A milling equipment for the production of precision hardware parts and its control method

Abstract

The present invention relates to the technical field of precision hardware processing, in particular to a milling device for precision hardware production and its control method. A first concave base pier is arranged on the left side of the platform base, a first column is arranged on the top of the first concave base pier, a first sliding table module is installed on the front surface of the first column, a vertical displacement head is fixed above the first sliding table module, a first Y-direction screw rod module is connected to the bottom of the vertical displacement head, the first Y-direction screw rod module is arranged in a power groove on the front surface of the first column, one end of the first Y-direction screw rod module is connected to a first stepping motor through a coupling, and the first stepping motor is fixed on the top of the first column. The present invention can integrate functions such as vertical milling, horizontal milling, special-shaped clamping, and structure scanning, improve the singularity and limitation of the functions and modes of traditional milling devices, replace manual labor, and can effectively improve the qualified quality of milled products.

Description

Technical Field

[0001] The present invention relates to the technical field of precision hardware part processing, and particularly to a milling device for precision hardware part production and its control method. Background Art

[0002] Milling is a commonly used cutting process, mainly used for processing various flat surfaces, curved surfaces, grooves and hardware parts with complex shapes. Through the high-speed rotation of the milling cutter and the movement of the workpiece, the milling process can remove a part of the material surface to achieve the required shape and precision. Milling is widely used in fields such as machining, mold manufacturing, and the automotive industry, and is one of the important processes indispensable to the manufacturing industry. The existing mainstream milling devices are usually vertical milling machines and horizontal milling machines, both of which have different milling advantages and can meet different milling production requirements. However, when it is necessary to process precision hardware parts with both vertical milling effects and horizontal milling effects, multiple devices need to be used to perform horizontal and vertical processing on the precision hardware parts, which greatly reduces the milling production efficiency; and precision hardware parts have very strict milling accuracy requirements, but the existing milling devices generally have relatively large program control errors, resulting in serious deviation phenomena in the milling of precision hardware parts; and it is difficult for some milling devices to achieve stable milling clamping for the processing of special-shaped precision hardware parts with irregular shapes, causing the special-shaped precision hardware parts to break away from the device during the milling process, affecting the production and processing quality of the special-shaped precision hardware parts and unable to meet the expected milling requirements. Summary of the Invention

[0003] The present invention overcomes the deficiencies of the prior art and provides a milling device for precision hardware part production and its control method.

[0004] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] The present invention provides a milling device for precision hardware part production, and the milling device includes a platform base:

[0006] A first concave base pier is arranged on the left side of the platform base. A first column is arranged on the top of the first concave base pier. A first slide module is installed on the front surface of the first column. A vertical displacement head is fixed above the first slide module. The bottom of the vertical displacement head is connected to a first Y-direction screw module. The first Y-direction screw module is arranged in a power groove on the front surface of the first column. One end of the first Y-direction screw module is connected to a first stepping motor through a coupling, and the first stepping motor is fixed on the top of the first column;

[0007] On the right side of the platform base, there is a second concave base pier. Above the second concave base pier, there is a second column. The middle part of the second column is a longitudinally sliding groove in a hollow form. A horizontal moving head is limited and penetrated in the longitudinally sliding groove. A moving plate is welded to the bottom of the horizontal moving head. Above the moving plate, a second sliding table module is installed. The bottom of the second sliding table module is fixed to the front of the second column. The side of the horizontal moving head is connected to a second Y-direction screw rod module. The second Y-direction screw rod module is installed in the longitudinally sliding groove of the second column through a bearing seat. One end of the second Y-direction screw rod module is connected to a second stepping motor through a coupling. The second stepping motor is fixed to the top of the second column.

[0008] Further, in a preferred embodiment of the present invention, a vertical milling spindle is provided at the front end of the vertical displacement head. The top of the vertical milling spindle is connected to a first spindle motor, and the first spindle motor is fixed to the vertical displacement head. A vertical milling cutter is fixed to the bottom end of the vertical milling spindle.

[0009] Further, in a preferred embodiment of the present invention, a horizontal milling spindle is installed in the horizontal displacement head. The horizontal milling spindle is connected to a second spindle motor. A horizontal milling cutter is fixed to the end of the horizontal milling spindle.

[0010] Further, in a preferred embodiment of the present invention, a Z-direction screw rod module is provided on the platform base. The Z-direction screw rod module is connected to the bottom of the machining saddle and is fixed on the bearing seat of the platform base. The end of the Z-direction screw rod module is connected to a third stepping motor. A third sliding table module is installed at the bottom of the machining saddle. The third sliding table module is fixed on the platform base.

[0011] Further, in a preferred embodiment of the present invention, a fourth sliding table module is provided on the top of the machining saddle. The fourth sliding table module is connected to the lower part of the milling workbench. An X-direction screw rod module is installed in the machining saddle through a bearing seat at the same time. The X-direction screw rod module is connected to the milling workbench. One end of the X-direction screw rod module is connected to a fourth stepping motor through a coupling.

[0012] Further, in a preferred embodiment of the present invention, a special-shaped clamping mechanism is fixed above the milling workbench. The special-shaped clamping mechanism includes a clamping box. There are two clamping boxes and they are installed symmetrically. Each clamping box is provided with a number of sleeves. At the bottom of each sleeve, a first electromagnet device is fixed. The first electromagnet device includes an insulating shell. A metal block is arranged in the insulating shell. Electric wires are wound around the metal block. One end of a rigid spring is sleeved outside the first electromagnet device. The other end of the rigid spring is sleeved and connected to the outside of a second electromagnet device.

[0013] Further, in a preferred embodiment of the present invention, the structure and function of the second electromagnet device are exactly the same as those of the first electromagnet device, and an electromagnet array in the clamping box is formed. The second electromagnet device is also placed in the sleeve and fixed at the bottom of the corresponding special-shaped clamping column. The number of the special-shaped clamping columns is equal to the number of the sleeves. Each special-shaped clamping column penetrates through the sleeve and its top end can extend outside the sleeve, so that all the extended special-shaped clamping columns are placed in the middle position between the two clamping boxes and can clamp precision hardware. Both the first electromagnet device and the second electromagnet device are connected to the power control system.

[0014] Further, in a preferred embodiment of the present invention, the milling workbench is provided with a structure scanning mechanism. The structure scanning mechanism includes a semi-circular gantry. The semi-circular gantry is connected and fixed to the side of the milling workbench through a rotating shaft. One end of the rotating shaft is provided with a first helical gear, and the first helical gear meshes with a second helical gear. The second helical gear is installed on a first micro servo motor. Both the front and rear sides of the semi-circular gantry are fixed with semi-circular slide rails. A gantry slider is connected to the two semi-circular slide rails. A spur gear is arranged in the middle of the gantry slider. The spur gear meshes with the ring rail teeth, and the spur gear is connected to a second micro servo motor. The second micro servo motor is fixed to the side of the gantry slider. The ring rail teeth are arranged on the side of the semi-circular gantry. A structured light camera is arranged at the bottom of the gantry slider.

[0015] The second aspect of the present invention provides a control method for a milling device for precision hardware production, which is applied to any one of the milling devices for precision hardware production, and specifically includes the following steps:

[0016] Obtain the phase-shifting fringe pattern of the target precision hardware and the preset scanning parameters of the structured light scanner, and at the same time obtain the specified clamping area of the special-shaped hardware.

[0017] Construct a structure projection calibration space according to the specified clamping area, and project the phase-shifting fringe pattern of the target precision hardware into the structure projection calibration space based on the preset scanning parameters to generate a plurality of fringe interference patterns of the structured light on the surface of the target precision hardware in the specified clamping area.

[0018] Obtain a phase shift control map based on the big data network, identify the plurality of fringe interference patterns in the phase shift control map, output the preset phase shift control rules of the structured light on the surface of the target precision hardware in the specified clamping area, and set N offset positions according to the preset phase shift control rules.

[0019] The phase of the interference light in the multiple fringe interference patterns is shifted by using a preset phase shift control rule to obtain the image grayscale value at each offset position, and the phase distribution pattern of the structured light on the surface of the target precision hardware in the specified clamping area is obtained by performing an orthogonal phase shift operation on each of the image grayscale values;

[0020] Dividing a designated clamping area into a plurality of sub-clamping areas based on a phase distribution pattern, extracting a phase difference value corresponding to each sub-clamping area in the phase distribution pattern, and controlling the magnetic flux of the electromagnet array according to the phase difference value;

[0021] Obtain the accurate domain model of the target precision hardware and the current blank structure, build the posture control domain of the milling equipment, and perform program interception of non-overlapping model interference in the posture control domain based on the current blank structure and the accurate domain model to control the milling equipment to mill the target precision hardware and generate the milling processing strategy.

[0022] Furthermore, in a preferred embodiment of the present invention, the current blank structure and accurate domain model of the blank to be milled are obtained, the posture control domain of the milling equipment is constructed, and the program interception of non-overlapping model interference in the posture control domain is performed based on the current blank structure and the accurate domain model to control the milling equipment to mill the target precision hardware and generate the milling processing strategy, including the following steps:

[0023] Obtain the design drawings of the target precision hardware, control the structure scanning mechanism to scan the blank to be milled for milling the target precision hardware, and obtain the current blank structure of the blank to be milled;

[0024] Obtaining the maximum specified processing space area of the milling equipment and obtaining the preset milling point layout of the milling equipment for milling the current blank structure in the maximum specified processing space area through the design draft, and constructing the posture control field of the maximum specified processing space area;

[0025] Based on the preset milling point layout, the posture control domain is divided into a number of sub-control domain blocks, and an accurate domain model of the target precision hardware is established according to the design drawings, and the overlapping part between the current blank structure model and the accurate domain model is eliminated to obtain the non-overlapping model part;

[0026] Obtaining interference area values of non-overlapping model parts in each sub-control area block and a predetermined milling program set in each sub-control area block, and presetting a program interception range threshold of each sub-control area block according to the interference area value;

[0027] Taking the boundary of the sub-control area block as the interception starting point, for each sub-control area block, executing the interception operation of the predetermined milling program set on the sub-control area block from the interception starting point, and obtaining the current interception range value in real time;

[0028] If the current intercepted range value of the sub-control area block does not reach the corresponding program intercepted range threshold, continue the interception planning operation; if the current intercepted range value of the sub-control area block has reached the corresponding program intercepted range threshold, stop the continuous interception planning operation and output the established milling program after intercepting the sub-control area block, which is defined as the target established milling program.

[0029] Obtain the target established milling program of each sub-control area block, and control the milling equipment to mill the target precision hardware based on the target established milling program of each sub-control area block to generate a milling processing strategy.

[0030] The beneficial technical effects of the present invention are as follows:

[0031] Through the setting of the vertical milling mechanism and the horizontal milling mechanism, the present invention can provide milling processing in different modes and dimensions for the milling requirements in the actual production and processing of precision hardware, improving the singleness and limitation of the functions and modes of traditional milling equipment; at the same time, the special-shaped clamping mechanism can intelligently and automatically control and clamp the precision hardware accurately according to the contour of the precision hardware, greatly meeting the production and processing needs of special-shaped precision hardware, replacing the cumbersome steps of manual calculation and clamping of special-shaped hardware by traditional manual methods, saving time and effort, and improving the clamping stability and reliability of special-shaped precision hardware; and the structure scanning mechanism provides accurate contour analysis data of the precision hardware for milling processing and special-shaped clamping, further optimizing the milling accuracy of the precision hardware. The present invention integrates functions such as vertical milling, horizontal milling, special-shaped clamping, and structure scanning, improving the qualification rate of the milled products. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0033] Figure 1 It is a schematic diagram of the overall structure of this device;

[0034] Figure 2 It is a schematic diagram of the first partial structure of this device;

[0035] Figure 3 It is a schematic diagram of the second partial structure of this device;

[0036] Figure 4 For Figure 3 The schematic diagram of the structure of A-A in

[0037] Figure 5 It is the schematic diagram of the third partial structure of this device;

[0038] Figure 6 is Figure 5 the schematic diagram of the structure of B-B in

[0039] Figure 7 It is the schematic diagram of the partial structure for machining the saddle;

[0040] Figure 8 It is the schematic diagram of the overall structure of the platform base;

[0041] Figure 9 It is the schematic diagram of the internal structure of the clamping box in the special-shaped clamping mechanism;

[0042] Figure 10 It is the schematic diagram of the internal structure of the sleeve in the special-shaped clamping mechanism;

[0043] Figure 11 It is the schematic diagram of the sectional structure of the first electromagnet device.

[0044] The description of the reference numerals is as follows:

[0045] 101. Platform base; 102. First concave base pier; 103. First column; 104. Vertical displacement head; 105. First stepper motor; 106. Vertical milling spindle; 107. First spindle motor; 108. Vertical milling cutter; 109. First slide rail; 201. First slider; 202. First Y-direction lead screw; 203. First Y-direction lead screw nut; 204. Second concave base pier; 205. Second column; 206. Horizontal moving head; 207. Moving plate; 208. Second stepper motor; 209. Horizontal milling spindle; 301. Second spindle motor; 302. Horizontal milling cutter; 303. Second slide rail; 304. Second slider; 305. Second Y-direction lead screw; 306. Second Y-direction lead screw nut; 307. Machining saddle; 308. Third stepper motor; 309. Milling workbench; 401. Fourth stepper motor; 402. Z-direction lead screw; 403. Z-direction lead screw nut; 404. Third slide rail; 405. Third slider; 406. Fourth slide rail; 407. Fourth slider; 408. X-direction lead screw; 409. X-direction lead screw nut; 501. Clamping box; 502. Sleeve; 503. First electromagnet device; 504. Insulating shell; 505. Metal block; 506. Electric wire; 507. Rigid spring; 508. Second electromagnet device; 509. Special-shaped clamping column; 601. Semi-circular gantry; 602. Rotating shaft; 603. First helical gear; 604. Second helical gear; 605. First micro servo motor; 606. Semi-circular slide rail; 607. Gantry slider; 608. Straight gear; 609. Ring track tooth; 701. Second micro servo motor; 702. Structured light camera. Detailed implementation manner

[0046] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. These drawings are all simplified schematic diagrams, only showing the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0047] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the protection scope of the present application. In addition, terms such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Therefore, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0048] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood through specific situations.

[0049] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0050] As Figures 1-11 shown, in the first aspect of the present invention, a milling device for the production of precision hardware parts is provided. The milling device includes a platform base 101.

[0051] A first concave base pier 102 is provided on the left side of the platform base 101. A first column 103 is provided on the top of the first concave base pier 102. A first slide module is installed on the front of the first column 103. A vertical displacement head 104 is fixed above the first slide module. The bottom of the vertical displacement head 104 is connected to a first Y-direction screw module. The first Y-direction screw module is arranged in the power groove on the front of the first column 103. One end of the first Y-direction screw module is connected to a first stepping motor 105 through a coupling, and the first stepping motor 105 is fixed on the top of the first column 103.

[0052] A vertical milling spindle 106 is provided at the front end of the vertical shifting head 104. A first spindle motor 107 is connected to the top end of the vertical milling spindle 106, and the first spindle motor 107 is fixed on the vertical shifting head 104. A vertical milling cutter 108 is fixed to the bottom end of the vertical milling spindle 106.

[0053] It should be noted that the first sliding table module is composed of a first slide rail 109 and a first slider 201. The first Y-direction screw module includes a first Y-direction screw 202 and a first Y-direction screw nut 203. When milling the horizontal plane of a precision metal part, the precision metal part to be milled is fixed on the special-shaped clamping mechanism. The first spindle motor 107 is controlled to drive the vertical milling cutter 108 to rotate at a high speed. Then, according to the milling requirements of the horizontal plane, the first stepping motor 105 is controlled to start. The first stepping motor 105 will drive the first Y-direction screw 202 to rotate. The rotating first Y-direction screw 202 can drive the first Y-direction screw nut 203 to move up and down in the power groove of the first column 103. At this time, during the up and down translation of the first Y-direction screw nut 203, the vertical shifting head 104 slides up and down on the front of the first column 103 through the first slide rail 109 and the first slider 201. Thus, the vertical milling cutter 108 can be gradually controlled to reach the starting milling area of the precision metal part. In this way, finally, the horizontal plane of the precision metal part can be milled by the high-speed rotating vertical milling cutter 108, improving the controllability of the longitudinal vertical milling process and achieving an accurate and efficient vertical milling effect for the precision metal part.

[0054] A second concave base pier 204 is provided on the right side of the platform base 101. A second column 205 is provided above the second concave base pier 204. The middle part of the second column 205 is a longitudinally sliding groove in a hollow form. A horizontal moving head 206 is limited and penetrated in the longitudinally sliding groove. A moving plate 207 is welded to the bottom of the horizontal moving head 206. A second sliding table module is installed above the moving plate 207. The bottom of the second sliding table module is fixed to the front of the second column 205. A second Y-direction screw module is connected to the side of the horizontal moving head 206. The second Y-direction screw module is installed in the longitudinally sliding groove of the second column 205 through a bearing seat. One end of the second Y-direction screw module is connected to a second stepping motor 208 through a coupling. The second stepping motor 208 is fixed to the top end of the second column 205.

[0055] A horizontal milling spindle 209 is installed in the horizontal shifting head 206. The horizontal milling spindle 209 is connected to a second spindle motor 301. A horizontal milling cutter 302 is fixed to the end of the horizontal milling spindle 209.

[0056] It should be noted that the second sliding table module is composed of a second slide rail 303 and a second slider 304, and the second Y-direction screw module includes a second Y-direction screw 305 and a second Y-direction screw nut 306. When vertical surface milling of precision hardware parts is required, first, the area to be milled and the starting point are obtained according to the milling requirements. Then, the second spindle motor 301 is controlled to start. The second spindle motor 301 can drive the horizontal milling cutter 302 to rotate at a high speed. Next, the second stepping motor 208 is turned on to drive the second Y-direction screw 305 to rotate. As a result, the second Y-direction screw 305 can drive the second Y-direction screw nut 306 to move vertically downward in the longitudinal sliding groove of the second column 205, thereby driving the horizontal moving head 206 to drive the moving plate 207 to move vertically downward synchronously until the horizontal moving head 206 and the moving plate 207 lower the horizontal milling cutter 302 to the milling area and the starting point to be removed. Finally, the second stepping motor 208 is controlled to stop. At this time, the horizontally rotating horizontal milling cutter 302 can start to perform horizontal milling on the precision hardware parts, achieving a flexible horizontal milling effect for precision hardware parts, improving the error phenomenon of inaccurate control of the milling point of the milling cutter in traditional horizontal milling, enhancing the accuracy and efficiency of horizontal milling, saving the cumbersome steps of manual horizontal milling point calculation and manual alignment, and greatly improving the intelligence of precision hardware part milling.

[0057] A Z-direction screw module is provided on the platform base 101. The Z-direction screw module is connected to the bottom of the machining saddle 307 and fixed on the bearing seat of the platform base 101. The end of the Z-direction screw module is connected to a third stepping motor 308. A third sliding table module is installed at the bottom of the machining saddle 307, and the third sliding table module is fixed on the platform base 101.

[0058] A fourth sliding table module is provided on the top of the machining saddle 307. The fourth sliding table module is connected to the lower part of the milling workbench 309. An X-direction screw module is installed in the machining saddle 307 through a bearing seat at the same time. The X-direction screw module is connected to the milling workbench 309, and one end of the X-direction screw module is connected to a fourth stepping motor 401 through a coupling.

[0059] It should be noted that the Z-axis lead screw module is composed of a Z-axis lead screw 402 and a Z-axis lead screw nut 403; the third slide table module is composed of a third slide rail 404 and a third slider 405; the fourth slide table module is composed of a fourth slide rail 406 and a fourth slider 407; the X-axis lead screw module is composed of an X-axis lead screw 408 and an X-axis lead screw nut 409. For vertical milling or horizontal milling, when it is necessary to perform milling on a precision hardware part in the Z-axis direction, at this time, according to the milling area and range, continuously control the third stepping motor to drive the Z-axis lead screw 402 to rotate forward and backward, so that the Z-axis lead screw nut 403 makes a horizontal movement on its Z-axis lead screw 402. Thus, with the arrangement of the third slide rail 404 and the third slider 405, the machining saddle 307 can be synchronously driven to translate in the Z-axis direction through the horizontal movement of the Z-axis lead screw nut 403, so that the precision hardware part on the milling workbench 309 can be milled in the area to be removed in the Z-axis direction during vertical milling or horizontal milling, realizing the Z-axis milling effect of vertical milling and horizontal milling on precision hardware parts. When it is necessary to mill the area of the precision hardware part in the X-axis direction, continuously control the fourth stepping motor 401 to start according to the milling area and range. The fourth stepping motor 401 drives the X-axis lead screw 408 to rotate forward and backward. The forward and backward rotating X-axis lead screw 408 can drive the X-axis lead screw nut 409 to translate on its rod. Furthermore, with the arrangement of the fourth slide rail 406 and the fourth slider 407, the X-axis lead screw nut 409 can drive the milling workbench 309 to translate in the X-axis direction, so that the vertical milling cutter 108 or the horizontal milling cutter 302 can continuously mill the area to be removed of the precision hardware part in the X-axis direction, realizing the X-axis milling effect of vertical milling and horizontal milling on precision hardware parts. The continuous translation control of the present invention in the X-axis and Z-axis directions can make the milling of precision hardware parts more accurate and delicate, reduce the milling error of the milling cutter on the precision hardware part, and improve the milling reliability and product qualification rate.

[0060] Above the milling workbench 309, a special-shaped clamping mechanism is fixed. The special-shaped clamping mechanism includes clamping boxes 501. There are two clamping boxes 501, which are symmetrically installed. Each clamping box 501 is provided with a number of sleeves 502. At the bottom of each sleeve 502, a first electromagnet device 503 is fixed. The first electromagnet device 503 includes an insulating shell 504. A metal block 505 is arranged in the insulating shell 504. Electric wires 506 are wound around the metal block 505. One end of a rigid spring 507 is sleeved outside the first electromagnet device 503, and the other end of the rigid spring 507 is sleeved and connected to the outside of a second electromagnet device 508.

[0061] The structure and function of the second electromagnet device 508 are exactly the same as those of the first electromagnet device 503, and an electromagnet array in the clamping box 501 is formed. The second electromagnet device 508 is also placed in the sleeve 502 and fixed at the bottom of the corresponding special-shaped clamping column 509. The number of the special-shaped clamping columns 509 is equal to the number of the sleeves 502. Each special-shaped clamping column 509 penetrates through the sleeve 502, and the top end can extend to the outside of the sleeve 502, so that all the extended special-shaped clamping columns 509 are placed in the middle position between the two clamping boxes 501 and can clamp precision hardware. Both the first electromagnet device 503 and the second electromagnet device 508 are connected to the power control system.

[0062] It should be noted that the initial state of the special-shaped clamping mechanism is that neither the first electromagnet device 503 nor the second electromagnet device 508 is powered on, so that the rigid spring 507 exerts a spring force on several special-shaped clamping columns 509, making them extend out of the clamping box 501 to the maximum extent and maintaining the maximum compression rigidity. When it is necessary to clamp and mill a special-shaped precision hardware, the special-shaped precision hardware is placed directly above the extended several special-shaped clamping columns 509. At this time, the system will calculate and analyze the shape of the precision hardware to obtain the analysis result, and control the electric wires in the first electromagnet device 503 and the second electromagnet device 508 corresponding to the special-shaped clamping columns that need to retract to be energized quantitatively according to the analysis result. It should be noted that opposite-direction currents are passed into the first electromagnet device 503 and the second electromagnet device 508 here, so that after the electric wire 506 is energized and has an electromagnetic interaction with the metal block 505, the first electromagnet device 503 and the second electromagnet device 508 generate mutually attractive magnetic forces. Under the action of the magnetic forces, the first electromagnet device 503 and the second electromagnet device 508 attract and approach each other, thereby driving the special-shaped clamping column 509 to retract in the sleeve 502; during this process, the rigid spring 507 is gradually compressed, so the rigid spring 507 exerts a rigid reset spring force on the second electromagnet device 508; after the required special-shaped clamping columns 509 retract, the shape of the outer contour of the special-shaped precision hardware will be finally formed, so that the special-shaped precision hardware is embedded therein. After the embedding is completed, the power supply to the first electromagnet device 503 and the second electromagnet device 508 is stopped. At this time, the mutually attractive magnetic forces are cancelled, and under the action of the maximum-rigidity reset spring force of the rigid spring 507, the special-shaped clamping column 509 is pushed, so that the special-shaped clamping columns 509 on both sides exert a synchronous lateral pushing clamping force on the special-shaped precision hardware, realizing the clamping effect of the special-shaped precision hardware with a specific shape, greatly improving the milling processing adaptability of precision hardware with different shapes, ensuring the milling stability and reliability of the special-shaped precision hardware, and being able to replace the manual clamping steps compared with the existing special-shaped fixtures, saving time and effort, and realizing the automation and intelligence of the clamping of the special-shaped precision hardware.

[0063] The milling workbench 309 is provided with a structure scanning mechanism. The structure scanning mechanism includes a semi-circular gantry 601. The semi-circular gantry 601 is fixedly connected to the side of the milling workbench 309 through a rotating shaft 602. One end of the rotating shaft 602 is provided with a first helical gear 603. The first helical gear 603 meshes with a second helical gear 604. The second helical gear 604 is installed on a first micro servo motor 605. Both the front and rear sides of the semi-circular gantry 601 are fixedly provided with semi-circular slide rails 606. A gantry slider 607 is connected to the two semi-circular slide rails 606. A spur gear 608 is arranged in the middle of the gantry slider 607. The spur gear 608 meshes with a ring track tooth 609. And the spur gear 608 is connected to a second micro servo motor 701. The second micro servo motor 701 is fixed to the side of the gantry slider 607. The ring track tooth 609 is arranged on the side of the semi-circular gantry 601. A structured light camera 702 is arranged at the bottom of the gantry slider 601.

[0064] It should be noted that before milling precision hardware parts or clamping special-shaped precision hardware parts, it is necessary to obtain the external contour information of the precision hardware parts. At this time, the structured light camera 702 can be used to perform all-round structured light shooting and scanning on the precision hardware parts. Control the first micro servo motor 605 to drive the second helical gear 604 to rotate. The second helical gear 604 then drives the first helical gear 603 to rotate. The rotation of the first helical gear 603 causes the rotating shaft 602 to rotate synchronously, so that the semi-circular gantry 601 can be driven by the rotating shaft 602 to perform a reciprocating folding motion on the milling workbench 309. During the reciprocating folding process, start the second micro servo motor 701 to drive the spur gear 608 to continuously rotate forward and backward. Since the spur gear 608 meshes with the ring track tooth 609, the rotation of the spur gear 608 will perform a reciprocating directional circular motion along the semi-circular gantry 601. Thus, under the setting of the semi-circular slide rails 606, the gantry slider 607 is synchronously driven to perform a reciprocating directional circular motion along the semi-circular gantry 601, so that the structured light camera 702 can perform all-round shooting and scanning on the precision hardware parts on the special-shaped clamping mechanism below in different directions, thereby obtaining the external contour information of the precision hardware parts, providing a reliable analysis basis for the subsequent milling of precision hardware parts, improving the milling accuracy of precision hardware parts, reducing milling errors, and reducing the rejection rate that is difficult to meet the expected requirements after milling, with high economic benefits.

[0065] In summary, the present invention has both vertical milling and horizontal milling functions, can meet the production and processing requirements of different precision hardware parts in the actual production process, optimize the multi-dimensional milling quality of precision hardware parts, improve the singularity of the selection of milling modes for precision hardware parts, and is equipped with a special-shaped hardware part fixture and a structure imaging mechanism with a high degree of intelligent automation, greatly saving the cumbersome steps of traditional manual clamping and analysis, improving the milling efficiency and quality of precision hardware parts, and achieving more considerable production benefits for precision hardware parts.

[0066] The second aspect of the present invention provides a control method for a milling device used in the production of precision hardware parts, which is applied to any one of the milling devices for the production of precision hardware parts, and specifically includes the following steps:

[0067] Obtain the phase-shifting fringe pattern of the target precision hardware part and the preset scanning parameters of the structured light scanner, and at the same time obtain the specified clamping area of the special-shaped hardware part;

[0068] Construct a structure projection calibration space according to the specified clamping area, project the phase-shifting fringe pattern of the target precision hardware part into the structure projection calibration space based on the preset scanning parameters, and generate a plurality of fringe interference patterns of the structured light on the surface of the target precision hardware part in the specified clamping area;

[0069] Obtain a phase shift control map based on the big data network, identify a plurality of the fringe interference patterns in the phase shift control map, output the preset phase shift control rules of the structured light on the surface of the target precision hardware part in the specified clamping area, and set N offset positions according to the preset phase shift control rules;

[0070] Use the preset phase shift control rules to offset the phase of the interference light in a plurality of fringe interference patterns, obtain the image gray values at each offset position, and through orthogonal phase shift operations on each of the image gray values, obtain the phase distribution pattern of the structured light on the surface of the target precision hardware part in the specified clamping area;

[0071] Based on the phase distribution pattern, divide the specified clamping area into several sub-clamping areas, extract the phase difference corresponding to each sub-clamping area in the phase distribution pattern, and control the magnetic flux of the electromagnet array according to the phase difference;

[0072] Obtain the accurate domain model of the target precision hardware part and the current blank structure, construct the attitude control domain of the milling device, and perform program interception of non-coincident model interference in the attitude control domain based on the current blank structure and the accurate domain model to control the milling device to mill the target precision hardware part and generate a milling processing strategy.

[0073] It should be noted that the preset scanning parameters of the structured light scanner include the focal length, principal point position, relative position, and attitude of the structured light scanner. Since the special-shaped clamping mechanism usually controls the clamping of different types of special-shaped precision hardware parts according to their external special-shaped contours, that is, the extension and retraction lengths of the special-shaped clamping columns in the clamping box are controlled according to parameters such as the size, radian, and area of the external contour of the special-shaped precision hardware parts. However, the control of the existing special-shaped fixtures still requires manual analysis of the image information obtained by the structured light camera and manual operation of the special-shaped fixtures based on the analyzed results. This instead reduces the efficiency of the milling processing of precision hardware parts and often requires a large number of personnel to cooperate, increasing the output of labor costs. Therefore, in this method, the phase-shift fringe pattern of the structured light on the surface of the precision hardware part obtained by the structured light camera is projected onto the structure projection calibration space of the specified clamping area in the special-shaped clamping mechanism. After projection, due to the special-shaped contour characteristics of the precision hardware part, the phase-shift fringe pattern of its surface structured light generates fringe interference in the structure projection calibration space. By calculating the interference degree of these fringes, the basic clamping contour of the special-shaped precision hardware part in the special-shaped clamping mechanism can be further determined, that is, the specific extension or retraction length of the special-shaped clamping column in the clamping box that needs to be controlled, making the clamping of the special-shaped precision hardware part by this device more intelligent and automated, replacing the cumbersome steps of manually clamping the special-shaped precision hardware part in the traditional way, saving time and effort, and improving the milling stability and accuracy of the special-shaped precision hardware part. Among them, for the calculation of the fringe interference degree, this method first identifies the image gray level of the structured light on the surface of the special-shaped precision hardware part in the structure projection calibration space in the form of phase-shift control of the offset interference light, and then the interference phase difference of the fringes can be described through the orthogonal phase shift of the image gray level. This phase difference is the interference degree of the fringes; through this method, the structured light analysis operation of the special-shaped hardware parts can be made more accurate, effectively improving the clamping control reliability of the special-shaped clamping mechanism.

[0074] Furthermore, in a preferred embodiment of the present invention, the steps of obtaining the current blank structure of the blank to be milled and the accurate domain model, constructing the attitude control domain of the milling equipment, and intercepting the program of non-coincident model interference in the attitude control domain based on the current blank structure and the accurate domain model to control the milling equipment to mill the target precision hardware part and generate the milling processing strategy include the following steps:

[0075] Obtain the design drawing of the target precision hardware part, and control the structure scanning mechanism to scan the blank to be milled for milling into the target precision hardware part to obtain the current blank structure of the blank to be milled;

[0076] Obtain the maximum specified machining space area of the milling equipment and, through the design drawing, obtain the preset milling point layout for the milling equipment to mill the current blank structure in the maximum specified machining space area, and construct the attitude control domain of the maximum specified machining space area;

[0077] Divide the attitude control domain into several sub-control domain blocks based on the preset milling point layout, establish an accurate domain model of the target precision hardware part according to the design drawing, and eliminate the overlapping part between the current blank structure model and the accurate domain model to obtain the non-overlapping model part;

[0078] Obtain the interference area value of the non-overlapping model part in each sub-control domain block and the established milling program set in each sub-control domain block, and preset the program truncation range threshold for each sub-control domain block according to the interference area value;

[0079] Taking the boundary of the sub-control domain block as the truncation starting point, for each sub-control domain block, start the truncation operation of the established milling program set for the sub-control domain block from the truncation starting point, and obtain the current truncation range value in real time;

[0080] If the current truncation range value of the sub-control domain block has not reached the corresponding program truncation range threshold, continue the truncation planning operation; if the current truncation range value of the sub-control domain block has reached the corresponding program truncation range threshold, stop the continuous truncation planning operation and output the established milling program after truncating the sub-control domain block, which is defined as the target established milling program;

[0081] Obtain the target established milling program for each sub-control domain block, and control the milling equipment to mill the target precision hardware part based on the target established milling program of each sub-control domain block to generate a milling processing strategy.

[0082] It should be noted that milling is to mill away the unnecessary areas or excess parts of the original blank to finally form the desired use shape. However, existing milling equipment generally has problems such as inaccurate milling and over-milling, resulting in the final milled product deviating significantly from the expected milling target product. The occurrence of these phenomena is often associated with inaccurate control of the milling equipment, which greatly affects the production and processing quality of precision hardware parts. In response, this method constructs an attitude control area for the maximum specified processing space area of the milling equipment. This attitude control area reflects the milling attitude control area when processing precision hardware parts by vertical milling or horizontal milling. By analyzing the milling processing requirements in this area, the specific milling attitude required by the milling equipment for the target precision hardware part can be obtained, thus ensuring the acquisition accuracy of the subsequent milling program. Since milling is to remove unnecessary parts, the excess parts of the current blank structure of the blank to be milled to the standard model of the target precision hardware part, that is, the non-coincident model parts, can be calculated in the attitude control area. And there is a corresponding program control for each position where the milling equipment runs in the attitude control area. Therefore, this method intercepts and plans the program instructions corresponding to each sub-control area block in the attitude control area based on the non-coincident model parts. The finally intercepted program is the specific control program instruction for milling away the non-coincident model parts, so that the milling equipment can be accurately controlled to perform milling processing on the current blank structure to be milled in the maximum specified processing space area. Through this method, the control accuracy of the milling equipment for processing precision hardware parts can be greatly improved, the phenomena of inaccurate milling and over-milling existing in the production of traditional milling equipment can be eliminated, the milling error rate can be reduced, and the production quality of precision hardware parts can be ensured to meet the expected effect.

[0083] In addition, the control method for a milling equipment used in the production of precision hardware parts further includes the following steps:

[0084] Obtain the milling area image data of the precision hardware part sample processed by the milling equipment, extract the features contained in the milling area image data to obtain the actual milling features;

[0085] Obtain the model specifications of the milling cutter and the preset processing strategy of the milling equipment, retrieve and obtain the accurate drilling features of the target precision hardware part during milling on the milling equipment based on the preset processing strategy and model specifications, and calculate the similarity between the accurate drilling features and the actual milling features. If the similarity is less than the preset similarity, mark this precision hardware part sample as an abnormal sample;

[0086] Obtain the production log of the milling equipment, extract the historical milling attitude execution parameters when the milling equipment produces and processes abnormal samples through the production log, introduce the factor correlation method to calculate the factor correlation degree between each historical milling attitude execution parameter and the similarity, and obtain several factor correlation degrees;

[0087] Only extract the historical milling attitude execution parameters whose factor correlation degree is greater than the preset factor correlation degree, and define them as abnormal milling attitude execution parameters. At the same time, obtain the real-time control parameter set of the milling equipment for machining new precision hardware parts samples within a given time period.

[0088] If there is at least one or more abnormal milling attitude execution parameters in the real-time control parameter set, then perform real-time adjustment and correction on the milling attitude execution parameters of the current milling equipment to eliminate the attitude deviation phenomenon during the machining of precision hardware parts by the milling equipment.

[0089] It should be noted that during the process of milling precision hardware parts by the milling equipment, due to its long-term operation or failure to perform maintenance on time, etc., the attitude deviation of each mechanism of the milling equipment occurs. This is a fatal defect for the high-precision milling processing requirements of precision hardware parts, which will cause each mechanism in the milling equipment to fail to execute the accurate milling attitude according to the predetermined milling route or milling area, resulting in the final produced precision hardware parts deviating from the expected target. Therefore, this method traces the milling attitude control parameters that are likely to cause milling abnormalities in the milling equipment through the characteristic similarity deviation in the historical production process of the milling equipment. If there is at least one or more abnormal parameters in the milling attitude control of the current milling equipment, then at this time, it is necessary to adjust the attitude control of the milling equipment, thereby improving the production processing stability and reliability of the milling equipment, ensuring the overall milling quality of precision hardware parts, and eliminating the production abnormality phenomenon during the milling process of precision hardware parts.

[0090] The above is inspired by the ideal embodiments of the present invention, and the description is relatively specific and detailed. However, it should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A control method for a milling device used in the production of precision hardware parts, characterized in that: The milling device includes a special-shaped clamping mechanism. The special-shaped clamping mechanism includes a clamping box. There are two clamping boxes and they are installed symmetrically. Each clamping box is provided with a number of sleeves. A first electromagnet device is fixed at the bottom of each sleeve. The first electromagnet device includes an insulating shell. A metal block is arranged in the insulating shell. Electric wires are wound around the metal block. One end of a rigid spring is sleeved outside the first electromagnet device. The other end of the rigid spring is sleeved and connected to the outside of a second electromagnet device; The milling device includes a first electromagnet device and a second electromagnet device. The second electromagnet device has the same structure and function as the first electromagnet device and forms an electromagnet array in the clamping box; The second electromagnet device is also placed in the sleeve and fixed at the bottom of the corresponding special-shaped clamping column. The number of the special-shaped clamping columns is equal to the number of the sleeves. Each special-shaped clamping column passes through the sleeve and its top can extend outside the sleeve, so that all the extended special-shaped clamping columns are located in the middle position between the two clamping boxes and can clamp the precision hardware parts. Both the first electromagnet device and the second electromagnet device are connected to a power control system; The control method includes the following steps: Obtain the phase-shifting fringe pattern of the target precision hardware part and the preset scanning parameters of the structured light scanner, and at the same time obtain the specified clamping area of the special-shaped hardware part; Construct a structure projection calibration space according to the specified clamping area, and project the phase-shifting fringe pattern of the target precision hardware part into the structure projection calibration space based on the preset scanning parameters to generate a plurality of fringe interference patterns of the structured light on the surface of the target precision hardware part in the specified clamping area; Obtain a phase shift control map based on the big data network, identify the plurality of fringe interference patterns in the phase shift control map, output the preset phase shift control rules of the structured light on the surface of the target precision hardware part in the specified clamping area, and set N offset positions according to the preset phase shift control rules; Use the preset phase shift control rules to offset the phase of the interference light in the plurality of fringe interference patterns, obtain the image gray value at each offset position, and perform an orthogonal phase shift operation on each image gray value to obtain the phase distribution pattern of the structured light on the surface of the target precision hardware part in the specified clamping area; Divide the specified clamping area into several sub-clamping areas based on the phase distribution pattern, extract the phase difference corresponding to each sub-clamping area in the phase distribution pattern, and control the magnetic flux of the electromagnet array according to the phase difference; Obtain the accurate domain model of the target precision hardware part and the current blank structure, construct the attitude control domain of the milling device, and perform program interception of non-coincident model interference in the attitude control domain based on the current blank structure and the accurate domain model to control the milling device to mill the target precision hardware part and generate a milling processing strategy.

2. The control method of a milling equipment for precision hardware production according to claim 1, characterized in that: The milling equipment includes a platform base. A first concave base pier is provided on the left side of the platform base. A first column is provided on the top of the first concave base pier. A first slide module is installed on the front of the first column. A vertical displacement head is fixed above the first slide module. A first Y-direction screw module is connected to the bottom of the vertical displacement head. The first Y-direction screw module is arranged in a power groove on the front of the first column. One end of the first Y-direction screw module is connected to a first stepping motor through a coupling, and the first stepping motor is fixed on the top of the first column; A second concave base pier is provided on the right side of the platform base. A second column is provided above the second concave base pier. The middle part of the second column is a longitudinally sliding groove in a hollow form. A horizontal moving head is limited and penetrated in the longitudinally sliding groove. A moving plate is welded to the bottom of the horizontal moving head. A second slide module is installed above the moving plate. The bottom of the second slide module is fixed on the front of the second column. A second Y-direction screw module is connected to the side of the horizontal moving head. The second Y-direction screw module is installed in the longitudinally sliding groove of the second column through a bearing block. One end of the second Y-direction screw module is connected to a second stepping motor through a coupling, and the second stepping motor is fixed at the top of the second column.

3. The control method of a milling device for precision hardware production according to claim 2, characterized in that: A vertical milling spindle is provided at the front end of the vertical displacement head. The top of the vertical milling spindle is connected to a first spindle motor, and the first spindle motor is fixed on the vertical displacement head. A vertical milling cutter is fixed to the bottom end of the vertical milling spindle.

4. The control method of a milling device for precision hardware production according to claim 2, characterized in that: A horizontal milling spindle is installed in the horizontal moving head. The horizontal milling spindle is connected to a second spindle motor. A horizontal milling cutter is fixed to the end of the horizontal milling spindle.

5. The control method of a milling device for precision hardware production according to claim 2, characterized in that: A Z-direction screw module is provided on the platform base. The Z-direction screw module is connected to the bottom of the machining saddle and fixed on a bearing block of the platform base. The end of the Z-direction screw module is connected to a third stepping motor. A third slide module is installed at the bottom of the machining saddle, and the third slide module is fixed on the platform base.

6. The control method of a milling device for precision hardware production according to claim 5, characterized in that: A fourth slide module is provided on the top of the machining saddle. The fourth slide module is connected to the lower part of the milling workbench. An X-direction screw module is also installed in the machining saddle through a bearing block. The X-direction screw module is connected to the milling workbench. One end of the X-direction screw module is connected to a fourth stepping motor through a coupling.

7. The control method of a milling device for precision hardware production according to claim 6, characterized in that: A special-shaped clamping mechanism is fixed above the milling workbench.

8. A control method for a milling device used in the production of precision hardware parts according to claim 7, characterized in that: The milling workbench is provided with a structural scanning mechanism, which includes a semicircular gantry, which is connected and fixed to the side of the milling workbench through a rotating shaft, a first bevel gear is provided at one end of the rotating shaft, the first bevel gear meshes with a second bevel gear, and the second bevel gear is installed on a first micro servo motor, semicircular slide rails are fixed on both the front and rear sides of the semicircular gantry, and the two semicircular slide rails are connected to gantry sliders, a spur gear is provided in the middle of the gantry slider, the spur gear is meshed with the ring rail teeth, and the spur gear is connected to the second micro servo motor, the second micro servo motor is fixed to the side of the gantry slider, the ring rail teeth are provided on the side of the semicircular gantry, and a structured light camera is provided at the bottom of the gantry slider.

9. The control method of a milling device for precision hardware production according to claim 2, characterized in that, The method of obtaining the current blank structure and the accurate domain model of the blank to be milled, constructing the posture control domain of the milling equipment, and performing program interception of non-overlapping model interference in the posture control domain based on the current blank structure and the accurate domain model to control the milling equipment to mill the target precision hardware and generate the milling processing strategy includes the following steps: Obtain the design drawings of the target precision hardware, control the structure scanning mechanism to scan the blank to be milled for milling the target precision hardware, and obtain the current blank structure of the blank to be milled; Obtaining the maximum specified processing space area of the milling equipment and obtaining the preset milling point layout of the milling equipment for milling the current blank structure in the maximum specified processing space area through the design draft, and constructing the posture control field of the maximum specified processing space area; Based on the preset milling point layout, the posture control domain is divided into a number of sub-control domain blocks, and an accurate domain model of the target precision hardware is established according to the design drawings, and the overlapping part between the current blank structure model and the accurate domain model is eliminated to obtain the non-overlapping model part; Obtaining interference area values of non-overlapping model parts in each sub-control area block and a predetermined milling program set in each sub-control area block, and presetting a program interception range threshold of each sub-control area block according to the interference area value; Taking the boundary of the sub-control area block as the interception starting point, for each sub-control area block, executing the interception operation of the predetermined milling program set on the sub-control area block from the interception starting point, and obtaining the current interception range value in real time; If the current interception range value of the sub-control area block does not reach the corresponding program interception range threshold, the interception planning operation continues; if the current interception range value of the sub-control area block has reached the corresponding program interception range threshold, the interception planning operation is stopped, and the established milling program after the sub-control area block is intercepted is output, which is defined as the target established milling program; The target predetermined milling program of each sub-control area block is obtained, and the milling process of the target precision hardware part by the milling equipment is controlled based on the target predetermined milling program of each sub-control area block to generate a milling process strategy.

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