Milling machine tool

Abstract

The embodiment of the invention relates to the technical field of machine tools, and discloses a milling machine tool which comprises a base frame, a first supporting face and a second supporting face are arranged on the base frame, and a workpiece supporting assembly is arranged on the second supporting face. The workpiece supporting assembly achieves accurate movement of a workpiece in the horizontal direction through a first direction moving module and a workpiece supporting platform, the first direction moving module drives a lead screw to work through a first driving belt by means of a first driving motor, and meanwhile a heat dissipation cavity is formed below the first driving motor so as to improve the operation efficiency. The machine tool is further provided with a gate-type supporting frame, a vertical supporting frame, a sensor module and a processor, the processor can judge whether the milling module has a fault risk or not according to data provided by the two sensors, the high-speed milling motor is controlled to stop working when necessary, and therefore the safety and stability of the machining process are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of machining machine tools, in particular to a milling machining machine tool. Background Art

[0002] In modern manufacturing, milling, as a key mechanical processing technology, is widely used in many fields such as aerospace, automobile manufacturing, mold processing, electronic equipment manufacturing, etc., and plays an indispensable role in the precision processing of various complex-shaped parts.

[0003] In the related technology, milling machine tools often lack effective real-time monitoring means and cannot promptly detect problems such as tool wear and motor failure. Once a failure occurs, it may not only cause the workpiece being processed to be scrapped, but may also cause serious damage to the machine tool itself and even endanger the safety of the operator. Summary of the invention

[0004] The main purpose of the present invention is to provide a milling machine tool, aiming to solve the technical problem in the prior art that due to the lack of effective real-time monitoring means, tool wear, motor failure and other problems cannot be discovered in time.

[0005] To achieve the above-mentioned purpose, a milling machine tool is provided in an embodiment of the present application, comprising:

[0006] A base frame, the base frame includes a first supporting surface and a second supporting surface opposite to the first supporting surface, a workpiece supporting assembly is arranged on the second supporting surface, the workpiece supporting assembly includes a first direction moving module and a workpiece supporting platform arranged on the first direction moving module, the first direction moving module includes a screw and a screw driving wheel connected to the screw, a first driving motor is arranged between the first supporting surface and the second supporting surface, the first driving motor and the screw driving wheel are driven and connected by a first driving belt, and a heat dissipation cavity is formed between the first driving motor and the first supporting surface;

[0007] A gantry support frame, one end of which is provided with a second direction moving module, and the second direction moving module is driven by a second driving motor and a second driving belt;

[0008] A vertical support frame, the vertical support frame is connected to the door-type support frame through the second direction moving module, and one end of the vertical support frame is provided with a third direction moving module, and the third direction moving module is driven by a third driving motor and a third driving belt;

[0009] A milling module, the milling module is connected to the vertical support frame through the third directional movable module, and includes a milling high-speed motor and a milling cutter head assembly detachably connected to the output shaft of the milling high-speed motor, wherein the milling cutter head assembly includes a torsional elastic member, a fixed shaft, and a milling cutter connected to the fixed shaft;

[0010] A sensor module, comprising a first sensor and a second sensor, wherein the first sensor is configured to detect the rotation angle of the output shaft of the milling high-speed motor to obtain a first angle, and the second sensor is configured to detect the rotation angle of the fixed shaft to obtain a second angle; and,

[0011] A processor is used to determine whether the milling module has a failure risk based on the first angle and the second angle and control the milling high-speed motor to stop working when the milling module has a failure risk.

[0012] In a possible implementation, the torsion elastic member includes a plurality of circumferentially spaced torsion strips, and a circumferential dimension of the torsion strips is greater than or equal to 2 cm and less than or equal to 5 cm.

[0013] In one possible implementation, the stiffness coefficient of the torsion elastic member is greater than the stiffness coefficient of the workpiece allowed to be processed; and / or, when the stiffness coefficient of the workpiece to be processed is less than or equal to the stiffness coefficient of the torsion elastic member, the torsion elastic member does not undergo torsional deformation, and when the stiffness coefficient of the workpiece to be processed is greater than the stiffness coefficient of the torsion elastic member, the torsion elastic member undergoes torsional deformation.

[0014] In a possible implementation, the moving directions of the first direction moving module, the second direction moving module and the third direction moving module are perpendicular to each other; and / or the first drive motor, the second drive motor and the third drive motor are all servo motors.

[0015] In a possible implementation manner, the first sensor is a magnetic encoder or a photoelectric encoder, and / or the second sensor is a magnetic encoder or a photoelectric encoder.

[0016] In one possible implementation, the milling module is also provided with a camera device, which is used to capture milling images and / or milling videos of the processed workpiece, and the processor is also used to analyze the milling images and / or milling videos to determine whether the milling module has a failure risk.

[0017] In a possible implementation, the camera device is a depth camera, and the depth camera is configured to detect a processing depth and a surface roughness of a workpiece to be processed.

[0018] In a possible implementation, a plurality of heat dissipation fins are disposed in the heat dissipation cavity, the plurality of heat dissipation fins are attached to the housing of the first drive motor, the plurality of heat dissipation fins enclose a plurality of heat dissipation channels, and the openings of the plurality of heat dissipation channels are connected to the outside.

[0019] In a possible implementation, a memory is further included, the memory is used to store program code, and the processor is used to call the program code to execute the following steps of the control method:

[0020] Obtaining angle values ​​of the first angle and the second angle;

[0021] Determining the circumferential deformation amount of the torsion elastic member according to the angle difference between the first angle and the second angle;

[0022] When the circumferential deformation amount of the torsion elastic member is greater than or equal to the deformation amount threshold, triggering first risk warning information, wherein the first risk warning information is used to prompt that the milling module has a failure risk;

[0023] Acquiring image data and / or video data collected by a camera device;

[0024] Inputting the image data and / or video data into a fault risk analysis model to obtain an analysis result, and triggering second risk warning information when the analysis result indicates that the milling module has a fault risk, wherein the second risk warning information is used to prompt that the milling module has a fault risk;

[0025] The milling high-speed motor is controlled to stop working according to the first risk warning information and the second risk warning information.

[0026] In a possible implementation, judging the circumferential deformation amount of the torsion elastic member according to the angle difference between the first angle and the second angle includes:

[0027] The angle difference between the first angle and the second angle is input into a pre-established deformation calculation model to obtain the circumferential deformation of the torsion elastic member, and the deformation calculation model satisfies the following expression:

[0028]

[0029] Among them, K is a pre-trained relationship coefficient, which is used to reflect the strength of the relationship between factors such as angle difference and the deformation variable; Δθ is the angle difference between the first angle and the second angle, θ0 is the reference angle correction value determined according to the material properties of the torsion elastic member, T is the current cumulative usage time of the torsion elastic member, T1 is the first reference usage time, and T0 is the second reference usage time.

[0030] Different from the prior art, the technical solution of the milling machine tool provided in the embodiment of the present application includes a base frame, on which a first and a second support surface are provided, and a workpiece support assembly is arranged on the second support surface, and the assembly realizes the precise movement of the workpiece in the horizontal direction through a first direction moving module and a workpiece support platform, and the first direction moving module is driven by a first drive motor through a first drive belt to drive the screw rod to work, and a heat dissipation cavity is provided under the first drive motor to improve the operation efficiency. The machine tool is also equipped with a portal support frame, one end of which is equipped with a second direction moving module, which is driven by a second drive motor through a second drive belt to realize the movement of the machine tool in another horizontal direction. The vertical support frame is connected to the portal support frame through the second direction moving module, and one end is provided with a third direction moving module, which is driven by a third drive motor through a third drive belt to realize the adjustment of the machine tool in the vertical direction. The milling module is connected to the vertical support frame through a third direction moving module, including a milling high-speed motor and a milling cutter head assembly detachably connected to the motor output shaft, and the assembly has a built-in torsional elastic member, a fixed shaft and a milling cutter to ensure the flexibility and precision of the processing process. In addition, the machine tool also integrates a sensor module, including a first sensor for detecting the rotation angle of the output shaft of the milling high-speed motor and a second sensor for detecting the rotation angle of the fixed shaft, as well as a processor. The processor can determine whether there is a failure risk in the milling module based on the data provided by the two sensors, and control the milling high-speed motor to stop working when necessary, thereby ensuring the safety and stability of the processing process.

[0031] Furthermore, when the stiffness coefficient of the workpiece to be processed by the milling module meets the preset requirements (that is, the stiffness coefficient of the workpiece to be processed is less than or equal to the stiffness coefficient of the torsion elastic member), the torsion elastic member can maintain good rigidity and stability. At this time, the torsion elastic member does not undergo circumferential deformation or only undergoes slight deformation. While meeting the processing requirements, it can also provide the milling module with a certain impact resistance. When the stiffness coefficient of the workpiece to be processed by the milling module does not meet the preset requirements (that is, the stiffness coefficient of the workpiece to be processed is greater than the stiffness coefficient of the torsion elastic member), the workpiece to be processed will cause the milling module to be deformed. The cutting module generates a large reaction force, and the torsional elastic part undergoes obvious circumferential deformation. This deformation will cause a difference in the rotation angle between the output shaft of the milling high-speed motor and the fixed shaft. The sensor module can detect the rotation angle difference between the output shaft of the milling high-speed motor and the fixed shaft. The processor can judge whether the milling module has a failure risk based on the rotation angle difference between the output shaft of the milling high-speed motor and the fixed shaft, and control the milling high-speed motor to stop working when there is a failure risk, so as to timely discover the failure risk problem of the milling module and thereby improve the safety of processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of the three-dimensional structure of a milling machine tool in some embodiments of the present application;

[0034] Figure 2 This is a schematic diagram of the structure of a milling module in a milling machine tool in some embodiments of the present application;

[0035] Figure 3 This is a flow chart of a control method for a milling machine tool in some embodiments of the present application.

[0036] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, 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.

[0038] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0039] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, "and / or" in the full text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and technical solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] In modern manufacturing, milling, as a key mechanical processing technology, is widely used in many fields such as aerospace, automobile manufacturing, mold processing, electronic equipment manufacturing, etc., and plays an indispensable role in the precision processing of various complex-shaped parts.

[0041] In the related technology, milling machine tools often lack effective real-time monitoring means and cannot promptly detect problems such as tool wear and motor failure. Once a failure occurs, it may not only cause the workpiece being processed to be scrapped, but may also cause serious damage to the machine tool itself and even endanger the safety of the operator.

[0042] Example 1

[0043] In response to the above problems, Figure 1-2 As shown, the present application proposes a milling machine tool, which includes a base frame 100, a gantry support frame 200, a vertical support frame 300, a milling module 400, a sensor module 500 and a processor 600.

[0044] The base frame 100 includes a first support surface 110 and a second support surface 120 opposite to the first support surface 110. A workpiece support assembly is arranged on the second support surface 120. The workpiece support assembly includes a first direction moving module 130 and a workpiece support platform 140 arranged on the first direction moving module 130. The first direction moving module 130 includes a screw 131 and a screw drive wheel 132 connected to the screw 131. A first drive motor 121 is arranged between the first support surface 110 and the second support surface 120. The first drive motor 121 and the screw drive wheel 132 are driven and connected by a first drive belt 150. A heat dissipation cavity 160 is formed between the first drive motor 121 and the first support surface 110. The base frame 100 provides the basic support structure of the entire machine tool. The first support surface 110 and the second support surface 120 constitute the main bearing surface of the machine tool. The workpiece support assembly arranged on the second support surface 120 is used to place the workpiece to be processed to ensure that the workpiece remains stable during the processing. The first driving motor 121 drives the screw driving wheel 132 to rotate through the first driving belt 150, thereby driving the screw 131 to rotate, and the screw 131 further drives the slider (not shown, the slider is connected to the workpiece supporting platform 140) to move.

[0045] Among them, a second direction moving module 210 is provided at one end of the portal support frame 200, and the second direction moving module 210 is driven by a second drive motor 211 and a second drive belt 212; the vertical support frame 300 is connected to the portal support frame 200 through the second direction moving module 210, and a third direction moving module 310 is provided at one end thereof, and the third direction moving module 310 is driven by a third drive motor 311 and a third drive belt 312; the milling module 400 is connected to the vertical support frame 300 through the third direction moving module 310, and the milling module 400 includes a milling high-speed motor 410, a milling cutter head assembly 420 detachably connected to the output shaft of the milling high-speed motor 410, and the milling cutter head assembly 420 includes a torsional elastic member 421, a fixed shaft 422, and a milling cutter 423 connected to the fixed shaft 422;

[0046] The sensor module 500 includes a first sensor 510 and a second sensor 520. The first sensor 510 is configured to detect the rotation angle of the milling high-speed motor output shaft 411 to obtain a first angle, and the second sensor 520 is configured to detect the rotation angle of the fixed shaft 422 to obtain a second angle. The processor 600 is used to determine whether the milling module 400 has a failure risk based on the first angle and the second angle and control the milling high-speed motor 410 to stop working when the milling module 400 has a failure risk.

[0047] In one embodiment, the moving directions of the first direction moving module 130 , the second direction moving module 210 and the third direction moving module 310 are perpendicular to each other, and the first driving motor 121 , the second driving motor 211 and the third driving motor 311 are all servo motors.

[0048] For example, Figure 1 As shown in the figure, the X-axis direction is the first direction, the Y-axis direction is the second direction, and the Z-axis direction is the third direction. The workpiece supporting platform 140 can move back and forth along the X-axis direction and the opposite direction.

[0049] In one embodiment, a plurality of heat dissipation fins are disposed in the heat dissipation cavity 160 , the plurality of heat dissipation fins are attached to the outer shell of the first drive motor 121 , the plurality of heat dissipation fins enclose a plurality of heat dissipation channels, and the openings of the plurality of heat dissipation channels are connected to the outside.

[0050] Specifically, the heat generated by the first drive motor 121 is transferred to the heat dissipation fins through the housing, and the outside air enters through the opening of the heat dissipation channel, exchanges heat with the heat dissipation fins, takes away the heat, and flows out through the other end of the heat dissipation channel. In this way, the design of the heat dissipation fins and the heat dissipation channel greatly increases the heat dissipation area, improves the heat dissipation efficiency, and ensures the stability and reliability of the first drive motor 121 during long-term operation. In addition, effective heat dissipation measures help to reduce the temperature inside the motor, reduce the risk of motor damage due to overheating, and thus extend the service life of the motor.

[0051] In one embodiment, the torsion elastic member 421 includes a plurality of circumferentially spaced torsion strips, and the circumferential dimension of the torsion strips is greater than or equal to 2 cm and less than or equal to 5 cm.

[0052] Specifically, the torsional elastic member 421 is composed of a plurality of circumferentially spaced torsional slats, and the circumferential dimension of each torsional slat (i.e., the dimension along the rotation direction of the milling cutter 423) is precisely controlled within the range of 2 cm to 5 cm. Being greater than or equal to 2 cm ensures that the torsional slats have sufficient rigidity and strength to withstand the torque and vibration generated during the milling process. Being less than or equal to 5 cm keeps the torsional slats at a moderate size, avoiding excessive volume that increases the overall weight and complexity of the milling cutter head assembly 420, and is also conducive to the rapid dissipation of heat. In this way, by reasonably designing the size and arrangement of the torsional slats, the torsional elastic member 421 can effectively absorb and disperse the torque and vibration generated during the milling process, thereby improving the overall stability and durability of the milling cutter head assembly 420.

[0053] In the embodiment of the present application, the stiffness coefficient of the torsion elastic member 421 is designed to be greater than the stiffness coefficient of the workpiece to be processed, so as to ensure that the torsion elastic member 421 can provide sufficient support and stability during the milling process. When the stiffness coefficient of the workpiece to be processed is less than or equal to the stiffness coefficient of the torsion elastic member 421, the reaction force generated by the workpiece to be processed on the milling module is insufficient to cause the torsion elastic member 421 to deform circumferentially. In this case, the torsion elastic member 421 does not deform or only deforms slightly, indicating that the workpiece currently being processed meets the processing requirements; and when the stiffness coefficient of the workpiece to be processed exceeds the permitted range, that is, is greater than the stiffness coefficient of the torsion elastic member 421, the workpiece to be processed will generate a greater reaction force on the milling module, in which case the torsion elastic member 421 will undergo a more obvious circumferential deformation. If the deformation of the torsion elastic member 421 is detected to be greater than the set threshold at this time, it indicates that the milling module 400 has a potential risk of failure, indicating that the workpiece currently being processed is not suitable for processing using the current milling module 400.

[0054] The deformation amount of the torsion elastic member 421 can be fed back through the rotation angle difference between the high-speed motor output shaft 411 and the fixed shaft 422. Therefore, in the embodiment of the present application, the first sensor 510 is configured to detect the rotation angle of the milling high-speed motor output shaft 411 to obtain the first angle, and the second sensor 520 is configured to detect the rotation angle of the fixed shaft 422 to obtain the second angle. In order to improve the detection accuracy of the deformation amount of the torsion elastic member 421, in one embodiment, the first sensor 510 is a magnetic encoder or a photoelectric encoder, and / or the second sensor 520 is a magnetic encoder or a photoelectric encoder. For example, a magnetic encoder is used to detect the rotation angle of the milling high-speed motor output shaft 411 and the fixed shaft 422. Then the deformation amount of the torsion elastic member 421 can be calculated by the angle difference between the first angle and the second angle.

[0055] It can be understood that when the stiffness coefficient of the workpiece to be processed is less than or equal to the stiffness coefficient of the torsional elastic member 421, the torsional elastic member 421 does not undergo torsional deformation or only undergoes slight deformation, that is, the angle difference between the rotation angles of the milling high-speed motor output shaft 411 and the fixed shaft 422 is 0 or very small. When the stiffness coefficient of the workpiece to be processed is greater than the stiffness coefficient of the torsional elastic member 421, the torsional elastic member 421 will undergo a more obvious circumferential deformation, that is, the angle difference between the rotation angles of the milling high-speed motor output shaft 411 and the fixed shaft 422 is large. Therefore, if the angle difference between the milling high-speed motor output shaft 411 and the fixed shaft 422 is larger, it means that the deformation of the torsional elastic member 421 is larger, which further means that the failure risk of the milling module is greater. In this way, when the deformation of the torsional elastic member 421 reaches the deformation threshold, a risk warning can be triggered and the milling operation can be controlled to stop.

[0056] In the embodiment of the present application, the deformation amount of the torsion elastic member 421 can be calculated by the following method steps: first, the zero position of the high-speed motor output shaft 411 and the fixed shaft 422 is calibrated, and then during the milling process, the processor obtains the rotation angle of the milling high-speed motor output shaft 411 in real time to obtain the first angle, and obtains the rotation angle of the fixed shaft 422 to obtain the second angle. Then, the angle difference between the first angle and the second angle is calculated. Finally, the circumferential deformation amount of the torsion elastic member is calculated according to the angle difference between the first angle and the second angle.

[0057] In one embodiment, the angle difference between the first angle and the second angle is input into a pre-established deformation calculation model to obtain the circumferential deformation amount of the torsion elastic member, and the deformation calculation model satisfies the following expression:

[0058]

[0059] Among them, K is a pre-trained relationship coefficient, which is used to reflect the strength of the relationship between factors such as angle difference and the deformation variable; Δθ is the angle difference between the first angle and the second angle, θ0 is the reference angle correction value determined according to the material properties of the torsion elastic member, T is the current cumulative usage time of the torsion elastic member, T1 is the first reference usage time, and T0 is the second reference usage time.

[0060] It is understandable that as the use time of the torsion elastic member increases, the performance of the torsion elastic member will usually change. Therefore, the angle difference between the high-speed motor output shaft 411 and the fixed shaft 422 is not only affected by the workpiece to be processed, but also by the change in the performance of the torsion elastic member itself. This means that after a period of use, the angle difference caused by the workpiece to be processed will be smaller than the actual detected angle difference. To this end, the embodiment of the present application introduces an angle difference correction mechanism to correct the angle difference Δθ between the first angle and the second angle detected. And as the use time accumulates, the performance of the torsion elastic member will gradually reach its limit. In particular, after the use time reaches a certain value, for example, after the use time reaches T0, the performance of the torsion elastic member will reach the limit value, that is, the angle correction value at this time reaches the limit θ0. And within a certain range before this value, the angle correction value changes linearly with the use time.

[0061] After the circumferential deformation of the torsion elastic member is obtained, if the circumferential deformation of the torsion elastic member is greater than or equal to the deformation threshold, it means that the milling module is subjected to a large force from the workpiece and there is a risk of failure of the milling module. If the milling process continues, there is a risk of damage to the milling module. At this time, the milling high-speed motor can be controlled to stop working. In this way, the risk of failure of the milling module can be discovered in time, thereby improving the safety of the processing.

[0062] Based on this, when the stiffness coefficient of the workpiece processed by the milling module meets the preset requirements (that is, the stiffness coefficient of the workpiece to be processed is less than or equal to the stiffness coefficient of the torsion elastic component), the torsion elastic component can maintain good rigidity and stability. At this time, the torsion elastic component does not undergo circumferential deformation or only undergoes slight deformation. While meeting the processing requirements, it can also provide the milling module with a certain impact resistance. When the stiffness coefficient of the workpiece processed by the milling module does not meet the preset requirements (that is, the stiffness coefficient of the workpiece to be processed is greater than the stiffness coefficient of the torsion elastic component), the workpiece to be processed will cause the milling module to deform circumferentially. The module generates a large reaction force, and the torsional elastic part undergoes obvious circumferential deformation. This deformation will cause a difference in the rotation angle between the output shaft of the milling high-speed motor and the fixed shaft. The sensor module can detect the rotation angle difference between the output shaft of the milling high-speed motor and the fixed shaft. The processor can judge whether the milling module has a failure risk based on the rotation angle difference between the output shaft of the milling high-speed motor and the fixed shaft, and control the milling high-speed motor to stop working when there is a failure risk, so as to timely discover the failure risk problem of the milling module and thereby improve the safety of processing.

[0063] Example 2

[0064] In order to improve the accuracy of milling module fault detection, in one embodiment, the milling module 400 is also provided with a camera device 700, and the camera device 700 is used to capture the milling image and / or milling video of the processed workpiece, and the processor 600 is also used to analyze the milling image and / or milling video to determine whether the milling module 400 has a risk of failure. Among them, the camera device 700 can be a depth camera, and the depth camera is configured to detect information such as the processing depth and surface roughness of the workpiece to be processed. The camera device 700 is installed on the milling module 400, and such a position setting can ensure that its shooting angle of view is directly aligned with the processing workpiece and the working area of ​​the milling cutter head assembly 420, so as to obtain the most direct and relevant processing process image and video information.

[0065] On the basis of Example 1, the fault detection of the milling module can be further performed through the following method steps: first, when the circumferential deformation of the torsional elastic member is greater than or equal to the deformation threshold, the first risk warning information is triggered, and the first risk warning information is used to indicate that the milling module has a fault risk; after the first risk warning information is triggered, the image data and / or video data collected by the camera device is obtained; then the image data and / or video data are input into the fault risk analysis model to obtain the analysis result, and when the analysis result indicates that the milling module has a fault risk, the second risk warning information is triggered, and the second risk warning information is used to indicate that the milling module has a fault risk; after the second risk warning information is triggered, both detection means indicate that the milling module has a fault risk, indicating that the milling module does have a fault risk, and at this time the milling high-speed motor is controlled to stop working. In this way, the verification and confirmation of the fault risk of the milling module by two means can further improve the safety of the processing.

[0066] Example 3

[0067] The present application also provides a control method for a milling machine tool, which is executed by a processor and includes the following steps:

[0068] Step S100, obtaining the angle values ​​of the first angle and the second angle;

[0069] Step S200, determining the circumferential deformation amount of the torsion elastic member according to the angle difference between the first angle and the second angle;

[0070] Step S300: When the circumferential deformation of the torsion elastic member is greater than or equal to the deformation threshold, triggering first risk warning information, wherein the first risk warning information is used to prompt that the milling module has a failure risk;

[0071] Step S400, acquiring image data and / or video data collected by a camera device;

[0072] Step S500: inputting the image data and / or video data into a fault risk analysis model to obtain an analysis result, and triggering second risk warning information when the analysis result indicates that the milling module has a fault risk, wherein the second risk warning information is used to prompt that the milling module has a fault risk;

[0073] Step S600: Control the milling high-speed motor to stop working according to the first risk warning information and the second risk warning information.

[0074] Specifically, first obtain the angle values ​​of the first angle and the second angle. Then judge the circumferential deformation of the torsion elastic member according to the angle difference between the first angle and the second angle. When the circumferential deformation of the torsion elastic member is greater than or equal to the deformation threshold, trigger the first risk warning information. After the first risk warning information is triggered, obtain the image data and / or video data (the image or video of the workpiece during the processing) collected by the camera device. Then input the image data and / or video data into the fault risk analysis model to obtain the analysis result. When the analysis result indicates that the milling module has a fault risk, trigger the second risk warning information. After the first risk warning information and the second risk warning information are triggered, it means that the milling module does have a fault risk. At this time, the milling high-speed motor is controlled to stop working. In this way, the verification and confirmation of the fault risk of the milling module are carried out by two means, so as to improve the safety of the processing.

[0075] Exemplarily, the fault risk analysis model can first extract visual features, and then analyze the visual features to determine whether the milling module has a fault risk. Visual features may include but are not limited to tool wear features, chip features, and workpiece surface features. For example, the wear features of the milling cutter head are extracted from an image or video, such as the degree of wear of the blade, scratches and breakage on the tool surface, etc. Then, the wear area and degree of wear of the tool are identified by edge detection algorithms, texture analysis, and other methods, and these features are quantified into numerical indicators, such as the proportion of wear area, wear depth, etc. The shape, size, color, and distribution of the chips can also be analyzed. Different processing states and fault conditions may cause changes in the characteristics of the chips. For example, when the tool is severely worn, the chips may become fine and abnormal in color; when vibration or instability occurs during processing, the distribution of the chips may be uneven. By extracting and analyzing the chip features, the working state of the milling module can be indirectly reflected. The quality of the workpiece processing surface can also be detected, including surface roughness, the presence of scratches, burns and other defects. These surface features are closely related to the working performance of the milling module. For example, tool wear or unreasonable milling parameters may lead to increased surface roughness of the workpiece. By analyzing the surface features of the workpiece, it is possible to determine whether the milling module has a risk of failure.

[0076] In one embodiment, the step S200 of determining the circumferential deformation amount of the torsion elastic member according to the angle difference between the first angle and the second angle includes:

[0077] The angle difference between the first angle and the second angle is input into a pre-established deformation calculation model to obtain the circumferential deformation of the torsion elastic member, and the deformation calculation model satisfies the following expression:

[0078]

[0079] Among them, K is a pre-trained relationship coefficient, which is used to reflect the strength of the relationship between factors such as angle difference and the deformation variable; Δθ is the angle difference between the first angle and the second angle, θ0 is the reference angle correction value determined according to the material properties of the torsion elastic member, T is the current cumulative usage time of the torsion elastic member, T1 is the first reference usage time, and T0 is the second reference usage time.

[0080] It is understandable that as the use time of the torsion elastic member increases, the performance of the torsion elastic member will usually change. Therefore, the angle difference between the high-speed motor output shaft 411 and the fixed shaft 422 is not only affected by the workpiece to be processed, but also by the change in the performance of the torsion elastic member itself. This means that after a period of use, the angle difference caused by the workpiece to be processed will be smaller than the actual detected angle difference. To this end, the embodiment of the present application introduces an angle difference correction mechanism to correct the angle difference Δθ between the first angle and the second angle detected. And as the use time accumulates, the performance of the torsion elastic member will gradually reach its limit. In particular, after the use time reaches a certain value, for example, after the use time reaches T0, the performance of the torsion elastic member will reach the limit value, that is, the angle correction value at this time reaches the limit θ0. And within a certain range before this value, the angle correction value changes linearly with the use time.

[0081] Specifically, after fitting multiple sets of experimental data, the embodiment of the present application obtains K of 0.5, the reference angle correction value θ0 of 3°, T1 of 50h, and T0 of 110h. This indicates that the circumferential elastic coefficient of the torsion elastic member is approximately 0.5. After the torsion elastic member has been used for 50h, its elastic properties begin to change, and after the use time reaches 110h, its elastic property changes tend to stabilize and reach a limit. When the use time is between 50h (T1) and 110h (T0), the elastic properties are in the process of changing. At this time, the correction of the angle difference needs to consider the time factor. At this time, according to the formula When calculating, time will affect the correction result, indicating that the elastic performance is gradually changing with time. When the use time is greater than 110h (T0), the limit of elastic performance change tends to be stable. At this time, the correction of the angle difference is calculated according to the formula ΔL=K*(Δθ-θ0), and the influence of time factors on the correction is no longer considered, which means that the change law of elastic performance at this stage is relatively fixed, or it has reached a new stable state.

[0082] The present application also provides a computer program product, which includes one or more program codes stored in a computer-readable storage medium. The processor of the milling machine tool reads the program code from the computer-readable storage medium, and the processor executes the program code to complete the control method steps provided in the above embodiment.

[0083] A person skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be accomplished by hardware or by hardware associated with a program code, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0084] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0085] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0086] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A milling machine tool, characterized in that: include: A base frame (100), the base frame (100) comprising a first supporting surface (110) and a second supporting surface (120) opposite to the first supporting surface (110), a workpiece supporting assembly being provided on the second supporting surface (120), the workpiece supporting assembly comprising a first direction moving module (130) and a workpiece supporting platform (140) provided on the first direction moving module (130), the first direction moving module (130) comprising a screw (131) and a screw driving wheel (132) connected to the screw (131), a first driving motor (121) being provided between the first supporting surface (110) and the second supporting surface (120), the first driving motor (121) and the screw driving wheel (132) being driven and connected via a first driving belt (150), and a heat dissipation cavity (160) being formed between the first driving motor (121) and the first supporting surface (110); A portal support frame (200), wherein a second direction moving module (210) is provided at one end of the portal support frame (200), and the second direction moving module (210) is driven by a second driving motor (211) and a second driving belt (212); A vertical support frame (300), the vertical support frame (300) is connected to the portal support frame (200) via the second direction moving module (210), one end of the vertical support frame (300) is provided with a third direction moving module (310), and the third direction moving module (310) is driven by a third driving motor (311) and a third driving belt (312); A milling module (400), the milling module (400) being connected to the vertical support frame (300) via the third directional movable module (310), comprising a milling high-speed motor (410), a milling cutter head assembly (420) detachably connected to an output shaft of the milling high-speed motor (410), the milling cutter head assembly (420) comprising a torsional elastic member (421), a fixed shaft (422), and a milling cutter (423) connected to the fixed shaft (422); A sensor module (500) comprises a first sensor (510) and a second sensor (520), wherein the first sensor (510) is configured to detect the rotation angle of the milling high-speed motor output shaft (411) to obtain a first angle, and the second sensor (520) is configured to detect the rotation angle of the fixed shaft (422) to obtain a second angle; and A processor (600) is used to determine whether the milling module (400) has a failure risk based on the first angle and the second angle, and to control the milling high-speed motor (410) to stop working when the milling module (400) has a failure risk.

2. The milling machine tool according to claim 1, characterized in that: The torsion elastic member (421) comprises a plurality of circumferentially spaced torsion strips, wherein the circumferential dimension of the torsion strips is greater than or equal to 2 cm and less than or equal to 5 cm.

3. The milling machine tool according to claim 2, characterized in that: The stiffness coefficient of the torsion elastic member (421) is greater than the stiffness coefficient of the workpiece allowed to be processed; and / or, when the stiffness coefficient of the workpiece to be processed is less than or equal to the stiffness coefficient of the torsion elastic member (421), the torsion elastic member (421) does not undergo torsional deformation, and when the stiffness coefficient of the workpiece to be processed is greater than the stiffness coefficient of the torsion elastic member (421), the torsion elastic member (421) undergoes torsional deformation.

4. The milling machine tool according to claim 1, characterized in that: The moving directions of the first direction moving module (130), the second direction moving module (210) and the third direction moving module (310) are perpendicular to each other; and / or the first drive motor (121), the second drive motor (211) and the third drive motor (311) are all servo motors.

5. The milling machine tool according to claim 1, characterized in that: The first sensor (510) is a magnetic encoder or a photoelectric encoder, and / or the second sensor (520) is a magnetic encoder or a photoelectric encoder.

6. The milling machine tool according to claim 1, characterized in that: The milling module (400) is also provided with a camera device (700), and the camera device (700) is used to capture a milling image and / or a milling video of a processed workpiece, and the processor (600) is also used to analyze the milling image and / or the milling video to determine whether the milling module (400) has a failure risk.

7. The milling machine tool according to claim 1, characterized in that: The camera device (700) is a depth camera, which is configured to detect the processing depth and surface roughness of a workpiece to be processed.

8. The milling machine tool according to claim 1, characterized in that: A plurality of heat dissipation fins are arranged in the heat dissipation cavity (160), the plurality of heat dissipation fins are fitted with the outer shell of the first drive motor (121), the plurality of heat dissipation fins are enclosed to form a plurality of heat dissipation channels, and the openings of the plurality of heat dissipation channels are connected to the outside.

9. The milling machine tool according to claim 1, characterized in that: The system further includes a memory, the memory is used to store program codes, and the processor is used to call the program codes to execute the following control method steps: Obtaining angle values ​​of the first angle and the second angle; Determining the circumferential deformation amount of the torsion elastic member according to the angle difference between the first angle and the second angle; When the circumferential deformation amount of the torsion elastic member is greater than or equal to the deformation amount threshold, a first risk warning information is triggered, wherein the first risk warning information is used to prompt that the milling module has a failure risk; Acquiring image data and / or video data collected by a camera device; Inputting the image data and / or video data into a fault risk analysis model to obtain an analysis result, and triggering second risk warning information when the analysis result indicates that the milling module has a fault risk, wherein the second risk warning information is used to prompt that the milling module has a fault risk; The milling high-speed motor is controlled to stop working according to the first risk warning information and the second risk warning information.

10. The milling machine tool according to claim 9, characterized in that: The method of determining the circumferential deformation amount of the torsion elastic member according to the angle difference between the first angle and the second angle includes: The angle difference between the first angle and the second angle is input into a pre-established deformation calculation model to obtain the circumferential deformation of the torsion elastic member, and the deformation calculation model satisfies the following expression: Among them, K is a pre-trained relationship coefficient, which is used to reflect the strength of the relationship between factors such as angle difference and the deformation variable; Δθ is the angle difference between the first angle and the second angle, θ0 is the reference angle correction value determined according to the material properties of the torsion elastic member, T is the current cumulative usage time of the torsion elastic member, T1 is the first reference usage time, and T0 is the second reference usage time.

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