A 3D detection guided processing method

Abstract

The present invention provides a 3D detection guided processing method, comprising the following steps: workpiece positioning; origin calibration; 3D detection; initial guidance; contour update; secondary guidance; secondary update; precise guidance; exporting a model for archiving. The invention establishes a 3D model of the original workpiece through multiple step-by-step contact sensing detections, which greatly improves measurement accuracy and reduces processing errors. While detecting, the invention uses telecommunication linkage of multiple brushless motors at two workstations to directly guide a processing actuator to process the blank through contact sensing detection, and after multiple step-by-step processing, the processing accuracy is greatly improved. The established 3D data model and processing path are saved and exported through a controller, which is convenient for secondary processing and study.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece processing equipment, and in particular to a 3D detection guided processing method. Background Art

[0002] In the field of industrial 3D printing, there are a large number of complex edge parts. Most of these parts have complex surfaces, curves and other irregular shapes, and many similar parts are confidential technologies. It is difficult to obtain more realistic and accurate surface or curve equations, drawings and other technical information. As a result, when processing or repairing these parts, it is impossible to accurately obtain their shape parameters, and the processing and repair accuracy is difficult to meet the specified standards.

[0003] One technical approach to solving this problem is to use precise sensors to perform 3D detection on complex surface parts, obtain their precise shape parameters, and transmit the parameters to subsequent execution units for processing or repair.

[0004] Existing guided processing methods mostly install non-contact sensors on existing machine tools or robots to scan fixed workpieces, then transmit the data to a control center, reconstruct complete model data, and then load the reconstructed model data into the processing equipment to process the workpiece.

[0005] The above method not only has low measurement accuracy, but it is also difficult to obtain the accuracy required for processing and manufacturing due to processing errors, assembly errors, structural limitations, calibration errors, etc. It has a low degree of intelligence. Since it is a later modification, its control system design is limited, and detection and guidance are relatively independent, resulting in the inability to directly guide the processing equipment to process the workpiece through detection. Summary of the invention

[0006] In view of the above problems, the present invention provides a 3D detection guided processing method, the purpose of which is to solve the technical problems raised in the above background technology, such as low measurement accuracy, low intelligence level, and inability to directly guide processing equipment to process the workpiece through detection.

[0007] To achieve the above object, the present invention provides the following technical solution: a 3D detection guided processing method, comprising the following steps:

[0008] S1. Workpiece positioning: Place the original workpiece in the inspection station of the 3D inspection guided processing equipment;

[0009] S2. Origin calibration: Install a suitable machining actuator at the machining station, and install a detection contact that matches the shape of the actuator's execution end at the detection station, and control the detection contact of the detection station and the execution end of the actuator to contact the calibration block for calibration;

[0010] S3.3D detection: The detection station performs surround image detection on the original workpiece to form stereoscopic image data of the original workpiece, and transmits the data to the 3D reconstruction module to construct basic 3D model data;

[0011] S4. Initial guidance: The trajectory planning module plans the initial guidance trajectory according to the basic three-dimensional model data obtained in step S3, controls the detection contact of the detection station to contact-detect the outer contour of the original workpiece, obtains the outer contour data, and guides the processing trajectory of the execution end of the processing station actuator according to the trajectory of the detection contact;

[0012] S5. Contour update: The 3D reconstruction module updates the 3D model data in combination with the external contour data obtained in step S4;

[0013] S6. Secondary guidance: The trajectory planning module plans the secondary guidance trajectory according to the three-dimensional model data obtained in step S5, controls the detection contact of the detection station to contact the internal contour of the original workpiece, obtains the internal contour data, and guides the processing trajectory of the execution end of the processing station actuator according to the trajectory of the detection contact;

[0014] S7. Secondary update: The three-dimensional reconstruction module further updates the three-dimensional model data in combination with the internal contour data obtained in step S6;

[0015] S8. Precise guidance: The trajectory planning module plans the precise guidance trajectory according to the three-dimensional model data obtained in step S7, controls the detection contact of the detection station to contact and detect all details of the original workpiece, completely obtains the precise three-dimensional data of the original workpiece, and guides the processing trajectory of the execution end of the processing station actuator according to the trajectory of the detection contact;

[0016] S9. Exporting the model: The 3D reconstruction module verifies the 3D model data according to the precise 3D data obtained in step S8, and exports the 3D model data package for archiving.

[0017] Furthermore, the 3D detection and guided processing equipment includes a base, a linkage mechanism is provided in the middle of the base, one side of the linkage mechanism is engaged with the detection station, and the other side of the linkage mechanism is engaged with the processing station, the top surface of the detection station and the top surface of the processing station are both arranged on the inner top surface of the main bracket, and the top surface of the main bracket is provided with a controller.

[0018] Furthermore, the linkage mechanism includes a linkage fixed block, the bottom surface of the linkage fixed block is arranged in the middle of the base, the middle part of the linkage fixed block is rotatably connected to the linkage gear, the linkage gear is coaxially connected to the output end of the linkage motor, the linkage motor is arranged on the top surface of the linkage fixed block, one side of the linkage gear is engaged with the detection station, and the other side thereof is engaged with the processing station.

[0019] Furthermore, the detection station and the processing station both include a flexible fixing mechanism, the bottom surface of the flexible fixing mechanism is arranged at one end of the base, the top surface of the flexible fixing mechanism is arranged at the inner top surface of the main bracket, the lower part of the flexible fixing mechanism is rotatably connected to the surrounding mechanism, the middle part of the surrounding mechanism is provided with a movable load mechanism, the load end of the movable load mechanism in the detection station is provided with a camera and a detection contact, and the load end of the movable load mechanism in the processing station is provided with a processing actuator.

[0020] Furthermore, the flexible fixing mechanism includes an upper fixing seat, the top surface of the upper fixing seat is arranged on the inner top surface of the main bracket, a lower fixing seat is arranged below the upper fixing seat, the bottom surface of the lower fixing seat is arranged at one end of the base, the bottom surface of the upper fixing seat and the top surface of the lower fixing seat are respectively provided with flexible sliding grooves, a plurality of the flexible sliding grooves are respectively provided with three-pronged sliding rails inside, the three ends of the plurality of three-pronged sliding rails are respectively slidably connected to the positioning support unit, the outside of the lower fixing seat is rotatably connected to the surrounding mechanism, and a calibration block is provided on the top surface of the lower fixing seat.

[0021] Furthermore, the positioning support unit includes a positioning slider, the middle part of the positioning slider is slidably connected to one end of the three-pronged slide rail, the top surface of the positioning slider is provided with a locking screw, the lower part of the locking screw is provided with a positioning locking block, the top of the positioning locking block and the upper part of the locking screw are threadedly connected to a positioning locking nut, the upper end of the locking screw is provided with a supporting telescopic cylinder, and the execution end of the supporting telescopic cylinder is provided with a plastic anti-slip ball.

[0022] Furthermore, the orbiting mechanism includes an orbiting rotating ring, the middle part of which is rotatably connected to the lower part of the flexible fixing mechanism, a linkage external gear is provided on the outer side of the lower part of the orbiting rotating ring, and the linkage external gear is meshed and connected to one side of the linkage mechanism, an arc-shaped rack is provided on one side of the upper part of the orbiting rotating ring, and a movable load mechanism is provided in the middle part of the arc-shaped rack.

[0023] Furthermore, the movable load mechanism includes a latitude adjustment component, and a three-axis load component is provided on one side of the latitude adjustment component.

[0024] Furthermore, the latitude adjustment component includes a latitude adjustment base, the middle part of the latitude adjustment base is rotatably connected to the latitude adjustment gear, the latitude adjustment gear is meshed and connected to the inner side of the middle part of the surrounding mechanism, one end of the latitude adjustment gear is transmission-connected to the output end of the latitude adjustment motor, the latitude adjustment motor is arranged in the middle part of the latitude adjustment base, clamping screws are respectively provided at both ends of both sides of the latitude adjustment base, the middle parts of multiple clamping screws are respectively arranged on both sides of the clamping block, one ends of the multiple clamping screws are respectively threadedly connected to clamping nuts, clamping springs are respectively sleeved between the multiple clamping nuts and the clamping blocks, and the middle parts of multiple clamping screws, the two ends of the middle part of the clamping block are respectively rotatably connected to multiple clamping wheels, and multiple clamping wheels are all rollingly connected to the outer side of the middle part of the surrounding mechanism.

[0025] Furthermore, the three-axis load assembly includes a load base, which is arranged on one side of the latitude adjustment assembly, a telescopic gear is provided on one side of the load base, the telescopic gear is meshed and connected to one side of the telescopic rack, one end of the telescopic gear is coaxially connected to the output end of the telescopic motor, the telescopic motor is arranged on the top surface of the load base, a plurality of rack limiting rollers are provided on the other side of the load base, the plurality of rack limiting rollers are all rollingly connected to the other side of the telescopic rack, a two-axis mechanical wrist is provided at one end of the telescopic rack, and a load platform is provided at one end of the two-axis mechanical wrist.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The 3D model of the original workpiece is established through multiple step-by-step contact induction detection, which greatly improves the measurement accuracy and reduces the processing error. During the detection, the telecommunication linkage of multiple brushless motors in two workstations is used to directly guide the processing actuator to process the blank through the detection of contact induction. After multiple step-by-step processing, the processing accuracy is greatly improved. The established 3D data model and processing path are saved and exported through the controller for secondary processing and learning and research. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the appearance structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the front section of the internal structure of the present invention;

[0030] Figure 3 It is a schematic cross-sectional view of the linkage mechanism structure of the present invention;

[0031] Figure 4 It is a schematic diagram of the structure of the detection station of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the flexible fixing mechanism of the present invention;

[0033] Figure 6 It is a schematic diagram of the structure of the three-pronged slide rail and multiple positioning support units of the present invention;

[0034] Figure 7 This is a schematic diagram of the disassembly of the positioning support unit structure of the present invention;

[0035] Figure 8 It is a schematic diagram of the structure of the surrounding mechanism of the present invention;

[0036] Fig. 9 It is a schematic diagram of the structure of the movable load mechanism of the present invention;

[0037] Fig.10 It is a schematic diagram of the structure disassembly of the movable load mechanism of the present invention;

[0038] Fig.11 It is a schematic diagram of the structure of the latitude adjustment component of the present invention;

[0039] Fig.12 It is a schematic diagram of the structure of the triaxial load assembly of the present invention.

[0040] In the figure: 1. base; 2. linkage mechanism; 21. linkage fixing block; 22. linkage gear; 23. linkage motor; 3. detection station; 31. flexible fixing mechanism; 311. upper fixing seat; 312. lower fixing seat; 313. flexible sliding groove; 314. three-pronged slide rail; 315. positioning support unit; 3151. positioning slider; 3152. locking screw; 3153. positioning locking block; 3154. positioning locking nut; 3155. supporting telescopic cylinder; 3156. plastic anti-skid ball; 316. calibration block; 32. surrounding mechanism; 321. surrounding rotating ring; 322. linkage external gear; 323. arc rack; 33. Active load mechanism; 331, latitude adjustment assembly; 3311, latitude adjustment base; 3312, latitude adjustment gear; 3313, latitude adjustment motor; 3314, clamping screw; 3315, clamping block; 3316, clamping nut; 3317, clamping spring; 3318, clamping wheel; 332, three-axis load assembly; 3321, load base; 3322, telescopic gear; 3323, telescopic rack; 3324, telescopic motor; 3325, rack limiting roller; 3326, two-axis mechanical wrist; 3327, load platform; 34, camera; 35, detection contact; 4, processing station; 5, main bracket; 6, controller. DETAILED DESCRIPTION

[0041] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings, but the present invention can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the content disclosed in the present invention more thorough and comprehensive.

[0042] It should be noted that when an element is referred to as being "fixed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are for illustrative purposes only.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly connected by technicians in the technical field to which the present invention belongs. The terminology used in the specification of the present invention is for the purpose of describing specific embodiments and is not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0044] Embodiment, a 3D detection guided processing method, comprising the following steps:

[0045] S1. Workpiece positioning: The original workpiece is placed in the detection station 3 of the 3D detection guided processing equipment;

[0046] S2. Origin calibration: Install a suitable machining actuator to the machining station 4, and install a detection contact 35 matching the shape of the actuator execution end to the detection station 3, and control the detection contact 35 of the detection station and the execution end of the actuator to contact the calibration block 316 for calibration;

[0047] S3.3D detection: Detection station 3 performs surround image detection on the original workpiece to form stereoscopic image data of the original workpiece, and transmits the data to the 3D reconstruction module to construct basic 3D model data;

[0048] S4. Initial guidance: The trajectory planning module plans the initial guidance trajectory according to the basic three-dimensional model data obtained in step S3, controls the detection contact 35 of the detection station 3 to contact-detect the outer contour of the original workpiece, obtains the outer contour data, and guides the processing trajectory of the actuator execution end of the processing station 4 according to the trajectory of the detection contact 35;

[0049] S5. Contour update: The 3D reconstruction module updates the 3D model data in combination with the external contour data obtained in step S4;

[0050] S6. Secondary guidance: The trajectory planning module plans the secondary guidance trajectory according to the three-dimensional model data obtained in step S5, controls the detection contact 35 of the detection station 3 to contact-detect the internal contour of the original workpiece, obtains the internal contour data, and guides the processing trajectory of the actuator execution end of the processing station 4 according to the trajectory of the detection contact 35;

[0051] S7. Secondary update: The three-dimensional reconstruction module further updates the three-dimensional model data in combination with the internal contour data obtained in step S6;

[0052] S8. Precise guidance: The trajectory planning module plans the precise guidance trajectory according to the three-dimensional model data obtained in step S7, controls the detection contact 35 of the detection station 3 to contact-type detect all details of the original workpiece, completely obtains the precise three-dimensional data of the original workpiece, and guides the processing trajectory of the actuator execution end of the processing station 4 according to the trajectory of the detection contact 35;

[0053] S9. Exporting the model: The 3D reconstruction module verifies the 3D model data according to the precise 3D data obtained in step S8, and exports the 3D model data package for archiving.

[0054] For example, please refer to Figure 1-2 The 3D detection and guided processing equipment includes a base 1, a linkage mechanism 2 is provided in the middle of the base 1, one side of the linkage mechanism 2 is engaged with a detection station 3, and the other side thereof is engaged with a processing station 4, the top surface of the detection station 3 and the top surface of the processing station 4 are both arranged on the inner top surface of a main bracket 5, the top surface of the main bracket 5 is provided with a controller 6, and the controller 6 is provided with a three-dimensional reconstruction module, a trajectory planning module, a motor control module and a storage module.

[0055] For example, please refer to Figure 3 The linkage mechanism 2 includes a linkage fixed block 21, the bottom surface of the linkage fixed block 21 is arranged in the middle of the base 1, the middle part of the linkage fixed block 21 is rotatably connected to the linkage gear 22, the linkage gear 22 is coaxially connected to the output end of the linkage motor 23, the linkage motor 23 is arranged on the top surface of the linkage fixed block 21, one side of the linkage gear 22 is meshed with the detection station 3, and the other side thereof is meshed with the processing station 4. The linkage gear 22 is driven to rotate by the linkage motor 23, and then the multiple surrounding mechanisms 32 are driven to rotate, thereby realizing the linkage of the surrounding motion of detection and processing.

[0056] For example, please refer to Figure 4The detection station 3 and the processing station 4 both include a flexible fixing mechanism 31, the bottom surface of the flexible fixing mechanism 31 is arranged at one end of the base 1, and the top surface of the flexible fixing mechanism 31 is arranged at the inner top surface of the main bracket 5. The lower part of the flexible fixing mechanism 31 is rotatably connected to the surrounding mechanism 32, and the middle part of the surrounding mechanism 32 is provided with an active load mechanism 33. The load end of the active load mechanism 33 in the detection station 3 is provided with a camera 34 and a detection contact 35, and the load end of the active load mechanism 33 in the processing station 4 is provided with a processing actuator. This design fixes the original workpiece and the processed blank respectively through the flexible fixing mechanism 31, and performs steps S3 to S8 through the cooperation of the surrounding mechanism 32 and the active load mechanism 33.

[0057] For example, please refer to Figure 5-7 The flexible fixing mechanism 31 includes an upper fixing seat 311, the top surface of the upper fixing seat 311 is arranged on the inner top surface of the main bracket 5, a lower fixing seat 312 is arranged below the upper fixing seat 311, the bottom surface of the lower fixing seat 312 is arranged at one end of the base 1, and flexible sliding grooves 313 are respectively opened on the bottom surface of the upper fixing seat 311 and the top surface of the lower fixing seat 312, and a plurality of flexible sliding grooves 313 are respectively provided with three-pronged slide rails 314 inside, and the three ends of the plurality of three-pronged slide rails 314 are respectively slidably connected to the positioning support unit 315, the outer rotation connection of the lower fixing seat 312 surrounds the mechanism 32, and a calibration block 316 is arranged on the top surface of the lower fixing seat 312, and the positioning support unit 315 includes a positioning slider 3151, and the middle part of the positioning slider 3151 is slidably connected to the three-pronged slide rail 31 4, a locking screw 3152 is provided on the top surface of the positioning slide block 3151, and a positioning locking block 3153 is sleeved on the lower part of the locking screw 3152. The upper part of the positioning locking block 3153 and the upper part of the locking screw 3152 are threadedly connected to the positioning locking nut 3154. A supporting telescopic cylinder 3155 is provided on the upper end of the locking screw 3152, and a plastic anti-slip ball 3156 is provided on the execution end of the supporting telescopic cylinder 3155. According to the shape of the workpiece or blank, a plurality of positioning slide blocks 3151 are slid to a position convenient for support and fixation, and the positioning locking nut 3154 is tightened. Through the cooperation of the positioning slide block 3151 and the positioning locking block 3153, the position of the positioning support unit 315 is fixed, and the plurality of supporting telescopic cylinders 3155 are extended. The original workpiece or the processed blank is fixed in the middle of the workstation through the plurality of plastic anti-slip balls 3156.

[0058] For example, please refer to Figure 8The surrounding mechanism 32 includes a surrounding rotating ring 321, the middle part of the surrounding rotating ring 321 is rotatably connected to the lower part of the flexible fixing mechanism 31, a linkage external gear 322 is provided on the outer side of the lower part of the surrounding rotating ring 321, and the linkage external gear 322 is meshed and connected to one side of the linkage mechanism 2, an arc-shaped rack 323 is provided on one side of the upper part of the surrounding rotating ring 321, and a movable load mechanism 33 is provided in the middle part of the arc-shaped rack 323.

[0059] For example, please refer to Figure 9-12The movable load mechanism 33 includes a latitude adjustment component 331, one side of the latitude adjustment component 331 is provided with a three-axis load component 332, the latitude adjustment component 331 includes a latitude adjustment base 3311, the middle part of the latitude adjustment base 3311 is rotatably connected to the latitude adjustment gear 3312, the latitude adjustment gear 3312 is meshed and connected to the inner side of the middle part of the surrounding mechanism 32, one end of the latitude adjustment gear 3312 is transmission-connected to the output end of the latitude adjustment motor 3313, the latitude adjustment motor 3313 is arranged in the middle part of the latitude adjustment base 3311, and the two ends of the two sides of the latitude adjustment base 3311 are respectively provided with clamping screws 3314, and a plurality of the clamping screws 331 4 are respectively arranged on both sides of the clamping block 3315, one end of the plurality of clamping screws 3314 is respectively threadedly connected to the clamping nut 3316, between the plurality of clamping nuts 3316 and the clamping block 3315, and in the middle of the plurality of clamping screws 3314, a clamping spring 3317 is respectively sleeved, the two ends of the middle part of the clamping block 3315 are respectively rotatably connected to a plurality of clamping wheels 3318, and the plurality of clamping wheels 3318 are all rollingly connected to the outer middle part of the surrounding mechanism 32, the three-axis load assembly 332 includes a load base 3321, the load base 3321 is arranged on one side of the latitude adjustment assembly 331, and one side of the load base 3321 is provided with a telescopic gear 332 2. The telescopic gear 3322 is meshed and connected to one side of the telescopic rack 3323. One end of the telescopic gear 3322 is coaxially connected to the output end of the telescopic motor 3324. The telescopic motor 3324 is arranged on the top surface of the load base 3321. The other side of the load base 3321 is provided with a plurality of rack limiting rollers 3325. The plurality of rack limiting rollers 3325 are all rollingly connected to the other side of the telescopic rack 3323. One end of the telescopic rack 3323 is provided with a two-axis mechanical wrist 3326. One end of the two-axis mechanical wrist 3326 is provided with a load platform 3327. The latitude adjustment motor 3313 drives the latitude adjustment gear 3312 to rotate. The latitude adjustment gear 3312 and the arc The meshing of the rack 323 drives the latitude adjustment component 331 to move along the arc-shaped rack 323 to achieve circumferential dimensional adjustment; the telescopic gear 3322 is driven to rotate by the telescopic motor 3324, and the telescopic gear 3322 and the telescopic rack 3323 are meshed to drive the telescopic rack 3323 and the two-axis mechanical wrist 3326 to telescope. The detection station performs contact sensing detection on the original workpiece by loading a camera 34 and a detection contact 35 on the load platform 3327, thereby obtaining 3D data. The processing station processes the processing blank by loading a suitable processing actuator on the load platform 3327. The motors in the processing station 3 are all set to the follow-up state of the corresponding motors in the detection station 4 through the motor control module.

[0060] Operation principle: First, in step S1, according to the shape of the workpiece or blank, the multiple positioning sliders 3151 are slid to a position convenient for support and fixation, and the positioning locking nut 3154 is tightened. The position of the positioning support unit 315 is fixed by the cooperation of the positioning slider 3151 and the positioning locking block 3153. The multiple supporting telescopic cylinders 3155 are extended, and the original workpiece or processed blank is fixed in the middle of the workstation through multiple plastic anti-slip balls 3156; the active load mechanism 33 drives the latitude adjustment gear 3312 to rotate through the latitude adjustment motor 3313, and the latitude adjustment gear 3312 is engaged with the arc rack 323 to drive the latitude adjustment component 331 to move along the arc rack 323 to achieve surrounding dimensional adjustment; through the telescopic motor 3324 The telescopic gear 3322 is driven to rotate, and the telescopic rack 3323 and the two-axis mechanical wrist 3326 are driven to telescope through the engagement of the telescopic gear 3322 and the telescopic rack 3323. The detection station performs contact sensing detection on the original workpiece by loading a camera 34 and a detection contact 35 on the load platform 3327, thereby obtaining 3D data. The processing station processes the processing blank by loading a suitable processing actuator on the load platform 3327. The motors in the processing station 3 are all set to the follow-up state of the corresponding motors in the detection station 4 through the motor control module. Steps S2 to S8 are executed in sequence to complete the detection of the original workpiece and the processing of the processing blank. Finally, step S9 is executed to export the three-dimensional model data package for archiving.

[0061] The above is an exemplary description of the present invention in combination with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as such non-substantial improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A 3D detection guided processing method, characterized in that: The following steps are involved: S1. Workpiece positioning: The original workpiece is placed in the inspection station (3) of the 3D inspection guided processing equipment; S2. Origin calibration: installing a suitable machining actuator at the machining station (4), and installing a detection contact (35) whose shape matches the actuator end at the detection station (3), and controlling the detection contact (35) of the detection station and the actuator end of the actuator to contact the calibration block (316) for calibration; S3.3D detection: The detection station (3) performs surround image detection on the original workpiece to form stereoscopic image data of the original workpiece, and transmits the data to the 3D reconstruction module to construct basic 3D model data; S4. Initial guidance: The trajectory planning module plans the initial guidance trajectory according to the basic three-dimensional model data obtained in step S3, controls the detection contact (35) of the detection station (3) to contact-type detect the outer contour of the original workpiece, obtains the outer contour data, and guides the processing trajectory of the actuator execution end of the processing station (4) according to the trajectory of the detection contact (35); S5. Contour update: The 3D reconstruction module updates the 3D model data in combination with the external contour data obtained in step S4; S6. Secondary guidance: The trajectory planning module plans the secondary guidance trajectory according to the three-dimensional model data obtained in step S5, controls the detection contact (35) of the detection station (3) to contact-type detect the internal contour of the original workpiece, obtains the internal contour data, and guides the processing trajectory of the actuator execution end of the processing station (4) according to the trajectory of the detection contact (35); S7. Secondary update: The three-dimensional reconstruction module further updates the three-dimensional model data in combination with the internal contour data obtained in step S6; S8. Precise guidance: The trajectory planning module plans a precise guidance trajectory according to the three-dimensional model data obtained in step S7, controls the detection contact (35) of the detection station (3) to contact-type detect all details of the original workpiece, completely obtains the precise three-dimensional data of the original workpiece, and guides the processing trajectory of the actuator execution end of the processing station (4) according to the trajectory of the detection contact (35); S9. Exporting the model: The 3D reconstruction module verifies the 3D model data according to the precise 3D data obtained in step S8, and exports the 3D model data package for archiving.

2. A 3D detection guided processing method according to claim 1, characterized in that: The 3D detection guided processing equipment comprises a base (1), a linkage mechanism (2) is provided in the middle of the base (1), one side of the linkage mechanism (2) is engaged with a detection station (3), and the other side of the linkage mechanism (2) is engaged with a processing station (4), the top surface of the detection station (3) and the top surface of the processing station (4) are both arranged on the inner top surface of a main support (5), and a controller (6) is provided on the top surface of the main support (5).

3. A 3D detection guided processing method according to claim 2, characterized in that: The linkage mechanism (2) comprises a linkage fixing block (21), the bottom surface of the linkage fixing block (21) being arranged at the middle part of the base (1), the middle part of the linkage fixing block (21) being rotatably connected to a linkage gear (22), the linkage gear (22) being coaxially connected to the output end of a linkage motor (23), the linkage motor (23) being arranged at the top surface of the linkage fixing block (21), one side of the linkage gear (22) being engaged with a detection station (3), and the other side of the linkage gear (22) being engaged with a processing station (4).

4. A 3D detection guided processing method according to claim 2, characterized in that: The detection station (3) and the processing station (4) both comprise a flexible fixing mechanism (31), the bottom surface of the flexible fixing mechanism (31) being arranged at one end of the base (1), the top surface of the flexible fixing mechanism (31) being arranged at the inner top surface of the main bracket (5), the lower part of the flexible fixing mechanism (31) being rotatably connected to a surrounding mechanism (32), the middle part of the surrounding mechanism (32) being provided with a movable load mechanism (33), the load end of the movable load mechanism (33) in the detection station (3) being provided with a camera (34) and a detection contact (35), and the load end of the movable load mechanism (33) in the processing station (4) being provided with a processing actuator.

5. A 3D detection guided processing method according to claim 4, characterized in that: The flexible fixing mechanism (31) comprises an upper fixing seat (311), the top surface of the upper fixing seat (311) being arranged on the inner top surface of the main bracket (5), a lower fixing seat (312) being arranged below the upper fixing seat (311), the bottom surface of the lower fixing seat (312) being arranged at one end of the base (1), the bottom surface of the upper fixing seat (311) and the top surface of the lower fixing seat (312) being respectively provided with flexible sliding grooves (313), a plurality of the flexible sliding grooves (313) being respectively provided with three-pronged sliding rails (314) inside, the three ends of the plurality of three-pronged sliding rails (314) being respectively slidably connected to the positioning support unit (315), the outer portion of the lower fixing seat (312) being rotatably connected to the surrounding mechanism (32), and a calibration block (316) being provided on the top surface of the lower fixing seat (312).

6. A 3D detection guided processing method according to claim 5, characterized in that: The positioning support unit (315) comprises a positioning slider (3151), the middle part of which is slidably connected to one end of the three-pronged slide rail (314), the top surface of the positioning slider (3151) is provided with a locking screw (3152), the lower part of the locking screw (3152) is sleeved with a positioning locking block (3153), the upper part of the positioning locking block (3153) and the upper part of the locking screw (3152) are threadedly connected to a positioning locking nut (3154), the upper end of the locking screw (3152) is provided with a supporting telescopic cylinder (3155), and the execution end of the supporting telescopic cylinder (3155) is provided with a plastic anti-slip ball (3156).

7. A 3D detection guided processing method according to claim 4, characterized in that: The surrounding mechanism (32) comprises a surrounding rotating ring (321), the middle part of the surrounding rotating ring (321) is rotatably connected to the lower part of the flexible fixing mechanism (31), a linkage external gear (322) is provided on the outer side of the lower part of the surrounding rotating ring (321), the linkage external gear (322) is meshedly connected to one side of the linkage mechanism (2), an arc-shaped rack (323) is provided on one side of the upper part of the surrounding rotating ring (321), and a movable load mechanism (33) is provided in the middle part of the arc-shaped rack (323).

8. A 3D detection guided processing method according to claim 4, characterized in that: The movable load mechanism (33) comprises a latitude adjustment component (331), and a three-axis load component (332) is provided on one side of the latitude adjustment component (331).

9. A 3D detection guided processing method according to claim 8, characterized in that: The latitude adjustment component (331) comprises a latitude adjustment base (3311), the middle part of the latitude adjustment base (3311) is rotatably connected to a latitude adjustment gear (3312), the latitude adjustment gear (3312) is meshedly connected to the inner side of the middle part of the surrounding mechanism (32), one end of the latitude adjustment gear (3312) is transmission-connected to the output end of a latitude adjustment motor (3313), the latitude adjustment motor (3313) is arranged in the middle part of the latitude adjustment base (3311), and clamping screws (3314) are respectively arranged at both ends of the two sides of the latitude adjustment base (3311). The middle parts of the multiple clamping screws (3314) are respectively arranged on both sides of the clamping block (3315), and one end of the multiple clamping screws (3314) is respectively threadedly connected to the clamping nuts (3316), and clamping springs (3317) are respectively sleeved between the multiple clamping nuts (3316) and the clamping block (3315) and the middle parts of the multiple clamping screws (3314), and the two ends of the middle part of the clamping block (3315) are respectively rotatably connected to multiple clamping wheels (3318), and the multiple clamping wheels (3318) are all rollingly connected to the outer side of the middle part of the surrounding mechanism (32).

10. The 3D detection guided processing method according to claim 8, characterized in that: The three-axis load assembly (332) comprises a load base (3321), the load base (3321) is arranged on one side of the latitude adjustment assembly (331), a telescopic gear (3322) is arranged on one side of the load base (3321), the telescopic gear (3322) is meshedly connected to one side of a telescopic rack (3323), one end of the telescopic gear (3322) is coaxially connected to the output end of a telescopic motor (3324), the telescopic motor (3324) is arranged on the top surface of the load base (3321), a plurality of rack limiting rollers (3325) are arranged on the other side of the load base (3321), the plurality of rack limiting rollers (3325) are all rollingly connected to the other side of the telescopic rack (3323), a two-axis mechanical wrist (3326) is arranged on one end of the telescopic rack (3323), and a load platform (3327) is arranged on one end of the two-axis mechanical wrist (3326).

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