Robot milling system suitable for part edge treatment and control method thereof

Abstract

The invention discloses a robot milling system suitable for part edge treatment and a control method thereof.A robot unit is arranged on an external shaft, connected with a data processing unit through a cable and used for completing milling operation of a workpiece to be treated; the external shaft is connected with the robot unit and the supporting table through cables. The supporting table is arranged on the external shaft and used for supporting a workpiece to be treated; the tool changing unit is connected with the data processing unit through a cable and is used for completing the replacement of a milling tool; and the data processing unit is connected with the man-machine interaction unit and is used for realizing data processing and control of each unit and part in the system. According to the robot milling system and the control method thereof, the robot milling system is simple in composition, double-sided milling of parts can be achieved without an additional turn-over device, compared with traditional automatic chamfering equipment and systems, the robot milling system has the great efficiency advantage in operation efficiency, and the robot milling system has no requirement for the shapes of the parts and is suitable for large-scale popularization and application. The device can be suitable for edge milling of all irregular-shaped parts, and the effect of replacing a person with a machine is really achieved; the system is high in intelligent degree, has on-line and off-line operation functions, can be easily integrated to enterprise workshop production links, has low requirements on actual environment and enterprise informatization degree, is high in practicability, is high in modularization degree, can be flexibly matched according to enterprise productivity requirements, and realizes maximization of unit area productivity.

Description

Technical Field

[0001] The invention belongs to the field of robot milling processing, and in particular relates to a robot milling system suitable for part edge processing and a control method thereof. Background Art

[0002] In the manufacturing process of heavy industry products such as ships, offshore engineering, and steel structures, a large number of parts are the most basic units that make up the final large-scale products. Generally, the edges of parts need to be processed to meet the requirements of paint adhesion, usually by rounding, so as to reduce corrosion in harsh environments such as the ocean, thereby extending the service life of the product. Relevant companies still generally use handheld angle grinders or chamfering machines to process the edges of parts. At present, based on intelligent technology, some manufacturers have developed some automatic chamfering equipment and methods for parts, but due to the wide variety of part types, the equipment is incompatible, which not only leads to generally low equipment efficiency, but also adds additional sorting and maintenance content, so that customers' essential needs for "machine replacement" cannot be met. In addition, whether a large number of parts are turned over also greatly limits the scope of application of the clamping and positioning device of the automatic chamfering equipment. Usually, the existing equipment uses a flip machine or a customized flip mechanism to manually optimize the processing process (to achieve flipping and chamfering) to make up for the change in beat caused by forced flipping due to process shortcomings. More conventionally, edge processing equipment usually uses manual flipping, which is not only labor-intensive, but also has high operational risks.

[0003] Therefore, existing technologies and equipment are unable to effectively guarantee efficient, high-quality automated chamfering of local edge features of massive and diverse parts, and cannot meet the application requirements of “machine replacement” under actual working conditions. Summary of the invention

[0004] In view of the above problems, an object of the present invention is to provide a robot milling system suitable for part edge processing and a control method thereof.

[0005] The specific technical solution for achieving the purpose of the present invention is:

[0006] A robot milling system suitable for part edge processing, comprising a robot unit, an external axis, a support table, a tool changing unit, a data processing unit and a human-machine interaction unit;

[0007] Wherein, the robot unit is arranged on the external axis and connected to the data processing unit through a cable, so as to complete the milling operation of the workpiece to be processed;

[0008] The external shaft is connected to the robot unit and the support platform respectively through cables;

[0009] The support platform is arranged on the external shaft and is used to support the workpiece to be processed;

[0010] The tool changing unit is connected to the data processing unit via a cable to complete the replacement of the milling tool;

[0011] The data processing unit is connected to the human-computer interaction unit and is used to realize data processing and control of various units and components in the system.

[0012] Further, the robot unit includes an industrial six-joint robot, a double-sided milling device and a perception module;

[0013] The industrial six-joint robot is connected to an external shaft, and a double-sided milling device and a perception module are mounted at the end thereof. The double-sided milling device is used to implement specific milling operations, and the perception module is used to obtain three-dimensional data of a workpiece to be milled.

[0014] Furthermore, the support platform is composed of a plurality of lifting devices, each of which is independently controlled and connected to the data processing unit respectively, for supporting the workpiece to be processed;

[0015] Each lifting device includes a locking cylinder, a fiber optic sensor, an electro-permanent magnet, a dust cover and an external housing;

[0016] The output end of the locking cylinder is connected to the electro-permanent magnet to control the lifting and lowering of the electro-permanent magnet;

[0017] The optical fiber sensor is arranged around the electro-permanent magnet to sense the lifting condition of the lifting device. The dust cover is arranged on the top of the lifting device to prevent dust. The external shell is sleeved on the outside of the lifting device to protect the lifting device.

[0018] Further, the tool changing unit is arranged near the robot unit and includes a visual inspection module and a tool changing module;

[0019] The visual inspection module is used for performing real-time visual inspection on the blade of the double-sided milling device, and the tool changing module is used for storing the tool to be replaced.

[0020] Furthermore, the data processing unit is used to process the data obtained by the perception module and control the industrial six-joint robot to drive the double-sided milling device to perform milling operations;

[0021] The data processing unit also receives the detection data of the support platform, and controls the actions of each lifting device in the support platform according to the detection signal and the data results obtained by the sensing module;

[0022] The data processing unit also receives and processes the blade wear visual detection data sent by the tool changing unit, and determines whether to replace the double-sided milling device based on the data.

[0023] Furthermore, the data processing unit also includes a drawing generation module, a process model generation module and a three-dimensional data processing module, which are used to realize the control of the robot unit, the support table and the tool changing unit.

[0024] Furthermore, the human-machine interaction unit is communicatively connected to the data processing unit, and includes a movable touch screen for intuitively operating and displaying the processing process and results of the robot milling system.

[0025] The present invention also provides a robot milling system control method suitable for part edge processing based on the above system, comprising the following steps:

[0026] Step 1: Place the plate parts to be processed on the lifting device in the full lifting state of the support platform, and the data processing unit controls the industrial six-joint robot to manipulate the perception module to obtain three-dimensional data of the plate parts and transmit it to the data processing unit;

[0027] Step 2: The three-dimensional data processing module of the data processing unit processes the three-dimensional data to obtain the two-dimensional and three-dimensional contour data of the plate part to be processed;

[0028] Step 3: The process model generation module of the data processing unit reads the two-dimensional contour of the plate part and matches the existing process model;

[0029] Step 4: The drawing programming module of the data processing unit generates a path trajectory according to the process model matching result, and interpolates and maps the path trajectory to the three-dimensional contour of the plate part based on the world coordinate system;

[0030] Step 5: The data processing unit controls the movement of each lifting device in the support platform according to the two-dimensional contour and position information of the plate part, lowers the height of the lifting device above the support platform that is not blocked by the plate part, and determines the detection status of the optical fiber sensor on the remaining lifting devices to ensure that there is no collision interference with the remaining lifting devices during the processing of the double-sided milling tool;

[0031] Step 6: The data processing unit controls the electro-permanent magnet in the lifting device that has not descended to be powered on, enabled, and magnetized to adsorb and fix the plate parts;

[0032] Step 7, the robot unit processes the edge of the plate part through a double-sided milling device according to the actual path trajectory obtained in step 4;

[0033] Step 8: After the edge processing of the plate parts is completed, the data processing unit controls the electric permanent magnet to reversely power on and demagnetize, indicating that the processing is completed;

[0034] Step 9: During the processing, the data processing unit controls the visual inspection module of the tool changing unit to detect the wear of the blade of the double-sided milling device in real time, and controls the robot unit to replace the blade of the double-sided milling device when necessary.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] (1) The robot milling system of the present invention has a simple composition and can realize double-sided milling of parts without an additional turning device. The operating efficiency has a great efficiency advantage over traditional automated chamfering equipment and systems;

[0037] (2) The robot milling system and control method of the present invention have no requirements on the shape of parts and can be applied to the edge milling processing of all irregularly shaped parts, truly achieving "machines replacing people"; and they are highly intelligent, have online and offline operation functions, can be easily integrated into the production process of enterprise workshops, have low requirements on the actual environment and the degree of informatization of the enterprise, are highly practical, and have a high degree of modularization. The modules can be flexibly matched according to the enterprise's production capacity requirements to maximize the production capacity per unit area.

[0038] The present invention is further described below in conjunction with specific implementation modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of the robot milling system suitable for part edge processing of the present invention.

[0040] Figure 2 It is a top view of the overall structure of the robot milling system suitable for part edge processing of the present invention.

[0041] Figure 3 Another angle view of the overall structure of the robot milling system suitable for part edge processing of the present invention.

[0042] Figure 4 The figure is a block diagram of the overall structure of the robot milling system suitable for part edge processing according to the present invention.

[0043] Figure 5 It is a schematic diagram of the structure of the robot unit of the robot milling system of the present invention.

[0044] Figure 6 It is a schematic diagram of the support platform structure of the robot milling system of the present invention.

[0045] Figure 7 for Figure 6 A partial schematic diagram of the support platform structure.

[0046] Figure 8The present invention is a flow chart of a robot milling system control method suitable for part edge processing.

[0047] Fig. 9 It is a schematic diagram of the internal modules of the data processing unit in the present invention. DETAILED DESCRIPTION

[0048] Example

[0049] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. The described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an kind" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0051] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0052] Combination Figure 1 , a robot milling system suitable for part edge processing, comprising a robot unit 1, an external axis 2, a support table 3, a tool changing unit 4, a data processing unit 5 and a human-machine interaction unit 6;

[0053] The robot unit 1 is arranged on the external shaft 2 and connected to the data processing unit 5 via a cable, so as to complete the milling operation of the workpiece to be processed;

[0054] The external shaft 2 is connected to the robot unit 1 and the support platform 3 respectively through cables;

[0055] The support table 3 is arranged on the outer shaft 2 for the workpiece to be processed;

[0056] The tool changing unit 4 is connected to the data processing unit 5 via a cable to complete the replacement of the milling tool;

[0057] The data processing unit 5 is connected to the human-computer interaction unit 6 to realize data processing and control of each unit and component in the system.

[0058] The robot unit 1 includes an industrial six-joint robot 11, a double-sided milling device 12 and a sensing module 13;

[0059] The industrial six-joint robot 11 is connected to the external shaft 2, and its end is equipped with a double-sided milling device 12 and a perception module 13. The double-sided milling device 12 is used to realize specific milling operations, namely, the milling of the upper and lower edges of the parts. The perception module 13 is used to obtain three-dimensional data of the workpiece to be milled. The perception module 13 can use a scanning or photographic three-dimensional sensor to meet the requirements of different sizes and different production rhythms.

[0060] The support platform 3 is composed of an array of multiple lifting devices 31, each of which is independently controlled and connected to the data processing unit 5, respectively, for supporting the workpiece to be processed;

[0061] Each lifting device 31 includes a locking cylinder 311, an optical fiber sensor 312, an electro-permanent magnet 313, a dust cover 314 and an external housing 315;

[0062] Each locking cylinder 311 is disposed on a base, and the output end of the locking cylinder 311 is connected to the electro-permanent magnet 313 to control the lifting and lowering of the electro-permanent magnet 313;

[0063] The optical fiber sensor 312 is arranged around the electropermanent magnet 313 to sense the lifting and lowering conditions of the lifting device 31. The dust cover 314 is arranged on the top of the lifting device 31 to prevent dust. The external shell 315 is sleeved on the outside of the lifting device 31 to protect the lifting device 31.

[0064] The plurality of lifting devices 31 together realize the placement, detection, adsorption of plate parts 7 of different shapes on the support platform 3 and avoidance of the path of the double-sided milling tool 12 .

[0065] The tool changing unit 4 is arranged near the robot unit 1 and includes a visual inspection module 41 and a tool changing module 42;

[0066] The visual inspection module 41 is used to perform real-time visual inspection on the blade of the double-sided milling device 12 , and the tool changing module 42 is used to store the tool to be replaced.

[0067] Furthermore, the data processing unit 5 is used to process the data obtained by the perception module 13 and control the industrial six-joint robot 11 to drive the double-sided milling device 12 to perform milling operations;

[0068] The data processing unit 5 also receives the detection data of the support platform 3, and controls the actions of each lifting device 31 in the support platform 3 according to the detection signal and the data results obtained by the sensing module 13;

[0069] The data processing unit 5 also receives and processes the blade wear visual detection data sent by the tool changing unit 4, and determines whether to replace the double-sided milling device 12 based on the data.

[0070] In this embodiment, the entity of the data processing unit 5 includes a host computer and a control cabinet, and the host computer is placed in the control cabinet.

[0071] In addition, the host computer of the data processing unit 5 also includes a drawing generation module, a process model generation module and a three-dimensional data processing module, which are used to realize the control of the robot unit 1, the support platform 3 and the tool changing unit 4.

[0072] The human-machine interaction unit 6 is communicatively connected with the data processing unit 5 and includes a movable touch screen for intuitively operating and displaying the machining process and results of the robot milling system.

[0073] The present invention also provides a robot milling system control method suitable for part edge processing based on the above system, comprising the following steps:

[0074] Step 1: Place the plate part 7 to be processed on the lifting device 31 in the full lifting state of the support platform 3, and the data processing unit 5 controls the industrial six-joint robot 11 to manipulate the sensing module 13 to obtain three-dimensional data of the plate part 7 and transmit it to the data processing unit 5;

[0075] Step 2: The three-dimensional data processing module of the data processing unit 5 processes the three-dimensional data to obtain the two-dimensional and three-dimensional contour data of the plate part 7 to be processed;

[0076] Step 3, the process model generation module of the data processing unit 5 reads the two-dimensional contour of the plate part 7 and matches the existing process model;

[0077] Step 4: The drawing programming module of the data processing unit 5 generates a path trajectory according to the process model matching result, and interpolates and maps the path trajectory to the three-dimensional contour of the plate part 7 based on the world coordinate system;

[0078] Step 5, the data processing unit 5 controls the movement of each lifting device 31 in the support platform 3 according to the two-dimensional profile and position information of the plate part 7, lowers the height of the lifting device 31 above the support platform 3 that is not blocked by the plate part 7, and determines the detection status of the optical fiber sensor 312 on the remaining lifting devices 31 to ensure that there is no collision interference between the double-sided milling tool 12 and the remaining lifting devices 31 during the processing process;

[0079] Step 6: The data processing unit 5 controls the electro-permanent magnet 313 in the lifting device 31 that has not descended to be powered on, enabled, and magnetized to adsorb and fix the plate part 7;

[0080] Step 7: The robot unit 1 processes the edge of the plate part 7 through the double-sided milling device 12 according to the actual path trajectory obtained in step 4:

[0081] The industrial six-joint robot 11 controls the double-sided milling device 12 to move to a fixed distance above the starting point of the path trajectory, and the upper and lower cutter discs of the double-sided milling device 12 start to rotate synchronously. The industrial six-joint robot 11 controls the double-sided milling device 12 to slowly approach the starting point of the path trajectory at the edge of the plate part 7. The double-sided milling device 12 automatically adheres to the part surface in the horizontal and vertical directions and maintains constant force. The industrial six-joint robot 11 performs milling operations according to the path trajectory.

[0082] Step 8: After the edge processing of the plate part 7 is completed, the data processing unit 5 controls the electro-permanent magnet 313 to be powered on and demagnetized in the reverse direction, indicating that the processing is completed;

[0083] Step 9: During the machining process, the data processing unit 5 controls the visual inspection module 41 of the tool changing unit 4 to detect the wear of the blade of the double-sided milling device 12 in real time, and controls the robot unit 1 to replace the blade of the double-sided milling device 12 when necessary.

[0084] The industrial six-joint robot 11 drives the double-sided milling device 12 to move to the visual inspection module 41. The visual inspection module 41 collects high-definition images of the blade and transmits them to the data processing unit 5. The data processing unit 5 determines the wear condition of the blade through a defect detection algorithm. When the wear condition of the blade reaches the replacement standard, the data processing unit 5 controls the robot unit 1 and the tool changing unit 4 to cooperate to complete the tool replacement.

[0085] In addition, the double-sided milling device 12 used in this embodiment is taken as an example, which includes a milling assembly, a spline spindle assembly, a rotary lifting assembly, a floating assembly and a quick-change assembly;

[0086] The milling assembly is connected to the spline spindle assembly, and the spline spindle assembly is connected to the rotary lifting assembly. The milling assembly is driven by the spline spindle and performs axial rotation and axial movement under the control of the rotary lifting assembly.

[0087] The rotary lifting assembly is connected to the floating assembly, and the floating assembly controls the bidirectional constant force floating of the rotary lifting assembly.

[0088] The quick-change assembly is connected to the milling assembly and the rotating lifting assembly and is used for quickly replacing the milling assembly.

[0089] The milling assembly includes an upper milling cutter head, an upper limit plate, a lower milling cutter head, a lower limit plate, a guide wheel, a milling cutter head mounting bearing, and a guide wheel mounting bearing;

[0090] The upper limit plate and the lower limit plate are arranged correspondingly, an upper milling cutter head is arranged at a position in a relative direction between the upper limit plate and the lower limit plate, and a lower milling cutter head is arranged at a corresponding position of the lower limit plate;

[0091] Thrust bearings are installed in both the upper limit plate and the lower limit plate.

[0092] A guide wheel is arranged between the upper milling cutter head and the lower milling cutter head, and the guide wheel is connected to the spline spindle assembly through a guide wheel mounting bearing;

[0093] The upper milling cutter head is connected to the spline spindle assembly, and the upper milling cutter head is connected to the quick-change assembly through the milling cutter head mounting bearing;

[0094] The lower milling cutter head is connected to the spline spindle assembly; the upper milling cutter head and the lower milling cutter head are provided with a plurality of cutter grains;

[0095] The upper milling cutter head and the lower milling cutter head are symmetrically arranged along the cross section of the spline spindle assembly.

[0096] The spline spindle assembly comprises a spline sleeve, a quick-insert connector, a second positioning bead and a spline spindle;

[0097] A quick-connect connector is provided on the extended shaft of the spline spindle, and a second positioning bead is provided on the quick-connect connector;

[0098] The spline spindle assembly is connected through a spline sleeve and a guide wheel, and the spline spindle assembly is connected to the rotary lifting assembly through a quick-insert joint and a second locating bead. The torque is transmitted through the quick-insert joint, and the axial tension is transmitted through the second locating bead, so as to realize the synchronous axial rotation and synchronous axial movement of the spline spindle assembly and the rotary lifting assembly.

[0099] The quick-change assembly includes a quick-change shaft seat and a quick-change device;

[0100] The quick-change shaft seat is provided with a pin hole and a first positioning bead, and the quick-change device is provided with an indexing pin and a positioning groove;

[0101] The quick-change shaft seat and the quick-change device are quickly connected and positioned by the first positioning bead and the positioning groove. After completion, the quick-change shaft seat and the quick-change device are connected and fastened by the cooperation of the indexing pin and the pin hole.

[0102] Based on the double-sided milling device 12 similar to this example, the sheet metal parts can be turned over to achieve double-sided milling, which greatly reduces the workload of manual turning and streamlines the parts processing process. At the same time, from the perspective of milling efficiency, the milling efficiency of the double-sided milling device is doubled compared to single-sided milling, and the operating efficiency is significantly improved.

[0103] The robot milling system of the present invention has a simple composition and can achieve double-sided milling of parts without an additional turning device. The operating efficiency has a very large efficiency advantage over traditional automated chamfering equipment and systems. It has no requirements on the shape of the parts and can be applied to the edge milling of all irregularly shaped parts, truly achieving "machines replacing people"; and it has a high degree of intelligence, with online and offline operation functions, and can be easily integrated into the production links of enterprise workshops. It has low requirements on the actual environment and the degree of informatization of the enterprise, and is highly practical. At the same time, it has a high degree of modularization, and the module composition can be flexibly matched according to the enterprise's production capacity requirements to maximize the production capacity per unit area.

[0104] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A robot milling system suitable for part edge processing, characterized in that: It comprises a robot unit (1), an external axis (2), a support platform (3), a tool changing unit (4), a data processing unit (5) and a human-machine interaction unit (6); The robot unit (1) is arranged on an external shaft (2) and is connected to a data processing unit (5) via a cable, so as to complete a milling operation of a workpiece to be processed; The external shaft (2) is connected to the robot unit (1) and the support platform (3) respectively via cables; The support platform (3) is arranged on the external shaft (2) and is used to support the workpiece to be processed; The tool changing unit (4) is connected to the data processing unit (5) via a cable, and is used to complete the replacement of the milling tool; The data processing unit (5) is connected to the human-computer interaction unit (6) and is used to realize data processing and control of various units and components in the system.

2. The robot milling system suitable for part edge processing according to claim 1, characterized in that: The robot unit (1) comprises an industrial six-joint robot (11), a double-sided milling device (12) and a perception module (13); The industrial six-joint robot (11) is connected to an external shaft (2), and a double-sided milling device (12) and a sensing module (13) are mounted on the end thereof. The double-sided milling device (12) is used to implement a specific milling operation, and the sensing module (13) is used to obtain three-dimensional data of a workpiece to be milled.

3. The robot milling system suitable for part edge processing according to claim 1, characterized in that: The support platform (3) is composed of a plurality of lifting devices (31), each of which is independently controlled and respectively connected to a data processing unit (5) for supporting a workpiece to be processed; Each lifting device (31) includes a locking cylinder (311), an optical fiber sensor (312), an electropermanent magnet (313), a dust cover (314) and an external shell (315); The output end of the locking cylinder (311) is connected to the electro-permanent magnet (313) and is used to control the lifting and lowering of the electro-permanent magnet (313); The optical fiber sensor (312) is arranged around the electropermanent magnet (313) to sense the lifting condition of the lifting device (31); the dust cover (314) is arranged on the top of the lifting device (31) to prevent dust; and the external shell (315) is sleeved on the outside of the lifting device (31) to protect the lifting device (31).

4. The robot milling system suitable for part edge processing according to claim 2, characterized in that: The tool changing unit (4) is arranged near the robot unit (1), and comprises a visual inspection module (41) and a tool changing module (42); The visual inspection module (41) is used to perform real-time visual inspection on the blade of the double-sided milling device (12), and the tool changing module (42) is used to store the tool to be replaced.

5. The robot milling system suitable for part edge processing according to claim 3, characterized in that: The data processing unit (5) is used to process the data obtained by the perception module (13) and control the industrial six-joint robot (11) to drive the double-sided milling device (12) to perform milling operations; The data processing unit (5) also receives detection data of the support platform (3), and controls the actions of each lifting device (31) in the support platform (3) according to the detection signal and the data results obtained by the sensing module (13); The data processing unit (5) also receives and processes the blade wear visual detection data sent by the tool changing unit (4), and determines whether to replace the double-sided milling device (12) based on the data.

6. The robot milling system suitable for part edge processing according to claim 5, characterized in that: The data processing unit (5) also includes a drawing generation module, a process model generation module and a three-dimensional data processing module, which are used to realize the control of the robot unit (1), the support platform (3) and the tool changing unit (4).

7. The robot milling system suitable for part edge processing according to claim 1, characterized in that: The human-machine interaction unit (6) is communicatively connected to the data processing unit (5), and comprises a movable touch screen for intuitively operating and displaying the machining process and results of the robot milling system.

8. A robot milling system control method suitable for part edge processing based on any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: The plate part (7) to be processed is placed on the lifting device (31) in the fully lifted state of the support platform (3); the data processing unit (5) controls the industrial six-joint robot (11) and controls the sensing module (13) to acquire three-dimensional data of the plate part (7) and transmit the data to the data processing unit (5); Step 2: The three-dimensional data processing module of the data processing unit (5) processes the three-dimensional data to obtain the two-dimensional and three-dimensional contour data of the plate part (7) to be processed; Step 3, the process model generation module of the data processing unit (5) reads the two-dimensional contour of the plate part (7) and matches it with the existing process model; Step 4, the drawing programming module of the data processing unit (5) generates a path trajectory according to the process model matching result, and interpolates and maps the path trajectory onto the three-dimensional contour of the plate part (7) based on the world coordinate system; Step 5, the data processing unit (5) controls the movement of each lifting device (31) in the support platform (3) according to the two-dimensional profile and position information of the plate part (7), lowers the height of the lifting device (31) above the support platform (3) that is not blocked by the plate part (7), and determines the detection status of the optical fiber sensor (312) on the remaining lifting devices (31) to ensure that there is no collision interference between the double-sided milling tool (12) and the remaining lifting devices (31) during the processing process; Step 6, the data processing unit (5) controls the electro-permanent magnet (313) in the lifting device (31) that has not descended to be powered on, enabled, and magnetized, so as to adsorb and fix the plate part (7); Step 7, the robot unit (1) processes the edge of the plate part (7) through the double-sided milling device (12) according to the actual path trajectory obtained in step 4; Step 8: After the edge processing of the plate part (7) is completed, the data processing unit (5) controls the electro-permanent magnet (313) to be powered on and demagnetized in the reverse direction, indicating that the processing is completed; Step 9: During the processing, the data processing unit (5) controls the visual inspection module (41) of the tool changing unit (4) to detect the wear of the blade of the double-sided milling device (12) in real time, and controls the robot unit (1) to replace the blade of the double-sided milling device (12) when necessary.

9. The robot milling system control method suitable for part edge processing according to claim 8, characterized in that: The process in step 7 in which the robot unit (1) processes the edge of the plate part (7) according to the actual path trajectory obtained in step 4 is as follows: The industrial six-joint robot (11) controls the double-sided milling device (12) to move to a fixed distance above the starting point of the path trajectory, and the upper and lower cutter discs of the double-sided milling device (12) start to rotate synchronously. The industrial six-joint robot (11) controls the double-sided milling device (12) to slowly approach the starting point of the path trajectory at the edge of the plate part (7). The double-sided milling device (12) automatically fits the part surface in the horizontal and vertical directions and maintains constant force. The industrial six-joint robot (11) performs milling operations according to the path trajectory.

10. The robot milling system control method suitable for part edge processing according to claim 8, characterized in that: The process in which the data processing unit (5) in step 9 controls the visual detection module (41) of the tool changing unit (4) to detect the wear of the blade of the double-sided milling device (12) in real time and replace the blade is as follows: The industrial six-joint robot (11) drives the double-sided milling device (12) to move to the visual inspection module (41). The visual inspection module (41) collects a high-definition image of the blade and transmits it to the data processing unit (5). The data processing unit (5) determines the wear condition of the blade through a defect detection algorithm. When the wear condition of the blade reaches a replacement standard, the data processing unit (5) controls the robot unit (1) and the tool changing unit (4) to cooperate to complete the replacement of the tool.

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