Ancient building wood component machining device and method based on combined cutting of single milling cutter

Abstract

The invention discloses an ancient building wood component machining device and method for composite cutting based on a single milling cutter, and the device comprises a multi-axis mechanical arm which is arranged on a mechanical arm displacement platform, and the mechanical arm displacement platform is used for controlling the displacement of the multi-axis mechanical arm in the horizontal direction; the timber processing platform is close to the mechanical arm displacement platform and corresponds to the multi-axis mechanical arm, and the timber processing platform is used for fixing the to-be-processed ancient building timber component; the multi-axis mechanical arm is provided with an end, the single-milling-cutter cutting integrated module is installed on the end, and the multi-axis mechanical arm is used for controlling the single-milling-cutter cutting integrated module to advance or retreat at multiple angles to complete the combined cutting action. The single milling cutter cutting integrated module is provided with two electric spindles which are oppositely arranged, and a long milling cutter is arranged between the two electric spindles; based on the structural design of the double spindles and the single-length milling cutter, the machining length limitation is broken through, frequent turning over and positioning errors of workpieces are avoided, and the machining precision and operation continuity of large-size components are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wood component processing, and in particular to a device and method for processing ancient building wood components based on composite cutting with a single milling cutter. Background Art

[0002] As the core connection form of traditional Chinese architecture, mortise and tenon joints and bracket joints have both mechanical properties and aesthetic value. They are still widely used in antique buildings and ancient building restoration projects. In recent years, with the increasing awareness of cultural heritage protection, the development of tourism and the demand for the integration of traditional elements in modern architecture, the number of antique buildings and ancient building restoration projects has increased significantly. This trend is jointly driven by technological progress (such as digital design), material innovation (the application of modern wood and composite materials), social and cultural needs (the revival of traditional architecture) and changes in design concepts (the integration of new and old).

[0003] Currently, the processing of mortise and tenon joints and bracket components mainly relies on two technical paths, as follows: (1) CNC engraving: CNC technology can meet the refinement requirements of traditional components with its high precision, complex surface engraving capabilities and integrated processing advantages of special-shaped components; however, it faces multiple constraints in actual application: First, large or special-shaped components (such as slots in large-section wooden components and integrally curved wooden beams) are limited by the size of the machine tool worktable, the single cutter head and the range of motion of the rotary axis, and need to be processed in sections and categories, resulting in reduced splicing accuracy and processing efficiency; second, the processing of ultra-large workpieces has strict requirements on the equipment travel, and the purchase and maintenance costs of high-precision CNC equipment are high, which is not economical for antique projects with a small number of scattered components; third, the size of the cutter head limits the cross-sectional range of the machinable wooden components, and the flexibility is limited.

[0004] (2) Manual processing: Although it can adapt to the flexible needs of small batches and non-standard components, it has significant pain points: workers need to frequently carry and operate large components, which poses a safety hazard and is inefficient; it is highly dependent on skills, and the processing quality of different craftsmen fluctuates greatly, making it difficult to ensure the consistency of components; the labor intensity is high, and it is difficult to control the processing accuracy of complex geometric shapes, making it difficult to match the high standards of modern digital design; especially when mass-producing the same components, the problem of accumulated manual errors is further highlighted, affecting the overall structural stability and appearance coordination.

[0005] In summary, existing machining technologies have significant shortcomings in terms of efficiency, cost, precision, and safety. CNC technology, due to equipment limitations, struggles to meet diverse demands, while manual machining struggles to meet the demands of modern engineering for standardization and efficiency. This contradiction urgently requires technological innovation to achieve a seamless integration of traditional techniques with modern engineering needs. Summary of the Invention

[0006] The purpose of the present invention is to provide a device and method for processing ancient building wood components based on composite cutting with a single milling cutter, in response to the above-mentioned problems in the prior art, thereby solving all or one of the above-mentioned problems in the prior art.

[0007] In order to solve the above technical problems, the specific technical solutions of the present invention are as follows: In one aspect, the present invention provides a device for processing ancient building wood components based on a single milling cutter for composite cutting, comprising: Robotic arm displacement platform, wood processing platform, multi-axis robotic arm and single milling cutter cutting integrated module; The multi-axis robotic arm is arranged on the robotic arm displacement platform, and the robotic arm displacement platform is used to control the displacement of the multi-axis robotic arm in the horizontal direction; The wood processing platform is close to the robot arm displacement platform and is arranged corresponding to the multi-axis robot arm. The wood processing platform is used to fix the ancient building wood components to be processed; The multi-axis robotic arm is provided with an end head, the single milling cutter cutting integrated module is mounted on the end head, and the multi-axis robotic arm is used to control the single milling cutter cutting integrated module to advance or retreat at multiple angles to complete a compound cutting action; The single milling cutter cutting integrated module is provided with two oppositely arranged electric spindles, a long milling cutter is provided between the two electric spindles, and the two electric spindles are used to synchronously drive the long milling cutter to rotate.

[0008] As an improved solution, the single milling cutter cutting integrated module further includes: a connecting seat and a rigid frame with adjustable width; The connecting seat is vertically connected to the end of the multi-axis robotic arm; The rigid frame with adjustable width is vertically arranged at the bottom of the connecting seat, and the distance between the two ends of the rigid frame with adjustable width is adjustable; The two electric spindles are respectively installed at the two ends of the rigid frame, the long milling cutter is arranged between the two electric spindles, and the two ends of the long milling cutter are respectively clamped by the two electric spindles.

[0009] As an improved solution, the rigid frame is arranged in an inverted U shape and is vertically arranged below the connecting seat; the rigid frame is composed of two inverted L-shaped sub-frames and a straight main frame; The two sub-frames are movably connected to the two ends of the main frame, and a steel core is provided inside the main frame. The two sub-frames are hollowed out corresponding to the steel core, and the horizontal sections of the two sub-frames are respectively sleeved on the two ends of the steel core. The steel core and the corresponding sub-frame are both provided with corresponding screw holes, and the steel core and the corresponding sub-frame are fixed with the screw holes by means of bolts.

[0010] As an improved solution, the ends of the two electric spindles are respectively connected with a clamp for clamping the long milling cutter; The two clamps are concentrically arranged; One of the electric spindles is set to rotate forward, and the other spindle is set to rotate reversely; The long milling cutter is arranged between the two clamps.

[0011] As an improved solution, the long milling cutter includes: a long-edge milling cutter and a multi-edge milling cutter.

[0012] As an improved solution, the single milling cutter cutting integrated module further includes: a frequency converter; The frequency converter is arranged on any one of the electric spindles, and the frequency converter is control-connected with the two electric spindles; the frequency converter is used to synchronously control the rotation direction and speed of the two electric spindles.

[0013] As an improved solution, the robot arm displacement platform is a platform structure arranged along the length direction, and the upper surface of the robot arm displacement platform is provided with a robot arm track and a linear module corresponding to the robot arm track; The robot rail is provided with a slider which is transmission-connected to the linear module, and the linear module is used to control the slider to move horizontally along the robot rail; A mechanical arm fixing seat is installed on the sliding block, and the multi-axis mechanical arm is installed on the mechanical arm fixing seat.

[0014] As an improved solution, the multi-axis robotic arm includes: a six-axis industrial robotic arm; The end is the sixth axis position of the six-axis industrial robot arm.

[0015] As an improved solution, the wood processing platform includes: a base frame horizontally arranged on the ground and a fixed frame vertically installed on the base frame, and the ancient building wood component to be processed is fixed on the top of the fixed frame at a position corresponding to the six-axis industrial robot arm.

[0016] On the other hand, the present invention also provides a processing method of an ancient building wood component processing device based on a single milling cutter for composite cutting, comprising the following steps: Initialization step: fix the ancient building wood components to be processed to the wood processing platform; Cutting step: Based on the multi-axis robotic arm, a single milling cutter cutting integrated module is controlled according to the corresponding processing trajectory to perform the cutting task on the ancient building wooden component to be processed. During the execution process, the end cutting and filleting, mortise and tenon opening, and arc surface cutting are completed respectively without changing the milling cutter; In the cutting step, the multi-axis robotic arm controls the single milling cutter cutting integrated module to feed and complete the cutting, and the multi-axis robotic arm controls the single milling cutter cutting integrated module to retract and complete the chip removal; During the end cutting and rounding process, while cutting and removing chips, the multi-axis robotic arm controls the single milling cutter integrated cutting module to perform repeated horizontal cutting; During the mortise and tenoning process, a single milling cutter integrated cutting module is sent to the outside of the mortise and tenoning area of the ancient wooden component to be processed by a multi-axis robotic arm, and the single milling cutter integrated cutting module is controlled according to the feed parameters to perform mortise and tenon milling; after each milling to a first depth, the module is retracted for chip removal; and the milling process is repeated until the mortise and tenoning process is completed; During the processing of cutting the arc surface, the single milling cutter cutting integrated module is sent to the outside of the arc surface area to be milled of the ancient building wooden component to be processed by a multi-axis robotic arm, and the single milling cutter cutting integrated module is controlled according to the feed parameters to perform arc surface milling, and the milling is repeated until the arc surface milling processing is completed; when the length of the arc surface to be milled exceeds the first length, segmented milling is adopted; when the arc surface to be milled is a hyperbolic surface, the processing trajectory of the hyperbolic surface is divided into multiple single curved surfaces for continuous processing.

[0017] The beneficial effects of the technical solution of the present invention are: 1. This system uses a double-end synchronous rotating power milling cutter and a frequency converter to coordinate drive, significantly extending the effective processing length of the milling cutter, achieving one-time milling of the end faces of ancient building components, and greatly improving processing efficiency and surface flatness; innovatively integrating the cutting and milling function into the sixth-axis system of the robotic arm, breaking through the axis number limit of traditional machining centers, and utilizing the flexible positioning capability of the six degrees of freedom of the robotic arm to accurately complete multi-dimensional curved surface processing of complex curved components such as winter melon beams (including compound arc shaping in the length direction and cross-section direction), solving the accuracy and efficiency bottleneck of traditional processes that rely on manual operation; the device is equipped with a rail movement system, based on the structural design of dual spindles and single-length milling cutter, breaking through the processing length limit, avoiding frequent turning over of the workpiece and positioning errors, and significantly improving the large The processing accuracy and operation continuity of large-sized components; through the integrated cutting and milling design combined with the adjustable spacing structure of the dual electric spindles, seamless switching between cutting and milling processes is achieved, which is compatible with processing requirements of different angles and positions, reduces the frequency of tool replacement, and optimizes the process flow; the dynamic adaptation technology of long milling cutters further expands the processing adaptability of component cross-section and length, and meets the diversified and high-precision processing requirements of special-shaped components of ancient buildings; the overall workstation constructs a "dynamic tool tracking processing" mode through the coordinated operation of the robotic arm and the track system. Compared with traditional machining centers, it can flexibly respond to the customized production needs of complex-shaped components, shorten the processing cycle while ensuring accuracy, and provide an efficient and flexible technical solution for the industrialized manufacturing of ancient building components.

[0018] 2. The method for processing ancient building wooden components based on compound cutting with a single milling cutter described in the present invention can orderly call the device modules, thereby realizing the working logic of the device for processing ancient building wooden components based on compound cutting with a single milling cutter described in the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 3D schematic diagram of the structure of the ancient building wood component processing device based on compound cutting with a single milling cutter according to Example 1 of the present invention; Figure 2 1 is a schematic structural diagram of the single milling cutter integrated cutting module in the ancient building wood component processing device based on a single milling cutter for composite cutting according to Example 1 of the present invention; Figure 3 2 is a flow chart of the method for processing ancient building wood components by composite cutting based on a single milling cutter according to Example 2 of the present invention; The symbols in the accompanying drawings are described as follows: 1. Multi-axis robotic arm; 2. Robotic arm track; 3. Wood processing platform; 4. Ancient wooden components to be processed; 5. Subframe; 6. Screw holes; 7. Connecting seat; 8. Electric spindle; 9. Long milling cutter; 10. Main frame. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0022] In the description of the present invention, it should be noted that the embodiments described in the present invention are only part of the embodiments of the present invention, rather than all of the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention.

[0023] The terms "first," "second," and the like in the specification and claims herein and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or device. Example 1

[0024] This embodiment provides a device for processing ancient building wood components based on a single milling cutter for compound cutting, such as Figure 1 and Figure 2 Shown, including: Robotic arm displacement platform, wood processing platform 3, multi-axis robotic arm 1 and single milling cutter cutting integrated module; Specifically, in a preferred embodiment, the wood processing platform 3 is used to place the ancient building wood components 4 to be processed. The wood processing platform 3 is usually made of a base frame horizontally arranged on the ground and a fixed frame vertically installed on the base frame. The ancient building wood components are usually placed on the top of the fixed frame corresponding to the position of the multi-axis robotic arm 1.

[0025] Specifically, in a preferred embodiment, the robotic arm displacement platform is a platform structure arranged along the length direction, and a robotic arm track 2 and a linear module corresponding to the robotic arm track 2 are provided on the upper surface of the robotic arm displacement platform; a slider connected to the linear module is provided on the robotic arm track 2, and the slider can move along the robotic arm track 2 under the control of the linear module.

[0026] Specifically, in a preferred embodiment, a robot arm fixing seat is installed on the slider, and the multi-axis robot arm 1 is installed on the robot arm fixing seat. The multi-axis robot arm 1 adopts a six-axis industrial robot arm, and the sixth axis position of the six-axis industrial robot arm is used to install the aforementioned single milling cutter cutting integrated module; Specifically, in a preferred embodiment, the single milling cutter cutting integrated module is the key innovation of the device, which is highlighted in this embodiment as follows: The single milling cutter integrated cutting module consists of a connecting base 7, a rigid frame with adjustable width, two electric spindles 8, a long milling cutter 9 and a frequency converter; The connecting seat 7 is vertically connected to the sixth axis of the six-axis industrial robot arm, and the top of the connecting seat 7 is fixed to the sixth axis of the six-axis industrial robot arm by screws; Among them, the rigid frame with adjustable width is set in an "inverted U shape", and the rigid frame with adjustable width is vertically set below the connecting seat 7; the rigid frame with adjustable width is composed of two inverted L-shaped sub-frames 5 and a straight-line main frame 10, the sub-frames 5 and the main frame 10 are made of composite steel, the two sub-frames 5 are respectively connected to the two ends of the main frame 10, and a steel core is provided inside the main frame 10. The steel core is hollow inside the two sub-frames 5, and the horizontal sections of the two sub-frames 5 are respectively set at the two ends of the steel core; the steel core and the The corresponding sub-frames 5 are all provided with corresponding screw holes 6, which support the use of bolts to fix them after selecting matching hole positions according to the length requirements of the milling cutter; therefore, when it is necessary to adjust the width of the rigid frame, the bolts on the sub-frame 5 are removed, and the two sub-frames 5 on both sides of the main frame 10 are stretched or pushed along the length direction of the main frame 10, so that the two sub-frames 5 move away from or closer to each other with the main frame 10 as the center. When they reach the appropriate position, the hole positions of the sub-frames 5 on both sides are aligned with the hole positions of the steel sleeve core, and then the bolts are inserted into the holes to lock and fix them.

[0027] The two spindles are both horizontally arranged and arranged relative to each other. The two spindles are respectively mounted on the lower ends of the vertical sections of the two sub-frames 5 of the rigid frame. The ends of the two spindles are connected to fixtures for clamping the milling cutter. The two fixtures are concentrically arranged, with one spindle rotating forward and the other rotating counterclockwise. The long milling cutter 9 is arranged between the two fixtures, and the two ends of the long milling cutter 9 are clamped by the two fixtures respectively. In addition, the long milling cutter 9 includes long-edge milling cutters and multi-edge milling cutters, which are selected according to the characteristics of the workpiece to be processed. Among them, the frequency converter is set on any main shaft, and the frequency converter can synchronously control the rotation direction and speed of the two main shafts, providing synchronous rotation power for the long milling cutter 9 to meet the cutting and milling requirements of different component widths.

[0028] Specifically, in a preferred embodiment, the working principle of this device is as follows: a corresponding processing program is written for each wooden component, and the multi-axis industrial robot arm controls the single milling cutter cutting integrated module according to the corresponding processing program to complete the processing task of the ancient building wooden component along the corresponding trajectory; the above process is similar to the existing processing logic, but the key technical features that distinguish it from the existing technology are as follows: (1) As the wooden components of ancient buildings are connected by mortise and tenon joints, the size, direction, angle and position of the tenons are all different. Therefore, before writing the processing program, it is necessary to first build a model of the wooden component according to the drawings and technical documents, and then write the corresponding processing program based on the model of the ancient wooden component; all program logic and the motion status of each axis of the robot arm are visualized in real time using the Rhinoceros 3D window, which is convenient for users to directly observe, quickly debug and promptly correct problems in the processing path.

[0029] (2) Since cutting and chipping are required during the processing of ancient building wooden components, this device is based on a single milling cutter cutting integrated module, which cooperates with the displacement control of the multi-axis robot arm 1. The corresponding cutting and chipping can be completed by controlling only a single milling cutter. There is no need to replace the cutter head during the process. At the same time, the structure of the single milling cutter cutting integrated module ensures a certain degree of stability, and has high processing efficiency, flexibility and convenience.

[0030] It should be noted that the specific processing process belongs to the control method, which is described in detail in Example 2 of this application.

[0031] It should be noted that the above examples are only for explaining the present invention and are not intended to limit the scope of protection of the present invention. Example 2

[0032] This embodiment is based on the same inventive concept as the ancient building wood component processing device based on a single milling cutter for compound cutting described in Example 1, and provides an ancient building wood component processing method based on a single milling cutter for compound cutting, such as Figure 3 As shown, the following steps are included: S100, initialization step: Place the wooden component on the wood processing platform, and clamp it with a positioning fixture to ensure that the wooden beam has a relatively unique position, thereby completing the reference positioning of the wooden component; then, send a processing instruction to the multi-axis robotic arm through the multi-axis robotic arm operating platform.

[0033] S200, cutting step: Based on the multi-axis robotic arm, the single milling cutter integrated cutting module is controlled according to the corresponding processing trajectory to perform the cutting task on the wooden component. During the execution process, the end cutting and filleting, mortising, and arc surface cutting are completed without changing the milling cutter. The details are as follows: S201. End cutting and rounding: When the cross-sectional dimensions of the cuttable wood component are 10~800mm in width and 50*400mm in height, the multi-axis robotic arm starts to move at a speed of 200~500mm / s, and sends the single milling cutter cutting integrated module to a safe position 20mm away from the top of the wood component. The electric spindle starts and runs at a speed of 2500r / min. The multi-axis robotic arm controls the single milling cutter cutting integrated module to perform horizontal cutting of the end according to the feed speed parameter of 8~15mm / s; after each cutting depth of 70mm, the multi-axis robotic arm moves back 25mm to remove chips, and repeatedly cuts horizontally until the end of the wood component is completely cut; after processing is completed, return to the origin: the multi-axis robotic arm returns to the initial position with the cooperation of the robotic arm track, waiting for other task requirements.

[0034] S202, mortising: When the mortising size is 20~400mm in width and 10~240mm in depth, and there is no limit on the length direction, the multi-axis robot arm starts to move at a speed of 200~500mm / s, and sends the single milling cutter cutting integrated module to 50mm outside the area where the mortise is required for the wooden component. The electric spindle is started and runs at a speed of 2500r / min. The multi-axis robot arm controls the single milling cutter cutting integrated module to perform mortising according to the feed speed parameter of 8~15mm / s; after each milling depth of 70mm, the multi-axis robot arm moves back 25mm to remove chips; repeat milling until the mortise processing is completed; after processing is completed, return to the origin: the multi-axis robot arm returns to the initial position with the cooperation of the robot arm track, waiting for other task requirements.

[0035] S203. Cutting curved surfaces: When the curvature radius of the machinable arc is 1200~90000mm and the width of the curved surface is 20~350mm, the multi-axis robot arm starts to move at a speed of 200~500mm / s, and sends the single milling cutter cutting integrated module to 50mm outside the area of the wooden component to be milled. The electric spindle starts and runs at a speed of 2500r / min. The multi-axis robot arm controls the single milling cutter cutting integrated module to perform curved surface milling according to the feed speed parameter of 8~15mm / s; after each milling depth of 70mm (i.e. the first depth), the multi-axis robot arm moves back 25mm to remove chips; repeat milling until the curved surface milling process is completed.

[0036] S204. Arc surface processing: When the length of the arc surface to be milled exceeds 600mm (i.e., the first length), segmented milling is required. When each segment is equally divided and the length is less than or equal to 600mm, the multi-axis robotic arm starts to move at a speed of 200-500mm / s, and sends the single milling cutter cutting integrated module to 50mm outside the arc surface area of the wooden component to be milled. The electric spindle is started and runs at a speed of 2500r / min. The multi-axis robotic arm controls the single milling cutter cutting integrated module to perform arc surface milling according to the feed speed parameter of 8-15mm / s; after each milling depth of 70mm, the multi-axis robotic arm moves back 25mm to remove chips, and repeats milling until the arc surface milling is completed; when the arc surface to be milled is a hyperboloid, the processing trajectory of the hyperboloid is divided into a continuous processing trajectory with a single curved surface of 20mm long as a unit.

[0037] In a preferred embodiment, when the processing requirements are: a wooden member with a cross-sectional size of 100*220mm, with the end cut and rounded, and the rounded arc length of about 400mm, the specific processing process is as follows: 1) The multi-axis robotic arm performs end cutting and filleting based on the initial values. The multi-axis robotic arm moves horizontally, with a cutting depth of 20 mm and a feed speed of 10 mm / s. (For wood components of different materials, slightly different multi-axis robotic arm feed speeds are set, generally within the range of 6 to 15 mm / s. In this example, the wood component is a pineapple, and the multi-axis robotic arm is set to 8 mm / s.) 2) To facilitate chip removal, the multi-axis robotic arm retracts 20 mm at a speed of 20 mm / s. (The retraction speed of the multi-axis robotic arm is adjusted differently for wooden components of different materials, within a range of 15 to 25 mm / s. In this example, the wooden component is a pineapple, and the multi-axis robotic arm is set at 20 mm / s.) 3) The multi-axis robot arm feeds horizontally by 70 mm, the total cutting depth is 70 mm, and the multi-axis robot arm feed speed is 10 mm / s; then the multi-axis robot arm retracts by 20 mm, and the multi-axis robot arm retracts at a speed of 20 mm / s; 4) The multi-axis robot arm feeds 70mm on this basis, the total milling length is 120mm, and the multi-axis robot arm feed speed is 10mm / s; then the multi-axis robot arm retracts 20mm, and the multi-axis robot arm retracts at a speed of 20mm / s; 5) The multi-axis robot arm descends 70mm on this basis, the total cutting length is 170mm, and the multi-axis robot arm feed speed is 10mm / s; then the multi-axis robot arm retracts 20mm, and the multi-axis robot arm retraction speed is 20mm / s; 6) The multi-axis robot arm feeds 70mm on this basis, the total cutting length is 220mm, and the multi-axis robot arm feed speed is 10mm / s; then the multi-axis robot arm retracts 20mm, and the multi-axis robot arm retracts at a speed of 20mm / s; 7) The multi-axis robot arm feeds 70mm on this basis, the total cutting length is 270mm, and the multi-axis robot arm feed speed is 10mm / s; then the multi-axis robot arm retracts 20mm, and the multi-axis robot arm retracts at a speed of 20mm / s; 8) The multi-axis robot arm feeds 70mm on this basis, the total cutting length is 320mm, and the multi-axis robot arm feed speed is 10mm / s; then the multi-axis robot arm retracts 20mm, and the multi-axis robot arm retracts at a speed of 20mm / s; 9) The multi-axis robot arm feeds 70mm on this basis, the total cutting length is 370mm, and the multi-axis robot arm feed speed is 15mm / s; then the multi-axis robot arm retracts 20mm, and the multi-axis robot arm retracts at a speed of 20mm / s; 10) The multi-axis robot arm feeds 70mm on this basis, the total cutting length is 420mm, and the multi-axis robot arm feed speed is 10mm / s; then the multi-axis robot arm retracts 420mm, and the multi-axis robot arm lifting speed is 20mm / s.

[0038] During the processing of this wooden component, the robotic arm displacement platform cooperates with the multi-axis robotic arm to move, and after the processing is completed, the position of the multi-axis robotic arm returns to the initial origin.

[0039] In a preferred embodiment, when the processing requirements are: the thickness of the wood component is 150 mm, and the size of the tenon is 100*200 mm, the specific processing process is as follows: 1) The multi-axis robotic arm performs tenon milling according to the initial values. The multi-axis robotic arm moves horizontally, with a milling depth of 50 mm and a feed speed of 10 mm / s. (For wooden components of different materials, different multi-axis robotic arm feed speeds are set, generally within the range of 6 to 15 mm / s. In this embodiment, the wooden component is a pineapple, and the multi-axis robotic arm is set to 8 mm / s.) 2) To facilitate chip removal, the multi-axis robotic arm retracts 20 mm at a speed of 20 mm / s. (The retraction speed of the multi-axis robotic arm is set differently for wooden components of different materials, ranging from 15 to 25 mm / s. In this example, the wooden component is a pineapple, and the multi-axis robotic arm is set at 20 mm / s.) 3) The multi-axis robot arm feeds 70mm along the machining path, with a total cutting length of 100mm and a feed speed of 10mm / s. The multi-axis robot arm then retracts 20mm in the opposite direction along the machining path at a retraction speed of 20mm / s. 4) On this basis, the multi-axis robot arm feeds 70mm along the machining path, with a total cutting length of 150mm and a multi-axis robot arm feed speed of 10mm / s; then the multi-axis robot arm retracts 20mm in the opposite direction along the machining path, with a multi-axis robot arm retraction speed of 20mm / s; 5) On this basis, the multi-axis robot arm feeds 70mm along the machining path, with a total cutting length of 200mm and a multi-axis robot arm feed speed of 10mm / s; then the multi-axis robot arm retracts 20mm at a retraction speed of 20mm / s; 6) The multi-axis robot arm feeds 70mm along the machining path, with a total cutting length of 250mm and a multi-axis robot arm feed speed of 10mm / s; then the multi-axis robot arm retracts 20mm in the opposite direction along the machining path at a retraction speed of 20mm / s; 7) The multi-axis robot arm feeds 70mm along the machining path, the total cutting length is 250mm, and the multi-axis robot arm feed speed is 10mm / s; then the multi-axis robot arm retracts 20mm in the opposite direction along the machining path, and the multi-axis robot arm retracts at a speed of 20mm / s; 8) The multi-axis robot arm feeds 70mm along the machining track, the total grooving depth is 300mm, and the multi-axis robot arm feed speed is 10mm / s; then the multi-axis robot arm retracts 20mm in the opposite direction along the machining track, and the multi-axis robot arm retracts at a speed of 20mm / s; 9) The multi-axis robot arm feeds 70mm along the processing track, the total grooving depth is 350mm, and the multi-axis robot arm feed speed is 15mm / s; then it retracts along the processing track in the opposite direction, and the multi-axis robot arm retracts at a speed of 20mm / s; 10) The multi-axis robot arm feeds 70mm along the machining track, the total grooving depth is 400mm, and the multi-axis robot arm feed speed is 10mm / s.

[0040] During the processing of this wooden component, the robotic arm displacement platform cooperates with the multi-axis robotic arm to move, and after the processing is completed, the position of the multi-axis robotic arm returns to the initial origin.

[0041] In a preferred embodiment, when the processing requirements are: the ancient building wood component is a winter melon beam, single-sided hyperbolic processing, and the hyperbolic arc length is 300 mm, the specific processing process is as follows: 1) The multi-axis robot arm performs hyperbolic milling based on the initial values. The multi-axis robot arm moves horizontally, milling the first unit length of 20 mm at a feed rate of 8 mm / s. (For wooden components of different materials, different multi-axis robot arm feed rates are set, generally within the range of 6 to 15 mm / s. In this example, the wooden component is a pineapple, and the multi-axis robot arm is set to 8 mm / s.) 2) To facilitate chip removal and avoid damage to the milling cutter, the angle control is fine-tuned to prevent damage to the milling cutter. The multi-axis robotic arm retracts 5mm at a retraction speed of 20mm / s and pauses for 0.5s. At the same time, the linear milling angle is adjusted to process the next single-curved unit. (The retraction speed of the multi-axis robotic arm is adjusted differently for wooden components of different materials, within the range of 15-25mm / s. In this embodiment, the wooden component is a teak, and the multi-axis robotic arm is set to 20mm / s). 3) The multi-axis robot arm feeds 20mm along the machining path, with a total milling length of 40mm and a feed speed of 8mm / s. The multi-axis robot arm retracts 5mm in the opposite direction along the machining path at a retraction speed of 20mm / s. The multi-axis robot arm pauses for 0.5s and adjusts the linear milling angle to process the next single unit. 4) On this basis, the multi-axis robot arm feeds 20 mm along the processing trajectory, and the multi-axis robot arm feed speed is 10 mm / s; the multi-axis robot arm retreats 20 mm in the opposite direction along the processing trajectory, and the multi-axis robot arm retreats 5 mm in the opposite direction along the processing trajectory, and the multi-axis robot arm retreats at a speed of 20 mm / s; and makes a 0.5 second pause, while adjusting the linear milling angle to process the next single unit.

[0042] 5) The multi-axis robot repeats the previous step until the hyperboloid processing is completed.

[0043] It should be understood that in the various embodiments of this document, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0044] It should also be understood that in the embodiments herein, the term "and / or" merely describes an association between associated objects, indicating that three possible relationships exist. For example, "A and / or B" could represent: A alone, A and B simultaneously, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0045] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the composition and steps of each example according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this document.

[0046] Those skilled in the art will clearly understand that, for the sake of convenience and brevity of description, the specific logical process of the method described above can refer to the corresponding working processes of the systems, devices and units in the aforementioned method embodiments, and will not be repeated here.

[0047] In the several embodiments provided herein, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices, or units, or can be an electrical, mechanical, or other form of connection.

[0048] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments herein.

[0049] In addition, the functional units in the various embodiments herein may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0050] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this article is essentially or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of this article. The aforementioned storage medium includes: various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0051] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention's description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A device for processing ancient building wood components based on a single milling cutter for compound cutting, characterized in that: include: A robotic arm displacement platform, a wood processing platform (3), a multi-axis robotic arm (1), and a single milling cutter cutting integrated module; The multi-axis robotic arm (1) is arranged on the robotic arm displacement platform, and the robotic arm displacement platform is used to control the displacement of the multi-axis robotic arm (1) in the horizontal direction; The wood processing platform (3) is close to the robot arm displacement platform and is arranged corresponding to the multi-axis robot arm (1), and the wood processing platform (3) is used to fix the ancient building wood component (4) to be processed; The multi-axis robotic arm (1) is provided with an end head, the single milling cutter cutting integrated module is mounted on the end head, and the multi-axis robotic arm (1) is used to control the single milling cutter cutting integrated module to advance or retreat at multiple angles to complete a compound cutting action; The single milling cutter cutting integrated module is provided with two oppositely arranged electric spindles (8), a long milling cutter (9) is provided between the two electric spindles (8), and the two electric spindles (8) are used to synchronously drive the long milling cutter (9) to rotate.

2. The ancient building wood component processing device based on single milling cutter for compound cutting according to claim 1 is characterized in that: The single milling cutter cutting integrated module further comprises: a connecting seat (7) and a rigid frame with adjustable width; The connecting seat (7) is vertically connected to the end of the multi-axis robotic arm (1); The rigid frame with adjustable width is vertically arranged at the bottom of the connecting seat (7), and the distance between the two ends of the rigid frame with adjustable width is adjustable; The two electric spindles (8) are respectively mounted on the two ends of the rigid frame, the long milling cutter (9) is arranged between the two electric spindles (8), and the two ends of the long milling cutter (9) are respectively clamped by the two electric spindles (8).

3. The ancient building wood component processing device based on single milling cutter for compound cutting according to claim 2 is characterized in that: The rigid frame is arranged in an inverted U shape, and is vertically arranged below the connecting seat (7); the rigid frame is composed of two inverted L-shaped sub-frames (5) and a straight-line main frame (10); The two sub-frames (5) are movably connected to the two ends of the main frame (10), the main frame (10) is provided with a steel core, the two sub-frames (5) are hollowed out corresponding to the steel core, and the horizontal sections of the two sub-frames (5) are respectively sleeved on the two ends of the steel core; The steel sleeve core and the corresponding sub-frame (5) are both provided with corresponding screw holes (6), and the steel sleeve core and the corresponding screw holes (6) on the sub-frame (5) are fixed by bolts.

4. The ancient building wood component processing device based on single milling cutter for compound cutting according to claim 3 is characterized in that: The ends of the two electric spindles (8) are respectively connected to a clamp for clamping the long milling cutter (9); The two clamps are concentrically arranged; One of the electric spindles (8) is set to rotate forward, and the other spindle is set to rotate reversely; The long milling cutter (9) is arranged between the two clamps.

5. The ancient building wood component processing device based on single milling cutter for compound cutting according to claim 3 is characterized in that: The long milling cutter (9) comprises a long-edge milling cutter and a multi-edge milling cutter.

6. The ancient building wood component processing device based on single milling cutter for compound cutting according to claim 2, characterized in that: The single milling cutter cutting integrated module further includes: a frequency converter; The frequency converter is arranged on any one of the electric spindles (8), and the frequency converter is control-connected with the two electric spindles (8); the frequency converter is used to synchronously control the rotation direction and speed of the two electric spindles (8).

7. The ancient building wood component processing device based on single milling cutter for compound cutting according to claim 2, characterized in that: The robotic arm displacement platform is a platform structure arranged along the length direction, and the upper surface of the robotic arm displacement platform is provided with a robotic arm track (2) and a linear module corresponding to the robotic arm track (2); The robot rail (2) is provided with a slider that is transmission-connected to the linear module, and the linear module is used to control the slider to move horizontally along the robot rail (2); A robotic arm fixing seat is mounted on the slider, and the multi-axis robotic arm (1) is mounted on the robotic arm fixing seat.

8. The ancient building wood component processing device based on single milling cutter for compound cutting according to claim 2, characterized in that: The multi-axis robotic arm (1) comprises: a six-axis industrial robotic arm; The end is the sixth axis position of the six-axis industrial robot arm.

9. The ancient building wood component processing device based on single milling cutter for compound cutting according to claim 8, characterized in that: The wood processing platform (3) comprises a base frame horizontally arranged on the ground and a fixing frame vertically mounted on the base frame, and the ancient building wood component (4) to be processed is fixed to a position on the top of the fixing frame corresponding to the six-axis industrial robot arm.

10. A processing method for an ancient building wood component processing device using a single milling cutter for compound cutting according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: Initialization step: fix the ancient building wood components to be processed to the wood processing platform; Cutting step: Based on the multi-axis robotic arm, a single milling cutter cutting integrated module is controlled according to the corresponding processing trajectory to perform the cutting task on the ancient building wooden component to be processed. During the execution process, the end cutting and filleting, mortise and tenon opening, and arc surface cutting are completed respectively without changing the milling cutter; In the cutting step, the multi-axis robotic arm controls the single milling cutter cutting integrated module to feed and complete the cutting, and the multi-axis robotic arm controls the single milling cutter cutting integrated module to retract and complete the chip removal; During the end cutting and rounding process, while cutting and removing chips, the multi-axis robotic arm controls the single milling cutter integrated cutting module to perform repeated horizontal cutting; During the mortise and tenoning process, a single milling cutter integrated cutting module is sent to the outside of the mortise and tenoning area of the ancient wooden component to be processed by a multi-axis robotic arm, and the single milling cutter integrated cutting module is controlled according to the feed parameters to perform mortise and tenon milling; after each milling to a first depth, the module is retracted for chip removal; and the milling process is repeated until the mortise and tenoning process is completed; During the processing of cutting the arc surface, the single milling cutter cutting integrated module is sent to the outside of the arc surface area to be milled of the ancient building wooden component to be processed by a multi-axis robotic arm, and the single milling cutter cutting integrated module is controlled according to the feed parameters to perform arc surface milling, and the milling is repeated until the arc surface milling processing is completed; when the length of the arc surface to be milled exceeds the first length, segmented milling is adopted; when the arc surface to be milled is a hyperbolic surface, the processing trajectory of the hyperbolic surface is divided into multiple single curved surfaces for continuous processing.

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