A machining device and method for machining a large anchor head workpiece circumferential inclined hole

Abstract

This invention relates to a processing device and method for machining circumferential oblique holes in large anchor head workpieces. The device includes a positioning module for optically positioning the large anchor head workpiece, determining its position, and constructing a three-dimensional model. A marking module marks the areas to be machined on the surface of the large anchor head workpiece. A milling module mills the areas to be machined, and a drill module drills the milled areas. All four modules are located in the same coordinate system, ensuring that all machining processes are performed within the same coordinate system, resulting in precise positioning and high machining accuracy. Before machining, the positioning module positions the workpiece, and after positioning, a pre-set model is registered. After machining, the positioning and marking modules perform secondary processing on the holes to improve their smoothness and prevent stress concentration during use.

Description

Technical Field

[0001] This invention relates to the field of machining, specifically to a machining device and method for machining circumferential oblique holes in large anchor head workpieces. Background Technology

[0002] Reinforcing bar anchorage refers to the process of embedding reinforcing bars in concrete, strengthening the connection between the concrete and the reinforcing bars, and making the structure more robust. Existing large bridges typically employ multiple anchors and cables for tension anchorage. Anchorage requires the machining of inclined holes in the anchor head, for example... Figure 2 In the middle, the steel cable is tilted and pulled on the anchor head;

[0003] Because anchor head workpieces with holes cast have poor tensile strength and are prone to micro-cracks inside the holes, the best processing method is still drilling. However, large anchor head workpieces are generally cylindrical, making inclined drilling difficult. On the one hand, inclined drilling is difficult to position, which can easily lead to misaligned holes; on the other hand, even if the initial positioning is accurate, problems such as tilting or deviation can still easily occur during the drilling process.

[0004] Furthermore, if the smoothness of the hole after drilling is insufficient, stress concentration can easily occur under heavy loads during actual use, reducing the service life of the workpiece. Therefore, there is an urgent need for a method to process the circumferential oblique holes of large anchor head workpieces with precise positioning and high processing accuracy. Summary of the Invention

[0005] To solve the above problems, the present invention provides a processing device for circumferential oblique holes of large anchor head workpieces, including a control host, a positioning module, a marking module, a fixture module, a milling cutter module, a displacement driving module, and a drill module;

[0006] The clamping module is used to clamp large anchor head workpieces and maintain stable clamping;

[0007] The positioning module is used for optical positioning of large anchor head workpieces, determining the position of large anchor head workpieces and constructing a three-dimensional model of large anchor head workpieces; the marking module is used for marking the processing position on the surface of large anchor head workpieces to clarify the processing position.

[0008] The milling cutter module is used to mill the positions to be machined on large anchor head workpieces, and the drill bit module is used to drill holes in the milled positions; the displacement drive module is used to drive the milling cutter module and the drill bit module to move.

[0009] Furthermore, in one implementation:

[0010] The positioning module includes a structured light illumination module and a structured light detection module. The structured light illumination module illuminates the surface of the large anchor head workpiece with structured light; the structured light illumination is a cross-line grid structured light illumination.

[0011] The structured light detection module acquires images of the structured light mesh projected by the structured light illumination module onto the surface of the large anchor head workpiece, and converts the acquired images into a 3D point cloud model of the large anchor head workpiece; the structured light detection module uploads the acquired 3D point cloud model of the large anchor head workpiece to the control host.

[0012] The three-dimensional point cloud model is located in the spatial coordinate system of the positioning module; the control host has a pre-stored standard model of a large anchor head workpiece, which includes a model of an inclined hole and a model of the main body of the large anchor head workpiece, and the positions of the model of the inclined hole and the model of the main body of the large anchor head workpiece are relatively fixed.

[0013] The control host registers the 3D point cloud model with the pre-stored model of the large anchor head workpiece body, so as to register the standard model of the large anchor head workpiece into the spatial coordinate system of the positioning module to achieve accurate positioning of the standard model of the large anchor head workpiece.

[0014] Furthermore, in one implementation:

[0015] The marking module includes a laser marking machine. The laser marking machine and the positioning module are pre-registered to ensure that the laser marking machine operates within the spatial coordinate system of the positioning module for marking. The marking position of the laser marking machine is the intersection of the inclined hole model and the circumferential surface of the main body of the large anchor head workpiece.

[0016] Furthermore, in one implementation:

[0017] The milling cutter module includes a milling cutter head, and the drill bit module includes a drilling bit. A rotary motor drives the milling cutter head and the drilling bit to rotate.

[0018] The displacement drive module includes a multi-axis robotic arm, which drives the milling cutter head and the drilling bit to move. The multi-axis robotic arm is pre-registered with the positioning module to ensure that the multi-axis robotic arm works within the spatial coordinate system of the positioning module.

[0019] Furthermore, in one implementation:

[0020] The clamping module includes five to eight grippers arranged around the large anchor head workpiece to be clamped; the grippers include top grippers and bottom grippers, which clamp the large anchor head workpiece from both the top and bottom ends simultaneously to ensure stability during processing.

[0021] The milling cutter head and the drilling drill bit have the same diameter.

[0022] Another method for machining circumferential oblique holes in large anchor head workpieces is provided, using the aforementioned machining device for circumferential oblique holes in large anchor head workpieces, including the following steps:

[0023] Step 1: Place the large anchor head workpiece onto the fixture module and use the top and bottom jaws to clamp the large anchor head workpiece simultaneously to ensure stability during processing.

[0024] Step 2: Illuminate the surface of the large anchor head workpiece with structured light using a structured light illumination module; the structured light illumination is a multi-color cross-line grid structured light illumination.

[0025] The structured light detection module acquires images of the structured light mesh projected by the structured light illumination module onto the surface of the large anchor head workpiece, and converts the acquired images into a 3D point cloud model of the large anchor head workpiece; the structured light detection module uploads the acquired 3D point cloud model of the large anchor head workpiece to the control host.

[0026] The three-dimensional point cloud model is located in the spatial coordinate system of the positioning module; the control host has a pre-stored standard model of a large anchor head workpiece, which includes a model of an inclined hole and a model of the main body of the large anchor head workpiece, and the positions of the model of the inclined hole and the model of the main body of the large anchor head workpiece are relatively fixed.

[0027] The control host registers the 3D point cloud model with the pre-stored model of the large anchor head workpiece body, so as to register the standard model of the large anchor head workpiece into the spatial coordinate system of the positioning module to achieve accurate positioning of the standard model of the large anchor head workpiece.

[0028] Step 3: The laser marking machine marks the intersection of the inclined hole model and the circumferential surface of the large anchor head workpiece. The marking shape is the arc-shaped curved surface at the intersection of the inclined hole model and the circumferential surface of the large anchor head workpiece, thus providing positioning for subsequent milling and drilling.

[0029] Step 4: Use a multi-axis robotic arm to drive the milling cutter head to mill the marking position; during milling, the central axis of the milling cutter head coincides with the axis of the inclined hole model and the milling is tilted, entering from the side with the minimum milling depth, and stopping after the top surface of the milling cutter head completely contacts the large anchor head workpiece;

[0030] Step 5: After milling, use a multi-axis robotic arm to drive the drilling bit to drill holes at the marked positions; when drilling, the central axis of the drilling bit coincides with the axis of the inclined hole model, and the starting position of drilling is the position where the milling cutter head stops milling.

[0031] Furthermore, in one implementation:

[0032] Because it is inclined milling, the maximum milling depth is equal to H, and the minimum depth is 0.

[0033] Where H 2 =L 2 -D 2L is the vertical length of the marking shape on the circumference of the large anchor head workpiece, and D is the diameter of the milling cutter head; and cosθ=D / L, where θ is the angle between the axis of the inclined hole model and the axis of the large anchor head workpiece.

[0034] Furthermore, in one implementation:

[0035] Furthermore, the multi-axis robotic arm is equipped with a guide laser, which is located on the axis of the milling cutter head and the drilling bit, to assist manual judgment on whether the positioning is accurate.

[0036] Furthermore, in one implementation:

[0037] The structured light illumination module and the structured light detection module are mounted on the same telescopic rod, which can extend into the drilled circumferential oblique hole to perform in-hole detection.

[0038] During in-hole inspection, a structured light illumination module is used to illuminate the surface of the large anchor head workpiece with speckle lighting; the speckle lighting method is random speckle lighting; the marking module is set on another telescopic rod, which can also extend into the marked circumferential oblique hole, so that the marking module can extend into the circumferential oblique hole for in-hole processing.

[0039] The structured light detection module acquires images of speckle patterns projected by the structured light illumination module within the oblique holes around the circumference of the large anchor head workpiece, and sends the acquired speckle images to the control host.

[0040] The control host calculates the smoothness of the inner surface of the circumferential oblique hole based on the acquired speckle image; when the smoothness meets the preset conditions, the drilling is completed; when the smoothness does not meet the preset conditions, the control host controls the marking module to perform internal processing on the drilled circumferential oblique hole. The internal processing method is to use laser marking heat treatment to reduce the roughness inside the hole.

[0041] Furthermore, in one implementation:

[0042] The control host calculates the smoothness of the inner surface of the circumferential oblique hole based on the acquired speckle image as follows:

[0043] The control host performs contrast analysis on the speckle image to obtain the contrast of the speckle image; the control host calculates the roughness of the inner surface of the inclined hole based on the relationship between the contrast of the speckle image and the roughness.

[0044] The beneficial effects of this invention are as follows:

[0045] This invention includes a positioning module for optical positioning of large anchor head workpieces, determining their position and constructing a three-dimensional model; a marking module for marking the areas to be processed on the surface of the large anchor head workpiece; a milling cutter module for milling the areas to be processed on the large anchor head workpiece; and a drill module for drilling holes in the milled areas. A displacement drive module drives the milling cutter and drill modules. All four modules are located in the same coordinate system, ensuring that all processing steps are performed within the same coordinate system, resulting in precise positioning and high processing accuracy.

[0046] Before processing, the workpiece is positioned using a positioning module. After positioning, the pre-set model is registered, which ensures the high precision of the model and the precision of the processing.

[0047] After processing, the positioning module and marking module are used to perform secondary processing on the inside of the hole to improve the smoothness of the hole and ensure that stress concentration will not occur when the hole is used. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Appendix Figure 1 This is a schematic diagram of the overall architecture of the present invention;

[0050] Appendix Figure 2 This is a schematic diagram illustrating the actual working state of an anchor head workpiece, as exemplified by the present invention.

[0051] Appendix Figure 3 This is a schematic diagram of the milling process for the large anchor head workpiece of the present invention;

[0052] Appendix Figure 4 This is a schematic diagram of the oblique hole after processing according to the present invention.

[0053] The components include: 1. Anchor head workpiece; 2. Pulling steel cable; 3. Large anchor head workpiece; 4. Circumferential oblique hole; 5. Fixture; 6. Clamp; 7. Structured light illumination module; 8. Structured light detection module; and 9. Laser marking machine. Detailed Implementation

[0054] Example 1:

[0055] See Figure 1-4 The present invention provides a processing device for circumferential oblique holes of large anchor head workpieces, including a control host, a positioning module, a marking module, a fixture module, a milling cutter module, a displacement driving module and a drill module;

[0056] The clamping module is used to clamp large anchor head workpieces and maintain stable clamping;

[0057] The positioning module is used for optical positioning of large anchor head workpieces, determining the position of large anchor head workpieces and constructing a three-dimensional model of large anchor head workpieces; the marking module is used for marking the processing position on the surface of large anchor head workpieces to clarify the processing position.

[0058] The milling cutter module is used to mill the positions to be machined on large anchor head workpieces, and the drill bit module is used to drill holes in the milled positions; the displacement drive module is used to drive the milling cutter module and the drill bit module to move.

[0059] Furthermore, in one implementation:

[0060] The positioning module includes a structured light illumination module and a structured light detection module. The structured light illumination module illuminates the surface of the large anchor head workpiece with structured light; the structured light illumination is a cross-line grid structured light illumination.

[0061] The structured light detection module acquires images of the structured light mesh projected by the structured light illumination module onto the surface of the large anchor head workpiece, and converts the acquired images into a 3D point cloud model of the large anchor head workpiece; the structured light detection module uploads the acquired 3D point cloud model of the large anchor head workpiece to the control host.

[0062] The three-dimensional point cloud model is located in the spatial coordinate system of the positioning module; the control host has a pre-stored standard model of a large anchor head workpiece, which includes a model of an inclined hole and a model of the main body of the large anchor head workpiece, and the positions of the model of the inclined hole and the model of the main body of the large anchor head workpiece are relatively fixed.

[0063] The control host registers the 3D point cloud model with the pre-stored model of the large anchor head workpiece body, so as to register the standard model of the large anchor head workpiece into the spatial coordinate system of the positioning module to achieve accurate positioning of the standard model of the large anchor head workpiece.

[0064] Furthermore, in one implementation:

[0065] The marking module includes a laser marking machine. The laser marking machine and the positioning module are pre-registered to ensure that the laser marking machine operates within the spatial coordinate system of the positioning module for marking. The marking position of the laser marking machine is the intersection of the inclined hole model and the circumferential surface of the main body of the large anchor head workpiece.

[0066] Furthermore, in one implementation:

[0067] The milling cutter module includes a milling cutter head, and the drill bit module includes a drilling bit. A rotary motor drives the milling cutter head and the drilling bit to rotate.

[0068] The displacement drive module includes a multi-axis robotic arm, which drives the milling cutter head and the drilling bit to move. The multi-axis robotic arm is pre-registered with the positioning module to ensure that the multi-axis robotic arm works within the spatial coordinate system of the positioning module.

[0069] Furthermore, in one implementation:

[0070] The clamping module includes five to eight grippers arranged around the large anchor head workpiece to be clamped; the grippers include top grippers and bottom grippers, which clamp the large anchor head workpiece from both the top and bottom ends simultaneously to ensure stability during processing.

[0071] The milling cutter head and the drilling drill bit have the same diameter.

[0072] Example 2:

[0073] This embodiment also provides a method for machining circumferential oblique holes in large anchor head workpieces, using the aforementioned machining device for circumferential oblique holes in large anchor head workpieces, including the following steps:

[0074] Step 1: Place the large anchor head workpiece onto the fixture module and use the top and bottom jaws to clamp the large anchor head workpiece simultaneously to ensure stability during processing.

[0075] Step 2: Illuminate the surface of the large anchor head workpiece with structured light using a structured light illumination module; the structured light illumination is a multi-color cross-line grid structured light illumination.

[0076] The structured light detection module acquires images of the structured light mesh projected by the structured light illumination module onto the surface of the large anchor head workpiece, and converts the acquired images into a 3D point cloud model of the large anchor head workpiece; the structured light detection module uploads the acquired 3D point cloud model of the large anchor head workpiece to the control host.

[0077] The three-dimensional point cloud model is located in the spatial coordinate system of the positioning module; the control host has a pre-stored standard model of a large anchor head workpiece, which includes a model of an inclined hole and a model of the main body of the large anchor head workpiece, and the positions of the model of the inclined hole and the model of the main body of the large anchor head workpiece are relatively fixed.

[0078] The control host registers the 3D point cloud model with the pre-stored model of the large anchor head workpiece body, so as to register the standard model of the large anchor head workpiece into the spatial coordinate system of the positioning module to achieve accurate positioning of the standard model of the large anchor head workpiece.

[0079] Step 3: The laser marking machine marks the intersection of the inclined hole model and the circumferential surface of the large anchor head workpiece. The marking shape is the arc-shaped curved surface at the intersection of the inclined hole model and the circumferential surface of the large anchor head workpiece, thus providing positioning for subsequent milling and drilling.

[0080] Step 4: Use a multi-axis robotic arm to drive the milling cutter head to mill the marking position; during milling, the central axis of the milling cutter head coincides with the axis of the inclined hole model and the milling is tilted, entering from the side with the minimum milling depth, and stopping after the top surface of the milling cutter head completely contacts the large anchor head workpiece;

[0081] Step 5: After milling, use a multi-axis robotic arm to drive the drilling bit to drill holes at the marked positions; when drilling, the central axis of the drilling bit coincides with the axis of the inclined hole model, and the starting position of drilling is the position where the milling cutter head stops milling.

[0082] Furthermore, in one implementation:

[0083] Because it is inclined milling, the maximum milling depth is equal to H, and the minimum depth is 0.

[0084] Where H 2 =L 2 -D 2 L is the vertical length of the marking shape on the circumference of the large anchor head workpiece, and D is the diameter of the milling cutter head; and cosθ=D / L, where θ is the angle between the axis of the inclined hole model and the axis of the large anchor head workpiece.

[0085] Furthermore, in one implementation:

[0086] Furthermore, the multi-axis robotic arm is equipped with a guide laser, which is located on the axis of the milling cutter head and the drilling bit, to assist manual judgment on whether the positioning is accurate.

[0087] Furthermore, in one implementation:

[0088] The structured light illumination module and the structured light detection module are mounted on the same telescopic rod, which can extend into the drilled circumferential oblique hole to perform in-hole detection.

[0089] During in-hole inspection, a structured light illumination module is used to illuminate the surface of the large anchor head workpiece with speckle lighting; the speckle lighting method is random speckle lighting; the marking module is set on another telescopic rod, which can also extend into the marked circumferential oblique hole, so that the marking module can extend into the circumferential oblique hole for in-hole processing.

[0090] The structured light detection module acquires images of speckle patterns projected by the structured light illumination module within the oblique holes around the circumference of the large anchor head workpiece, and sends the acquired speckle images to the control host.

[0091] The control host calculates the smoothness of the inner surface of the circumferential oblique hole based on the acquired speckle image; when the smoothness meets the preset conditions, the drilling is completed; when the smoothness does not meet the preset conditions, the control host controls the marking module to perform internal processing on the drilled circumferential oblique hole. The internal processing method is to use laser marking heat treatment to reduce the roughness inside the hole.

[0092] Furthermore, in one implementation:

[0093] The control host calculates the smoothness of the inner surface of the circumferential oblique hole based on the acquired speckle image as follows:

[0094] The control host performs contrast analysis on the speckle image to obtain the contrast of the speckle image; the control host calculates the roughness of the inner surface of the inclined hole based on the relationship between the contrast of the speckle image and the roughness.

[0095] Thus far, the description of the above embodiments has been provided for illustrative and descriptive purposes. This is not intended to be exhaustive or limiting of the present disclosure. Individual elements or features of particular embodiments are generally not limited to those particular embodiments, but may be interchanged and used in selected embodiments where applicable, even if not specifically shown or described. In many respects, the same elements or features may also be varied. Such variations are not considered a departure from this disclosure, and all such modifications are intended to be included within the scope of this disclosure.

[0096] Example embodiments are provided so that this disclosure will become thorough and will fully convey the scope to those skilled in the art. Numerous details, such as examples of specific parts, apparatus, and methods, are set forth to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that the specific details are not required, and the example embodiments may be implemented in many different forms, neither of which should be construed as limiting the scope of this disclosure. In some example embodiments, well-known processes, well-known apparatus structures, and well-known techniques are not described in detail.

[0097] Technical terms are used herein for the purpose of describing specific exemplary embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a” and “the” as used herein may also refer to the plural forms. The terms “comprising” and “having” are inclusive and therefore specify the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or additional having of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. Unless expressly indicated in order of execution, the method steps, processes, and operations described herein are not to be construed as necessarily requiring performance in the specific order discussed and shown. It should also be understood that additional or optional steps may be employed.

Claims

1. A method for machining circumferential oblique holes in a large anchor head workpiece, using a machining device for circumferential oblique holes in a large anchor head workpiece. The processing device for the circumferential oblique hole of a large anchor head workpiece includes a control host, a positioning module, a marking module, a fixture module, a milling cutter module, a displacement drive module, and a drill module; The clamping module is used to clamp large anchor head workpieces and maintain stable clamping; The positioning module is used for optical positioning of large anchor head workpieces, determining the position of large anchor head workpieces and constructing a three-dimensional model of large anchor head workpieces; the marking module is used for marking the processing position on the surface of large anchor head workpieces to clarify the processing position; the positioning module includes a structured light illumination module and a structured light detection module. The milling cutter module is used to mill the areas to be machined on large anchor head workpieces, and the drill bit module is used to drill holes in the milled areas; the displacement drive module is used to drive the milling cutter module and the drill bit module to move. Its features are, The processing method includes the following steps: Step 1: Place the large anchor head workpiece onto the fixture module and use the top and bottom jaws to hold the large anchor head workpiece simultaneously to ensure stability during processing. Step 2: Illuminate the surface of the large anchor head workpiece with structured light using a structured light illumination module; the structured light illumination is a multi-color cross-line grid structured light illumination. The structured light detection module acquires images of the structured light mesh projected by the structured light illumination module onto the surface of the large anchor head workpiece, and converts the acquired images into a 3D point cloud model of the large anchor head workpiece; the structured light detection module uploads the acquired 3D point cloud model of the large anchor head workpiece to the control host. The three-dimensional point cloud model is located in the spatial coordinate system of the positioning module; the control host has a pre-stored standard model of a large anchor head workpiece, which includes a model of an inclined hole and a model of the main body of the large anchor head workpiece, and the positions of the model of the inclined hole and the model of the main body of the large anchor head workpiece are relatively fixed. The control host registers the 3D point cloud model with the pre-stored model of the large anchor head workpiece body, so as to register the standard model of the large anchor head workpiece into the spatial coordinate system of the positioning module to achieve accurate positioning of the standard model of the large anchor head workpiece. Step 3: The laser marking machine marks the intersection of the inclined hole model and the circumferential surface of the large anchor head workpiece. The marking shape is the arc-shaped curved surface at the intersection of the inclined hole model and the circumferential surface of the large anchor head workpiece, thus providing positioning for subsequent milling and drilling. Step 4: Use a multi-axis robotic arm to drive the milling cutter head to mill the marking position; during milling, the central axis of the milling cutter head coincides with the axis of the inclined hole model and the milling is tilted, entering from the side with the minimum milling depth, and stopping after the top surface of the milling cutter head completely contacts the large anchor head workpiece; Step 5: After milling, use a multi-axis robotic arm to drive the drilling bit to drill holes at the marking positions; when drilling, the central axis of the drilling bit coincides with the axis of the inclined hole model, and the starting position of drilling is the position where the milling cutter head stops milling. The structured light illumination module and the structured light detection module are mounted on the same telescopic rod, which can extend into the drilled circumferential oblique hole to perform in-hole detection. During in-hole inspection, a structured light illumination module is used to illuminate the surface of the large anchor head workpiece with speckle lighting; the speckle lighting method is random speckle lighting; the marking module is set on another telescopic rod, which can also extend into the marked circumferential oblique hole, so that the marking module can extend into the circumferential oblique hole for in-hole processing. The structured light detection module acquires images of speckle patterns projected by the structured light illumination module within the oblique holes around the circumference of the large anchor head workpiece, and sends the acquired speckle images to the control host. The control host calculates the smoothness of the inner surface of the circumferential oblique hole based on the acquired speckle image; when the smoothness meets the preset conditions, the drilling is completed; when the smoothness does not meet the preset conditions, the control host controls the marking module to perform internal processing on the drilled circumferential oblique hole. The internal processing method is to use laser marking heat treatment to reduce the roughness inside the hole.

2. The method for machining a circumferential oblique hole in a large anchor head workpiece according to claim 1, characterized in that: The marking module includes a laser marking machine. The laser marking machine and the positioning module are pre-registered to ensure that the laser marking machine operates within the spatial coordinate system of the positioning module for marking. The marking position of the laser marking machine is the intersection of the inclined hole model and the circumferential surface of the main body of the large anchor head workpiece.

3. The method for machining a circumferential oblique hole in a large anchor head workpiece according to claim 2, characterized in that: The milling cutter module includes a milling cutter head, and the drill bit module includes a drilling bit. A rotary motor drives the milling cutter head and the drilling bit to rotate. The displacement drive module includes a multi-axis robotic arm, which drives the milling cutter head and the drilling bit to move. The multi-axis robotic arm is pre-registered with the positioning module to ensure that the multi-axis robotic arm works within the spatial coordinate system of the positioning module.

4. The method for machining a circumferential oblique hole in a large anchor head workpiece according to claim 3, characterized in that: The clamping module includes five to eight grippers arranged around the large anchor head workpiece to be clamped; the grippers include top grippers and bottom grippers, which clamp the large anchor head workpiece from both the top and bottom ends simultaneously to ensure stability during processing. The milling cutter head and the drilling drill bit have the same diameter.

5. The method for machining a circumferential oblique hole in a large anchor head workpiece according to claim 1, characterized in that: Because it is inclined milling, the maximum milling depth is equal to H, and the minimum depth is 0. Where H 2 =L 2 -D 2 L is the vertical length of the marking shape on the circumference of the large anchor head workpiece, and D is the diameter of the milling cutter head; and cosθ=D / L, where θ is the angle between the axis of the inclined hole model and the axis of the large anchor head workpiece.

6. The method for machining a circumferential oblique hole in a large anchor head workpiece according to claim 1, characterized in that: Furthermore, the multi-axis robotic arm is equipped with a guide laser, which is located on the axis of the milling cutter head and the drilling bit, to assist manual judgment on whether the positioning is accurate.

7. The method for machining a circumferential oblique hole in a large anchor head workpiece according to claim 1, characterized in that: The control host calculates the smoothness of the inner surface of the circumferential oblique hole based on the acquired speckle image as follows: The control host performs contrast analysis on the speckle image to obtain the contrast of the speckle image; the control host calculates the roughness of the inner surface of the inclined hole based on the relationship between the contrast of the speckle image and the roughness.

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