer, industrial computer is opened the laser instrument optical gate after capturing this pulse signal that puts in place;
(4) when adopting continuous processing mode, the continuous bright dipping of laser instrument, industrial computer sends the continuous motion instruction, the control robot makes continuous motion processing stand to the last, after laser Machining head arrives last processing stand, be issued to the digit pulse signal and give industrial computer, close optical gate when this puts pulse signal in place when industrial computer captures;
Simultaneously, the robot switch board sends to industrial computer with each signal that puts in place, and when this signal that puts in place is putting in place during signal of last processing stand, industrial computer is closed optical gate;
(5) close exciter.
The method of the laser synchronous processing based on robot system provided by the invention may further comprise the steps:
(1) industrial computer sends control instruction according to the machining locus data of input to robot, and laser Machining head is placed the top of processing starting point, and simultaneously, the ROBOT CONTROL cabinet pulse signal that will put in place feeds back to industrial computer;
(2) after industrial computer captures this pulse signal that puts in place, start the laser instrument exciter and enter normal operating conditions;
(3) photoelectric detector on the laser instrument captures laser signal, and after converting this laser signal to photosignal, send communication instruction to the ROBOT CONTROL cabinet, this this switch board control robot carries out the movement instruction in the buffering area, the instruction laser Machining head arrives the starting point of processing, be issued to the digit pulse signal feedback by the robot switch board after laser Machining head puts in place and give industrial computer, industrial computer is opened the laser instrument optical gate after capturing this pulse signal that puts in place;
(4) when adopting point-to-point discontinuous processing mode, industrial computer at first remains static by communication instruction control robot, when laser instrument is finished a pulse bright dipping, after photoelectric detector on the laser instrument captures the pulse bright dipping and converts photosignal to, send communication instruction to the ROBOT CONTROL cabinet, the control robot carries out the movement instruction in the buffering area, and the instruction laser Machining head arrives next processing stand when laser instrument sends the next pulse bright dipping;
Simultaneously, the robot switch board sends to industrial computer with each signal that puts in place, and when this signal that puts in place is putting in place during signal of last processing stand, industrial computer is closed optical gate;
(5) close exciter.
Advantage of the present invention: the method for a kind of laser synchronous processing based on robot system of the present invention, by industrial computer according to the machining locus data, pulse width, the pulse of the laser instrument of setting goes out light frequency and the movement velocity of the robot that determines thus, realized robot system in the laser processing procedure with Optical Maser System synchronously, make this system have good stable, to being swift in response and correctly of accidents such as fault; The work of integrated laser-processing system has not only been controlled in this invention effectively, synchronous precision height, and, can realize multiple Laser Processing.
Description of drawings
Fig. 1 the present invention is based in the method for laser synchronous processing of robot system the schematic flow sheet of processing at interval
Fig. 2 is the structural representation that the present invention is based on the laser synchronous processing system of robot system
Fig. 3 is the surface topography that mould is carried out laser treatment with the present invention interval processing method
Accompanying drawing indicates:
1, laser instrument 2, industrial computer 3, multi-shaft interlocked frame-type robot
4, laser Machining head 5, photoelectric detector
The specific embodiment
Embodiment 1
The laser synchronous processing device that present embodiment adopted based on robot system be Chinese Academy of Sciences's mechanics the patent No. be 98101217.5 a kind ofly have flexible transmission and a multi-shaft interlocked laser processing device, as shown in Figure 2, laser Machining head 4 is fixedlyed connected with frame-type robot 3 arms, link to each other with optical fiber between the output of laser instrument 1 and the laser Machining head 4, the input of laser instrument 1 is connected with industrial computer 2 by fieldbus, photoelectric detector 5 is installed on the laser instrument processing head 4, the switch board of multi-shaft interlocked frame-type robot 3 also is connected with industrial computer 2 by serial ports, this example adopts 500W YAG pulse laser (peak power can reach 7KW) to carry out laser boring on the steel plate of thickness 2mm, the parameter of laser instrument 1: pulse recurrence rate 30HZ, pulsewidth 1.5ms, energy is 3J, multi-shaft interlocked frame-type robot 3 is a high accuracy, five robots on a large scale, size 4k when the robot buffering area is half-full.
In process, multi-shaft interlocked frame-type robot 3 and laser instrument 1 are by serial ports control, and connection speed is 9600 bauds, as a supplement, in system, leave I/O control, directly return by the I/O circuit for the demanding information of real-time (as the signal etc. that puts in place of robot).
In this example, multi-shaft interlocked frame-type robot 3 adopts the continuous motion modes to process, and concrete steps comprise:
1, industrial computer 2 sends robot motion's command M OVJPTP, passes to the buffer area in the switch board of robot 3 by serial ports, and robot carries out this movement instruction, with the distal point of laser Machining head 4 arrive to be processed above the 50cm place;
2, the robot switch board is issued to the digit pulse signal, and after industrial computer 2 was caught this pulse signal that puts in place that the robot switch board sends, the exciter that starts laser instrument 1 entered normal operating conditions;
3, after the photoelectric detector 5 on the laser instrument 1 captures laser and converts photosignal to, send the switch board of communication instruction to robot 3, buffer area in the switch board of instruction robot 3 sends the starting point that movement instruction places laser Machining head 4 processing, industrial computer 2 is opened laser instrument 1 optical gate after capturing the pulse signal that puts in place of robot 3 switch boards feedback;
4, laser instrument 1 continuous bright dipping, industrial computer 2 are sent continuous motion instruction instruction robot 3 and are in the continuous motion state, when industrial computer 2 captures putting in place during signal of last processing stand, close optical gate;
5, close exciter.
Embodiment 2
The laser synchronous processing device that present embodiment adopted based on robot system be Chinese Academy of Sciences's mechanics the patent No. be 98101217.5 a kind ofly have flexible transmission and a multi-shaft interlocked laser processing device, as shown in Figure 2, laser Machining head 4 is fixedlyed connected with frame-type robot 3 arms, link to each other with optical fiber between the output of laser instrument 1 and the laser Machining head 4, the input of laser instrument 1 is connected with industrial computer 2 by fieldbus, the switch board of frame-type robot 3 also is connected with industrial computer 2 by serial ports, adopt 2000W YAG pulse laser that mould is carried out surface peening in this example, laser parameter: pulsewidth 80ms, pulse recurrence rate 2Hz, power 2000W; Frame-type robot 3 is high accuracy, five robots on a large scale, size 60k when the robot buffering area is half-full.
In process, robot and laser instrument are controlled by serial ports, and connection speed is 9600 bauds, as a supplement, leave I/O control in system, directly return by the I/O circuit for the demanding information of real-time (as the signal etc. that puts in place of robot).In this example, robot adopts point-to-point non-continuous movement mode to process, as shown in Figure 1,
Concrete steps comprise:
1, industrial computer 2 sends robot motion's command M OVJPTP, passes to buffer area in robot 3 switch boards by serial ports, and robot carries out movement instruction, the distal point of laser Machining head 4 arrive to be processed above the 50cm place;
2, the robot switch board is issued to the digit pulse signal, and after industrial computer 2 was caught this pulse signal that puts in place that the robot switch board sends, the exciter that starts laser instrument 1 entered normal operating conditions;
3, by movement instruction laser Machining head 4 is placed the starting point of processing, the robot switch board is issued to the digit pulse signal feedback to industrial computer 2, after industrial computer 2 captures the pulse signal that puts in place, opens the laser instrument optical gate;
4, laser instrument is whenever finished a pulse bright dipping on the processing style, promptly send communication instruction to the robot switch board behind the above-mentioned photosignal that captures by photoelectric detector 5, the control robot carries out the movement instruction in the buffering area, and the instruction robot is to next processing stand.
When capturing the putting in place during signal of last processing stand, close optical gate.
5, close exciter.
When by serial ports robot instruction's data being imported in the buffering area of robot switch board, because buffer size is restricted, before sending instruction, judge whether buffering area is in half-full state, if be in half-full state, industrial computer suspends the transmission director data, otherwise sends one group of director data continuously.After laser instrument was finished a pulse bright dipping, light action was on the processing style, and the movement velocity of robot is 6mm/s, forms to be of a size of 3.0 * 3.0mm
2Hot spot, the laser reinforcing effect as shown in Figure 3.
Claims (2)
1. the method based on the laser synchronous processing of robot system is characterized in that, may further comprise the steps:
(1) industrial computer sends control instruction according to the machining locus data of input to robot, and laser Machining head is placed the top of processing starting point, and simultaneously, the ROBOT CONTROL cabinet pulse signal that will put in place feeds back to industrial computer;
(2) after industrial computer captures this pulse signal that puts in place, start the laser instrument exciter and enter normal operating conditions;
(3) photoelectric detector on the laser instrument captures laser signal, and after converting this laser signal to photosignal, send communication instruction to the ROBOT CONTROL cabinet, this this switch board control robot carries out the movement instruction in the buffering area, the instruction laser Machining head arrives the starting point of processing, be issued to the digit pulse signal feedback by the robot switch board after laser Machining head puts in place and give industrial computer, industrial computer is opened the laser instrument optical gate after capturing this pulse signal that puts in place;
(4) when adopting continuous processing mode, the continuous bright dipping of laser instrument, industrial computer sends the continuous motion instruction, the control robot makes continuous motion processing stand to the last, after laser Machining head arrives last processing stand, be issued to the digit pulse signal and give industrial computer, close optical gate when this puts pulse signal in place when industrial computer captures;
Simultaneously, the robot switch board sends to industrial computer with each signal that puts in place, and when this signal that puts in place is putting in place during signal of last processing stand, industrial computer is closed optical gate;
(5) close exciter.
2. the method based on the laser synchronous processing of robot system is characterized in that, may further comprise the steps:
(1) industrial computer sends control instruction according to the machining locus data of input to robot, and laser Machining head is placed the top of processing starting point, and simultaneously, the ROBOT CONTROL cabinet pulse signal that will put in place feeds back to industrial computer;
(2) after industrial computer captures this pulse signal that puts in place, start the laser instrument exciter and enter normal operating conditions;
(3) photoelectric detector on the laser instrument captures laser signal, and after converting this laser signal to photosignal, send communication instruction to the ROBOT CONTROL cabinet, this this switch board control robot carries out the movement instruction in the buffering area, the instruction laser Machining head arrives the starting point of processing, be issued to the digit pulse signal feedback by the robot switch board after laser Machining head puts in place and give industrial computer, industrial computer is opened the laser instrument optical gate after capturing this pulse signal that puts in place;
(4) when adopting point-to-point discontinuous processing mode, industrial computer at first remains static by communication instruction control robot, when laser instrument is finished a pulse bright dipping, after photoelectric detector on the laser instrument captures the pulse bright dipping and converts photosignal to, send communication instruction to the ROBOT CONTROL cabinet, the control robot carries out the movement instruction in the buffering area, and the instruction laser Machining head arrives next processing stand when laser instrument sends the next pulse bright dipping;
Simultaneously, the robot switch board sends to industrial computer with each signal that puts in place, and when this signal that puts in place is putting in place during signal of last processing stand, industrial computer is closed optical gate;
(5) close exciter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNB2003101033150A CN1319700C (en) | 2003-03-28 | 2003-10-28 | Method of laser synchronous processing based on robot system |
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| CN03121459.2 | 2003-03-28 | ||
| CN03121459 | 2003-03-28 | ||
| CNB2003101033150A CN1319700C (en) | 2003-03-28 | 2003-10-28 | Method of laser synchronous processing based on robot system |
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| CN1533859A CN1533859A (en) | 2004-10-06 |
| CN1319700C true CN1319700C (en) | 2007-06-06 |
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| CNB2003101033150A Expired - Fee Related CN1319700C (en) | 2003-03-28 | 2003-10-28 | Method of laser synchronous processing based on robot system |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4220958B2 (en) * | 2004-11-30 | 2009-02-04 | ファナック株式会社 | Laser processing robot system and control method thereof |
| CN102267274B (en) * | 2011-08-02 | 2013-08-28 | 上海交通大学 | Micro precision three-layer plane workpiece aligning robot system |
| CN103273497B (en) * | 2013-06-06 | 2015-08-19 | 山东科技大学 | Man-machine interactive manipulator control system and control method thereof |
| JP5967122B2 (en) * | 2014-03-20 | 2016-08-10 | トヨタ自動車株式会社 | Laser welding apparatus and laser welding method |
| CN105385839A (en) * | 2014-09-09 | 2016-03-09 | 中国科学院沈阳自动化研究所 | System and method for automatic control over laser shock peening |
| CN107052599A (en) * | 2017-04-18 | 2017-08-18 | 温州大学 | A kind of robotic laser has welded solder joint and has received the method that solder joint goes welding pit |
| CN114115047A (en) * | 2021-11-29 | 2022-03-01 | 上海智能制造功能平台有限公司 | Pulse laser light-emitting synchronous closed-loop control system, method, terminal and medium |
| CN115097792A (en) * | 2022-07-01 | 2022-09-23 | 上海智能制造功能平台有限公司 | Pulse laser and robot coordination control system, method and terminal |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5698121A (en) * | 1995-08-31 | 1997-12-16 | Fanuc Ltd. | Three-dimensional laser beam machining apparatus using YAG cutting tool |
| JPH1080768A (en) * | 1996-09-06 | 1998-03-31 | Fanuc Ltd | Control method for fillet multi-layer welding robot system |
| JP2000263255A (en) * | 1999-03-16 | 2000-09-26 | Olympus Optical Co Ltd | Marking device |
| CN1081107C (en) * | 1998-03-30 | 2002-03-20 | 中国科学院力学研究所 | Laser working apparatus with flexible conveying and multiaxis linkage |
| US6509576B2 (en) * | 2000-09-29 | 2003-01-21 | Hyundai Motor Company | Method for compensating position of robot using laser measuring instrument |
-
2003
- 2003-10-28 CN CNB2003101033150A patent/CN1319700C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5698121A (en) * | 1995-08-31 | 1997-12-16 | Fanuc Ltd. | Three-dimensional laser beam machining apparatus using YAG cutting tool |
| JPH1080768A (en) * | 1996-09-06 | 1998-03-31 | Fanuc Ltd | Control method for fillet multi-layer welding robot system |
| CN1081107C (en) * | 1998-03-30 | 2002-03-20 | 中国科学院力学研究所 | Laser working apparatus with flexible conveying and multiaxis linkage |
| JP2000263255A (en) * | 1999-03-16 | 2000-09-26 | Olympus Optical Co Ltd | Marking device |
| US6509576B2 (en) * | 2000-09-29 | 2003-01-21 | Hyundai Motor Company | Method for compensating position of robot using laser measuring instrument |
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