A milling machine tool

Abstract

The embodiments of the present application relate to the technical field of machining machine tools, and disclose a milling machine tool, which includes a base frame, a first and a second support surface provided on the base frame, a workpiece support assembly configured on the second support surface, and the workpiece support assembly realizes the precise movement of the workpiece in the horizontal direction through a first direction moving module and a workpiece support platform. The first direction moving module is driven by a first drive motor through a first drive belt to drive a screw rod to operate, and a heat dissipation cavity is provided under the first drive motor to improve operating efficiency. The machine tool is also equipped with a gantry support frame, a vertical support frame, a sensor module, and a processor. The processor can determine whether there is a risk of failure of 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 machining process.

Description

Technical Field

[0001] The present 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, and electronic equipment manufacturing. It plays an indispensable role in the precision processing of various complex-shaped parts.

[0003] Milling machines often lack effective real-time monitoring capabilities, making it difficult to detect issues like tool wear and motor failure. Failures can render the workpiece being machined useless and severely damage the machine itself, potentially endangering the operator's safety. Summary of the Invention

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

[0005] To achieve the above-mentioned purpose, an embodiment of the present application provides a milling machine tool, 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 provided on the second supporting surface, the workpiece supporting assembly includes a first direction moving module and a workpiece supporting platform provided 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 provided 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 portal support frame, wherein one end of the portal support frame is provided with a second direction moving module, and the second direction moving module is driven by a second drive motor and a second drive belt;

[0008] A vertical support frame, the vertical support frame is connected to the portal support frame via the second direction movable module, and one end of the vertical support frame is provided with a third direction movable module, the third direction movable module is driven by a third drive motor and a third drive belt;

[0009] A milling module connected to the vertical support frame via the third-direction movable module, comprising a milling high-speed motor, a milling cutter head assembly detachably connected to an output shaft of the milling high-speed motor, the milling cutter head assembly comprising a torsional elastic member, a fixed shaft, and a milling cutter connected to the fixed shaft;

[0010] A sensor module includes 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 size 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 torsional 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 torsional elastic member, the torsional 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 torsional elastic member, the torsional elastic member undergoes torsional deformation.

[0014] In a possible implementation, the movement 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, 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 the machining depth and surface roughness of the workpiece to be machined.

[0018] In a possible implementation, a plurality of heat dissipation fins are provided in the heat dissipation cavity, the plurality of heat dissipation fins are fitted with the housing of the first drive motor, the plurality of heat dissipation fins enclose and form 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, the system further includes a memory configured to store program code, and the processor is configured 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 torsional elastic member according to the angle difference between the first angle and the second angle;

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

[0023] Acquiring image data and / or video data captured 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, determining the circumferential deformation of the torsional elastic member according to the angle difference between the first angle and the second angle includes:

[0027] The angular 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 torsional elastic member. The deformation calculation model satisfies the following expression:

[0028]

[0029] Among them, K is a pre-trained relationship coefficient 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 torsional elastic member, T is the current cumulative usage time of the torsional elastic member, T1 is the first reference usage time, and T0 is the second reference usage time.

[0030] Unlike existing technologies, the milling machine tool technology provided in the embodiments of the present application includes a base frame with first and second support surfaces. The second support surface is equipped with a workpiece support assembly. This assembly achieves precise horizontal movement of the workpiece through a first-direction movable module and a workpiece support platform. The first-direction movable module is driven by a first drive motor through a first drive belt to drive a lead screw. A heat dissipation cavity is provided below the first drive motor to improve operating efficiency. The machine tool is also equipped with a portal support frame, one end of which is equipped with a second-direction movable module. It is driven by a second drive motor through a second drive belt to achieve horizontal movement of the machine tool. A vertical support frame is connected to the portal support frame via the second-direction movable module. A third-direction movable module is installed at one end of the vertical support frame and is driven by a third drive motor through a third drive belt to achieve vertical adjustment of the machine tool. The milling module is connected to the vertical support frame via the third-direction movable module and includes a high-speed milling motor and a milling cutter head assembly detachably connected to the motor output shaft. This assembly has a built-in torsional elastic member, a fixed shaft, and a milling cutter to ensure flexibility and precision during the machining 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 torsional elastic member), the torsional elastic member can maintain good rigidity and stability. At this time, the torsional elastic member does not undergo circumferential deformation or only undergoes slight deformation. While meeting the processing requirements, it can also provide a certain impact resistance for the milling module. 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 torsional 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 there is a failure risk of the milling module 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0033] Figure 1 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 structural diagram 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 purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall 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 various 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 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 they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a 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, and electronic equipment manufacturing. It plays an indispensable role in the precision processing of various complex-shaped parts.

[0041] Milling machines often lack effective real-time monitoring capabilities, making it difficult to detect issues like tool wear and motor failure. Failures can render the workpiece being machined useless and severely damage the machine itself, potentially endangering the operator's safety.

[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 portal 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 the first support surface 110. A workpiece support assembly is provided on the second support surface 120. The workpiece support assembly includes a first direction moving module 130 and a workpiece support platform 140 provided 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 provided 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 load-bearing surfaces of the machine tool. The workpiece support assembly provided 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 process. The first drive motor 121 drives the screw drive wheel 132 to rotate through the first drive 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 support 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 provided in the heat dissipation cavity 160 , and 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 cooling fins through the housing. External air enters through the openings of the heat dissipation channel, exchanges heat with the cooling fins, removes the heat, and flows out through the other end of the heat dissipation channel. In this way, the design of the cooling fins and heat dissipation channel greatly increases the heat dissipation area and improves the heat dissipation efficiency, ensuring the stability and reliability of the first drive motor 121 during long-term operation. Furthermore, effective heat dissipation measures help lower the temperature inside the motor, reducing the risk of motor damage due to overheating, thereby extending the motor's service life.

[0051] In one embodiment, the torsional elastic member 421 includes a plurality of circumferentially spaced torsional strips, and the circumferential size of the torsional 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 size of each torsional slat (i.e., the size along the rotation direction of the milling cutter 423) is precisely controlled within the range of 2 cm to 5 cm. A size greater than or equal to 2 cm can ensure that the torsional slats have sufficient rigidity and strength to withstand the torque and vibration generated during the milling process. A size less than or equal to 5 cm can keep the torsional slats of moderate size, avoiding excessive volume that increases the overall weight and complexity of the milling cutter head assembly 420, while also facilitating rapid heat dissipation. In this way, by rationally 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 an embodiment of the present application, the stiffness coefficient of the torsional elastic member 421 is designed to be greater than the stiffness coefficient of the workpiece to be processed, so as to ensure that the torsional 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 torsional elastic member 421, the reaction force generated by the workpiece to be processed on the milling module is insufficient to cause the torsional elastic member 421 to deform circumferentially. In this case, the torsional elastic member 421 does not undergo torsional deformation or only undergoes slight deformation, indicating that the workpiece currently being processed meets the processing requirements. However, when the stiffness coefficient of the workpiece to be processed exceeds the permitted range, that is, exceeds the stiffness coefficient of the torsional elastic member 421, the workpiece to be processed will generate a greater reaction force on the milling module. In this case, the torsional elastic member 421 will undergo a more significant circumferential deformation. If the deformation of the torsional elastic member 421 is detected to be greater than a set threshold at this time, it indicates that the milling module 400 has a potential failure risk, indicating that the workpiece currently being processed is not suitable for processing using the current milling module 400.

[0054] The deformation of the torsional elastic member 421 can be fed back through the difference in rotation angle between the high-speed motor output shaft 411 and the fixed shaft 422. Therefore, in the embodiment of the present application, a 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 a second sensor 520 is configured to detect the rotation angle of the fixed shaft 422 to obtain a second angle. In order to improve the detection accuracy of the deformation of the torsional 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 of the torsional 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 of the torsional elastic member 421 can be calculated by the following method steps: first, the high-speed motor output shaft 411 and the fixed shaft 422 are zero-calibrated. 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 a first angle, and obtains the rotation angle of the fixed shaft 422 to obtain a second angle. Next, the angular difference between the first angle and the second angle is calculated. Finally, the circumferential deformation of the torsional elastic member is calculated based on the angular difference between the first angle and the second angle.

[0057] In one embodiment, the angular 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 torsional elastic member, and the deformation calculation model satisfies the following expression:

[0058]

[0059] Among them, K is a pre-trained relationship coefficient 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 torsional elastic member, T is the current cumulative usage time of the torsional elastic member, T1 is the first reference usage time, and T0 is the second reference usage time.

[0060] It is understandable that as the torsional elastic member is used for a longer time, the performance of the torsional 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 torsional 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 angle difference actually detected. 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 usage time accumulates, the performance of the torsional elastic member will gradually reach its limit. In particular, after the usage time reaches a certain value, for example, after the usage time reaches T0, the performance of the torsional elastic member will reach a limit value, that is, the angle correction value at this time reaches the limit θ0. Within a certain range before this value, the angle correction value changes linearly with the usage time.

[0061] After determining the circumferential deformation of the torsional elastic member, if the circumferential deformation is greater than or equal to the deformation threshold, it indicates that the milling module is subject to a significant force from the workpiece and is at risk of failure. Continuing the milling process could result in damage to the module. In this case, the high-speed milling motor can be stopped. This allows for timely detection of milling module failure risks, thereby improving machining safety.

[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 torsional elastic member), the torsional elastic member can maintain good rigidity and stability. At this time, the torsional elastic member does not undergo circumferential deformation or only undergoes slight deformation. While meeting the processing requirements, it can also provide a certain impact resistance for the milling module; and 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 torsional elastic member), the workpiece to be processed will cause the milling module to deform. 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 there is a failure risk of the milling module 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 further provided with a camera device 700, and the camera device 700 is used to capture milling images and / or milling videos of the workpiece being processed, and the processor 600 is further used to analyze the milling images and / or milling videos to determine whether the milling module 400 has a fault risk. Among them, the camera device 700 can be a depth camera, which 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 workpiece to be processed and the working area of ​​the milling 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 by 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 prompt 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 prompt 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 the milling high-speed motor is controlled to stop working. In this way, the verification and confirmation of the milling module fault risk 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. The control method 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 of the torsional elastic member according to the angle difference between the first angle and the second angle;

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

[0071] Step S400: Acquire image data and / or video data captured 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. If the analysis result indicates that the milling module has a fault risk, triggering second risk warning information, the second risk warning information being used to indicate 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 torsional elastic member based on the angle difference between the first angle and the second angle. When the circumferential deformation of the torsional 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 (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, and at this time the milling high-speed motor is controlled to stop working. In this way, the fault risk of the milling module is verified and confirmed by two means, which can improve the safety of the processing.

[0075] For example, a failure risk analysis model can first extract visual features and then analyze them to determine whether the milling module is at risk of failure. Visual features may include, but are not limited to, tool wear characteristics, chip characteristics, and workpiece surface characteristics. For example, wear characteristics of a milling cutter head, such as blade wear, scratches, and damage on the tool surface, can be extracted from an image or video. Edge detection algorithms and texture analysis are then used to identify the wear area and degree of wear, quantifying these features into numerical metrics such as wear area percentage and wear depth. Chip characteristics such as shape, size, color, and distribution can also be analyzed. Different machining conditions and fault conditions may cause variations in chip characteristics. For example, severe tool wear may result in fine chips with unusual colors; vibration or instability during machining may result in uneven chip distribution. The extraction and analysis of chip characteristics can indirectly reflect the operating status of the milling module. The quality of the machined workpiece surface can also be monitored, including surface roughness and the presence of defects such as scratches and burns. 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 failure risk.

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

[0077] The angular 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 torsional elastic member. The deformation calculation model satisfies the following expression:

[0078]

[0079] Among them, K is a pre-trained relationship coefficient 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 torsional elastic member, T is the current cumulative usage time of the torsional elastic member, T1 is the first reference usage time, and T0 is the second reference usage time.

[0080] It is understandable that as the torsional elastic member is used for a longer time, the performance of the torsional 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 torsional 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 angle difference actually detected. 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 usage time accumulates, the performance of the torsional elastic member will gradually reach its limit. In particular, after the usage time reaches a certain value, for example, after the usage time reaches T0, the performance of the torsional elastic member will reach a limit value, that is, the angle correction value at this time reaches the limit θ0. Within a certain range before this value, the angle correction value changes linearly with the usage time.

[0081] Specifically, after fitting multiple sets of experimental data, the embodiment of the present application obtained K of 0.5, the reference angle correction value θ0 of 3°, T1 of 50h, and T0 of 110h. This shows that the circumferential elastic coefficient of the torsional elastic member is approximately 0.5. After the torsional elastic member has been used for 50h, its elastic properties begin to change, and after the use time reaches 110h, its elastic properties 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 take the time factor into consideration. At this time, according to the formula When performing calculations, time affects the correction results, indicating that elastic properties gradually change over time. However, when the usage time exceeds 110 hours (T0), the limit of elastic property change tends to stabilize. At this time, the angle difference correction is calculated according to the formula ΔL = K*(Δθ-θ0), and the influence of time on the correction is no longer considered. This means that the change pattern of elastic properties at this stage is relatively stable, or it has reached a new stable state.

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

[0083] Those skilled in the art will understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or by hardware related to program code, and the program can be stored in a computer-readable storage medium. The above-mentioned storage medium can 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 separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0085] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, or of course by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be implemented by instructing the relevant 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 methods. Among them, the storage medium can be a magnetic 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 transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application 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 one end of the portal support frame (200) is provided with a second direction moving module (210), 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), and a third direction moving module (310) is provided at one end thereof, the third direction moving module (310) being 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-direction 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); The 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; as well as a processor (600), the processor (600) being configured 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 if the milling module (400) has a failure risk; The milling module (400) is further provided with a camera device (700), the camera device (700) being used to capture a milling image and / or a milling video of a workpiece being processed, and the processor (600) being further used to analyze the milling image and / or the milling video to determine whether the milling module (400) has a failure risk; The milling machine tool further includes a memory for storing program code, and the processor is used to call the program code 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 torsional elastic member according to the angle difference between the first angle and the second angle; When the circumferential deformation of the torsional elastic member is greater than or equal to the deformation threshold, triggering a first risk warning message, wherein the first risk warning message is used to prompt that the milling module has a failure risk; Acquiring image data and / or video data captured 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.

2. The milling machine tool according to claim 1, wherein: The torsion elastic member (421) comprises a plurality of circumferentially spaced torsion strips, wherein the circumferential size 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 1, wherein: 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.

4. The milling machine tool according to claim 1, wherein: 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.

5. The milling machine tool according to claim 1, wherein: 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.

6. The milling machine tool according to claim 1, wherein: A plurality of heat dissipation fins are provided in the heat dissipation cavity (160), the plurality of heat dissipation fins are fitted with the housing of the first drive motor (121), the plurality of heat dissipation fins enclose and form a plurality of heat dissipation channels, and the openings of the plurality of heat dissipation channels are connected to the outside.

7. The milling machine tool according to claim 1, wherein: The determining of the circumferential deformation of the torsional elastic member according to the angle difference between the first angle and the second angle includes: The angular 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 torsional elastic member. The deformation calculation model satisfies the following expression: Among them, K is a pre-trained relationship coefficient 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 torsional elastic member, T is the current cumulative usage time of the torsional elastic member, T1 is the first reference usage time, and T0 is the second reference usage time.

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