Multi-station milling machine and control method thereof

Abstract

The application relates to a multi-station milling machine and a control method thereof, and relates to the technical field of machining. The milling machine comprises a machining center for milling a rough material, a base supported on the ground, a clamping bed body slidably arranged on the base and used for clamping the rough material and driving the rough material into the machining center to perform milling, and a feeding mechanism arranged on the clamping bed body and used for feeding the rough material. The clamping bed body has a plurality of clamping stations, and the machining center has a cutter group corresponding to the clamping stations in one-to-one mode. The feeding mechanism comprises two parallel supporting tracks and a swing arm arranged on the supporting tracks in a spaced mode. The swing arm drives the rough material to move along the supporting tracks and stop at the clamping stations. The supporting tracks are provided with a limiting piece which is arranged in a lifting mode and is used for limiting the rough material when the rough material is located at the clamping station. The application has the effect of improving the production efficiency of the milling machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical processing, in particular to a multi-station milling processing all-in-one machine and a control method thereof. BACKGROUND

[0002] In the field of modern mechanical manufacturing, milling processing is an important material cutting processing method, which is usually carried out by a milling machine.

[0003] The traditional milling machine usually adopts a single-station design, that is, only one workpiece can be clamped for processing at a time. After the current process is completed, the workpiece needs to be manually replaced or the clamping position needs to be adjusted, so that the next workpiece can be processed. Because only one workpiece can be milled at a time, frequent workpiece replacement and clamping result in low production efficiency, which is difficult to meet the needs of mass production. SUMMARY

[0004] In order to improve the production efficiency of the milling machine, the present application provides a multi-station milling processing all-in-one machine and a control method thereof.

[0005] In the first aspect, the present application provides a multi-station milling processing all-in-one machine, which adopts the following technical scheme:

[0006] A multi-station milling processing all-in-one machine, comprising:

[0007] A machining center for milling processing of rough materials;

[0008] A machine base supported on the ground;

[0009] A clamping bed body slidingly installed on the machine base for clamping rough materials and driving the rough materials into the machining center for milling processing;

[0010] A feeding mechanism arranged on the clamping bed body for feeding rough materials;

[0011] The clamping bed body has a plurality of clamping stations, and the machining center has a cutter group corresponding to each clamping station;

[0012] The feeding mechanism includes two parallel support rails and a swing arm arranged on the support rails, the swing arm drives the rough materials to move along the support rails and stop at the clamping station, and the support rails are provided with a limiting piece that limits the rough materials when the rough materials are located at the clamping station.

[0013] By adopting the technical scheme, a plurality of rough materials can be synchronously fed through the support tracks and distributed to the plurality of clamping stations for clamping; after the feeding and clamping are completed, the plurality of tool groups of the machining center can synchronously mill the rough materials of the plurality of clamping stations, and the production efficiency of the multi-station milling machining integrated machine is high.

[0014] Optionally, the feeding mechanism further comprises a fixing base and a lifting cylinder arranged on the fixing base; the clamping bed is provided with an adjusting track, and the fixing base is slidingly installed on the adjusting track; and the support track is arranged on the top of the lifting cylinder.

[0015] By adopting the technical scheme, when the length of the rough material changes, the fixing base is driven to move on the adjusting track to adjust the spacing of the support tracks, so that the support tracks are suitable for feeding rough materials of different lengths. Moreover, the rough material is first positioned on the support track, and then the support track is lifted to the height of the clamping station, so that the clamping station can accurately clamp the rough material.

[0016] Optionally, the machining center comprises a cabinet, a displacement frame sliding on the cabinet, and a row of tool holders rotatably installed on the displacement frame; the tool groups are located on the row of tool holders, and each tool group comprises a plurality of machining tool heads arranged in a circumferential direction on the row of tool holders.

[0017] The displacement frame is provided with an air suction port above the row of tool holders; the lower part of the displacement frame is provided with an air outlet port, and the air outlet port faces the clamping station; and the air suction port and the air outlet port are in communication.

[0018] The displacement frame is provided with a dust baffle at the air outlet port, and the dust baffle has an inclined lower sliding surface inclined to both sides; and the surface of the dust baffle has a ventilation hole.

[0019] By adopting the technical scheme, after the machining tool heads are used, the row of tool holders is rotated to rotate the used machining tool heads to the top, at which time the air suction port can suck and clean the used machining tool heads to keep the surface of the machining tool heads clean when they are used next time. When the air suction port sucks air, the smoke generated during the machining of the clamping station can be synchronously sucked away, so as to improve the machining precision of the rough material.

[0020] The air sucked by the air suction port can be sprayed out of the air outlet port, the sprayed debris can be treated by the inclined lower sliding surface, and the air can pass through the ventilation hole to blow the clamping station, so as to blow off part of the debris generated by the clamping station and cool it.

[0021] Optionally, the clamping bed has a chip collection channel below the clamping station, and a chip dropping hole is formed downward at one end of the chip collection channel away from the machining center; the machine base is provided with a pushing plate that slides in the chip collection channel and pushes the chips to the chip dropping hole during the rough material machining process.

[0022] The machine base is provided with a chip collection channel, and a spiral rod is rotatably arranged in the chip collection channel; the chip dropping hole is opposite to the chip collection channel when the rough material machining is completed.

[0023] In a second aspect, the present application provides a control method of a multi-station milling machining all-in-one machine, which adopts the following technical scheme:

[0024] A control method of a multi-station milling machining all-in-one machine, applied to a multi-station milling machining all-in-one machine, comprising:

[0025] Collecting a feeding readiness signal;

[0026] In response to the feeding readiness signal, controlling the feeding mechanism to feed the rough material, and collecting a station positioning signal;

[0027] In response to the station positioning signal, accumulating the number of positioning;

[0028] When the number of positioning is consistent with the preset number of available stations, collecting station image information of each clamping station;

[0029] Based on each station image information, extracting the posture information of the rough material of each clamping station;

[0030] Comparing the posture information of the rough material of each clamping station, controlling the feeding mechanism to uniformly adjust the posture of the rough material of each clamping station, and outputting a to-be-executed signal;

[0031] In response to the to-be-executed signal, controlling the machining center to uniformly mill the rough material.

[0032] Optionally, the method for feeding the rough material by the feeding mechanism comprises:

[0033] Collecting a material placement image of a preset feeding starting position;

[0034] Identifying the rough material from the material placement image to determine the length of the rough material;

[0035] Determining the setting width of the support track based on the length of the rough material;

[0036] Controlling the relative movement of the two support tracks to a gap of 0 and synchronously controlling the circumferential rotation of the support tracks by 360°;

[0037] The support rails are arranged to control the width of the support rails to move away from each other;

[0038] The rough material is moved from the feeding starting position to a preset pushing starting position on the support rails and is fed.

[0039] Optionally, the method further comprises:

[0040] An image of the material placement at the preset feeding starting position is collected;

[0041] The rough material is identified from the image of the material placement to determine the volume of the rough material;

[0042] The weight of the rough material is determined according to the volume of the rough material and a preset rough material quality;

[0043] The quotient of the preset swing arm driving force and the weight of the rough material is calculated and is rounded to obtain a synchronous driving number;

[0044] If the synchronous driving number is 1, a single rough material is moved to the preset pushing starting position at a preset interval placement time, and the rough material is numbered to obtain a rough material feeding number;

[0045] The swing arm is controlled to rotate and drive the rough material to move, and a real-time position image of the rough material is collected;

[0046] A clamp number is identified from the real-time position image of the rough material;

[0047] When the rough material feeding number is consistent with the clamp number, the limiting piece is controlled to rise to position the rough material, and the feeding of the single rough material is completed.

[0048] Optionally, the method further comprises:

[0049] If the synchronous driving number is not 1, the synchronous driving number of rough materials is moved to the pushing starting position at the interval placement time;

[0050] Each rough material is numbered in sequence, and the last number of each group of rough materials is marked as a last number, and the second last number is marked as a second last number;

[0051] The plurality of rough materials are driven to move synchronously, and a real-time position image of the rough materials is collected;

[0052] A clamp number is identified from the real-time position image of the rough materials;

[0053] When the last number is consistent with the clamp number, the corresponding swing arm group of the clamping station is called according to the clamp number, and the swing arm group includes a first swing arm away from the pushing starting position and a second swing arm close to the pushing starting position;

[0054] The first swing arm is controlled to rotate counterclockwise and the second swing arm is controlled to rotate clockwise, and the second number corresponding rough material and the last number corresponding rough material are separated by tumbling;

[0055] The first swing arm drives the rough material group corresponding to the second number to continue to move, and the limiting piece is controlled to rise to position the last number corresponding rough material;

[0056] The second number and the last number of the rough material group corresponding to the second number are re-marked until all the rough materials are completed.

[0057] Optionally, the posture uniform adjustment method comprises:

[0058] The posture information of the rough material of each clamping station is compared with the preset standard blank posture to determine the center horizontal deviation and the center height deviation;

[0059] The swing arm adjustment angle is matched according to the center horizontal deviation;

[0060] The rough material corresponding to the swing arm on both sides of the clamping station is controlled to rotate at the swing arm adjustment angle, and the rough material is clamped and the center horizontal deviation is adjusted from both sides;

[0061] Each rough material is sorted according to the center height deviation to obtain a clamping sequence;

[0062] According to the clamping sequence and the center height deviation of each rough material, an intermittent lifting scheme of the support rail is formed;

[0063] The support rail is controlled to lift according to the intermittent lifting scheme, and the rough material corresponding to the clamping station is clamped and fixed according to the clamping sequence.

[0064] Optionally, the uniform milling method comprises:

[0065] Collecting the post-adjusted station blank image;

[0066] The station blank image of each clamping station is analyzed to extract the cross-sectional profile of the rough material;

[0067] The cross-sectional profiles of all rough materials are overlapped to obtain a cross-sectional overlap image;

[0068] Analyzing the cross-section overlap image to determine overlapping areas, and analyzing the number of overlapping layers of each overlapping area;

[0069] Marking the overlapping area with the number of overlapping layers consistent with the number of available stations as a finishing area;

[0070] Matching the feed speed according to the number of overlapping layers, the fewer the number of overlapping layers, the faster the feed speed;

[0071] Controlling the machining center to machine the skinning of the overlapping area except the finishing area according to the feed speed, and milling the finishing area according to the preset finishing speed.

[0072] In summary, the present application includes at least one of the following beneficial technical effects:

[0073] A plurality of clamping stations are arranged on the clamping bed body, and two support rails are arranged, a plurality of rough materials can be synchronously fed through the support rails and distributed to the plurality of clamping stations for clamping; after clamping is completed, a plurality of tool groups of the machining center can synchronously mill the rough materials of the plurality of clamping stations, and the production efficiency of the above-mentioned multi-station milling machining integrated machine is high;

[0074] When the length of the rough material changes, the fixed seat is driven to move on the adjusting rail to adjust, so that the spacing of the support rails changes, thereby being suitable for feeding rough materials of different lengths. Moreover, by first positioning the rough material on the support rail and then lifting the support rail to the height of the clamping station, the clamping station can accurately clamp the rough material;

[0075] After the machining tool head is used up, the used machining tool head is rotated to the top by rotating the row tool holder, at which time the air suction port can suck and clean the used machining tool head to keep the surface of the machining tool head clean when it is used next time. When the air suction port sucks, it can simultaneously suck away the smoke generated during the machining of the clamping station, thereby improving the machining accuracy of the rough material. BRIEF DESCRIPTION OF DRAWINGS

[0076] Figure 1 is a whole structure schematic view of a multi-station milling machining integrated machine according to an embodiment of the present application;

[0077] Figure 2 is a structure schematic view of a machine base and a clamping bed body according to an embodiment of the present application;

[0078] Figure 3 is a structure schematic view of a feeding mechanism according to an embodiment of the present application;

[0079] Figure 4 is a sectional view of a machining center according to an embodiment of the present application.

[0080] The names of the parts referred to by the numbers in the above drawings are as follows: 1, machining center; 11, machining space; 12, cabinet body; 13, displacement frame; 131, air suction port; 132, air outlet; 133, dust baffle; 134, inclined sliding surface; 135, ventilation hole; 14, gang tool holder; 15, tool set; 151, machining tool head; 2, machine base; 21, sliding guide rail; 22, pushing plate; 23, connecting rod; 24, chip channel; 25, screw rod; 3, clamping bed; 31, clamping station; 311, fixed clamping head; 312, adjustable clamping head; 32, bed base; 321, chip collection channel; 322, chip falling hole; 33, mounting space; 34, adjusting track; 4, feeding mechanism; 41, fixed seat; 42, lifting cylinder; 43, supporting track; 44, swing arm; 45, limiting piece. DETAILED DESCRIPTION

[0081] In order to make the purpose, technical solutions and advantages of the present application more clear, the present application is further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0082] The embodiment of the present application discloses a multi-station milling machining all-in-one machine.

[0083] Referring to Figure 1 A multi-station milling machining all-in-one machine comprises a machining center 1, a machine base 2, a clamping bed 3 and a feeding mechanism 4. The machining center 1 is used for milling machining of rough materials, the machine base 2 is supported on the ground and the clamping bed 3 is slidingly installed on the machine base 2, the clamping bed 3 is provided with a clamping station 31 for clamping the rough materials, and the feeding mechanism 4 is arranged on the clamping bed 3 for feeding the rough materials. After the feeding mechanism 4 completes the feeding of the rough materials, the clamping station 31 of the clamping bed 3 clamps the rough materials, and finally the clamping bed 3 moves horizontally on the machine base 2 and sends the rough materials into the machining center 1 for machining.

[0084] The machining center 1 is in the form of a gantry structure and has a machining space 11. A part of the machine base 2 is outside the machining space 11 and another part extends into the machining space 11. The machine base 2 is symmetrically provided with sliding guide rails 21, a part of the sliding guide rails 21 is outside the machining space 11 and another part extends into the machining space 11.

[0085] Referring to Figure 1 and Figure 2The clamping bed body 3 is installed on the sliding guide rail 21 and can move on the sliding guide rail 21 to enter and exit the machining space 11. The clamping bed body 3 includes a bed body base 32 and clamping stations 31. The bed body base 32 has a mounting space 33 for mounting the rough material, and the clamping stations 31 are multiple and uniformly arranged in the mounting space 33.

[0086] The clamping station 31 includes a fixed clamping head 311 and an adjustable clamping head 312 arranged on both sides of the mounting space 33 respectively. The fixed clamping head 311 and the adjustable clamping head 312 are coaxially arranged, and both are rotationally installed on the bed body base 32. Among them, the adjustable clamping head 312 can be telescopic, and it is driven to rotate by the motor built in the bed body base 32. When the rough material is clamped between the fixed clamping head 311 and the adjustable clamping head 312, the fixed clamping head 311 is passively rotated.

[0087] Referring to Figure 1 , Figure 2 and Figure 3 , the feeding mechanism 4 includes a fixed seat 41, a lifting cylinder 42, a support rail 43, and a swing arm 44. The bed body base 32 is provided with an adjusting rail 34 parallel to the sliding guide rail 21. The fixed seat 41 is slidingly arranged on the adjusting rail 34 and is driven to slide by a gear and rack driving mode. The lifting cylinder 42 is installed on the fixed seat 41, and the telescopic direction of the pushing is vertically upward, and the number of the lifting cylinder 42 is two groups, which are respectively located on both sides of the mounting space 33.

[0088] The number of the support rail 43 is two, which are respectively installed on the top of the lifting cylinder 42 on both sides of the mounting space 33 and can be lifted and lowered under the drive of the lifting cylinder 42. The swing arm 44 is rotationally arranged on the support rail 43, and there are multiple swing arms 44 on each support rail 43, which are arranged at intervals along the length direction of the support rail 43. The swing arm 44 is driven to rotate by the motor built in the support rail 43.

[0089] When the rough material is placed on one side of the support rail 43, the swing arm 44 rotates and exerts force on the rough material, so that the rough material can move on the support rail 43. Through the cooperation between the adjacent swing arms 44, the rough material can be moved to the corresponding position of the clamping station 31.

[0090] The limit piece 45 is vertically arranged on the support rail 43, and when the rough material slides to the corresponding position of the clamping station 31, the limit piece 45 rises to limit the rough material. By adjusting the height of the support rail 43 through the lifting cylinder 42, the rough material can be lifted to the clamping station 31, and the clamping station 31 can clamp the rough material.

[0091] Further, by making the fixing seat 41 slide on the sliding guide rail 21, the gap of the two support rails 43 is adjusted, so that the support rails 43 can adapt to rough materials of different lengths.

[0092] Referring to Figure 1 and Figure 4 The machining center 1 comprises a cabinet 12, a displacement frame 13 and a row of tool seats 14. The cabinet 12 is supported on the ground. The displacement frame 13 is slidingly installed on the cabinet 12 and can be vertically adjusted and horizontally adjusted on the cabinet 12 under the drive of a cylinder. The row of tool seats 14 is rotationally installed on the displacement frame 13, and the row of tool seats 14 is driven to rotate by a motor.

[0093] The row of tool seats 14 is uniformly and lengthwise spaced with tool groups 15, and the tool groups 15 correspond one-to-one with the clamping stations 31. Each tool group 15 is used to process the rough material clamped on the corresponding clamping station 31. The tool group 15 comprises a plurality of machining tool heads 151, which are circumferentially arranged on the row of tool seats 14. By rotating the row of tool seats 14, the machining tool heads 151 can be switched to process the rough material with different machining tool heads 151.

[0094] Further, the displacement frame 13 is provided with an air suction port 131 above the row of tool seats 14, and the lower part of the displacement frame 13 is provided with an air outlet port 132. The air suction port 131 is in communication with the air outlet port 132. The displacement frame 13 has a fan so that the air suction port 131 can suck air and the air outlet port 132 can blow air. The air outlet port 132 faces the pre-clamping station 31, and the air outlet port 132 is provided with a dust baffle 133 having an inclined downward sliding surface 134 inclined to both sides, and the surface of the dust baffle 133 is provided with a ventilation hole 135.

[0095] During the processing of the rough material, the fan can suck the chips of the tool groups 15 on the upper side of the row of tool seats 14 through the air suction port 131, and the chips can be blown on the dust baffle 133 through the air outlet port 132 and slide down from both sides along the inclined downward sliding surface 134. The air blown out of the air outlet port 132 can pass through the ventilation hole 135 and blow on the clamping station 31, so that the chips at the processing position are continuously blown away during the processing of the rough material.

[0096] Referring to Figure 1 and Figure 2Further, the clamping bed body 3 is provided with a chip collection channel 321 in the moving direction of the clamping bed body 3, and the chip collection channel 321 is located below the clamping station 31. An end of the chip collection channel 321 away from the machining center 1 is provided with a chip falling hole 322. Meanwhile, the machine base 2 is provided with a pushing plate 22 connected to the machine base 2 through a connecting rod 23. The pushing plate 22 extends into the chip collection channel 321, and when the clamping bed body 3 moves on the machine base 2 for machining, the pushing plate 22 can move in the chip collection channel 321, so as to push the chips generated in the machining and falling in the chip collection channel 321 to the chip falling hole 322.

[0097] The machine base 2 is provided with a chip channel 24, and a screw rod 25 is rotatably arranged in the chip channel 24. The screw rod 25 is driven by a motor arranged in the cabinet 12. When the clamping bed body 3 drives the rough material to move and completes the machining, the chip falling hole 322 of the clamping bed body 3 is opposite to the chip channel 24. At this time, the pushing plate 22 completely pushes the chips in the chip collection channel 321 into the chip falling hole 322, and the chips fall from the chip falling hole 322 and enter the chip channel 24, and then are taken away by the screw rod 25.

[0098] Based on the same inventive concept, the embodiment of the present application provides a control method of the multi-station milling machining all-in-one machine.

[0099] The control method of the multi-station milling machining all-in-one machine comprises the following steps:

[0100] Step S1: collecting a feeding ready signal.

[0101] The feeding ready signal refers to a signal generated by the system when the equipment completes the previous round of machining and is ready for the next round of machining. The position state of the clamping bed body 3 is detected by the photoelectric sensor arranged on the clamping bed body 3 to generate a signal, which is collected by the system.

[0102] Step S2: in response to the feeding ready signal, controlling the feeding mechanism 4 to feed the rough material, and collecting a station in place signal.

[0103] The station in place signal refers to a signal generated by detecting the state of the clamping station 31 by the photoelectric sensor arranged on the clamping station 31 when the clamping station 31 is ready for material clamping, which is collected by the system.

[0104] When the feeding ready signal is collected, it indicates that the clamping bed body 3 is ready and has been moved out of the machining center 1. At this time, the feeding mechanism 4 can be controlled to feed the rough material, and the station in place signal is collected at the same time.

[0105] Step S3: in response to the station in place signal, accumulating the number of stations in place.

[0106] The number of positions refers to the number of clamping stations 31 that have been prepared and can clamp materials.

[0107] When the position signal is collected, the system again confirms that there are several clamping stations 31 that can clamp materials. The number of positions is accumulated by one for each position signal collected.

[0108] Step S4: When the number of positions is consistent with the preset number of available stations, collect the station image information of each clamping station 31.

[0109] The number of available stations is a parameter set by the technician according to the actual situation of the clamping stations 31 of the equipment when the equipment is started, which is the number of clamping stations 31 that can be used, and will not be described here.

[0110] The station image information refers to the image obtained by real-time image collection of the clamping station 31 by the camera arranged on the clamping bed 3. The rough material clamped by the clamping station 31 can be identified from the station image information.

[0111] When the number of positions is inconsistent with the number of available stations, it means that there are still clamping stations 31 that are not ready, and continue to wait.

[0112] When the number of positions is consistent with the number of available stations, it means that all clamping stations 31 are ready, at this time the rough material is fed by the feeding mechanism 4, and the camera continuously collects real-time station image information to determine the real-time state of the rough material.

[0113] Step S5: Extract the posture information of the rough material of each clamping station 31 based on each station image information.

[0114] The posture information refers to the posture of the rough material when clamped by the clamping station 31.

[0115] Each station image information of each clamping station 31 is analyzed by image recognition, and the posture information of the rough material can be identified from the station image information.

[0116] Step S6: Compare the posture information of the rough material of each clamping station 31, control the feeding mechanism 4 to adjust the posture of the rough material of each clamping station 31, and output a to-be-executed signal.

[0117] The size of each rough material may be different, and when the clamping station 31 clamps the rough material, it must be clamped at the center of the end of the rough material to ensure that each rough material can be normally processed.

[0118] By comparing the posture information of each rough material, the posture of each rough material is adjusted according to the posture information, so that the clamping station 31 can clamp the rough material better.

[0119] After the posture adjustment of the rough material is completed, the system will issue a to-be-executed signal. The to-be-executed signal refers to a signal issued by the system after all clamping stations 31 have completed the clamping of the material. The next process of the device is performed according to the signal.

[0120] Step S7: In response to the to-be-executed signal, the machining center 1 is controlled to uniformly mill the rough material.

[0121] When the system collects the to-be-executed signal, the system controls the clamping bed 3 to move to the machining center 1, and controls the machining center 1 to process the rough material.

[0122] The method for feeding the rough material by the feeding mechanism 4 includes the following steps:

[0123] Step S20: Collect the material placement image of the preset feeding starting position.

[0124] A feeding platform is arranged at one side of the end of the support rail 43, and the rough material is placed on the feeding platform, and the rough material is clamped on the support rail 43 by the mechanical hand.

[0125] The feeding starting position is a position on the feeding platform for placing the rough material to be clamped, which is not described here.

[0126] The material placement image refers to an image obtained by photographing the feeding starting position by the camera arranged on the device. The rough material placed at the feeding starting position can be identified from the material placement image.

[0127] Step S200: Identify the rough material from the material placement image to determine the length of the rough material.

[0128] The distance between the camera and the feeding platform remains constant, and a certain point on the feeding platform is taken as a reference point, so that the image shooting scale of the material placement image can be determined. By identifying the length of the rough material from the material placement image and combining the image shooting scale, the actual length of the rough material can be determined.

[0129] Step S201: Determine the support rail setting width based on the length of the rough material.

[0130] The support rails 43 are arranged in parallel and in two numbers, and the rough material moves on the support rails 43 and is finally clamped by the clamping station 31. In order to ensure that the rough material can move on the support rails 43 and will not fall off the support rails 43 during the movement, it is necessary to ensure that the length of the rough material is greater than the gap width between the two support rails 43. The support rail arrangement width, that is, the gap width between the two support rails 43. The support rail arrangement width is determined according to the length of the rough material, and the support rail arrangement width is less than the length of the rough material.

[0131] Step S202: Control the relative movement of the two support rails 43 to a gap of 0 and simultaneously control the circumferential overturning of the support rails 43 by 360°.

[0132] When the rough material is loaded, the two support rails 43 are first controlled to move relative to each other and touch each other, and then are re-separated. During the relative movement, the system controls the support rails 43 to overturn circumferentially by 360°. Through the above method, the support rails 43 are first calibrated so that the rough material can move stably thereon. And through the above method, the debris generated by the upper wheel processing can be shaken off, so that the debris will not affect the movement of the rough material thereon.

[0133] Step S203: Control the two support rails 43 to move away from each other according to the support rail arrangement width.

[0134] After the above operation steps are completed, the system controls the two support rails 43 to move away from each other, and finally the gap between the two support rails 43 is the support rail arrangement width.

[0135] Step S204: Move the rough material from the loading starting position to the preset pushing starting position on the support rails 43 and load.

[0136] After the initialization of the support rails 43 is completed, the system controls the robot to move the rough material from the loading starting position to the pushing starting position and starts loading. The pushing starting position is the position of the end of the support rail 43, and the rough material starts loading from this position.

[0137] The loading method further includes the following steps:

[0138] Step S21: Collect a material placement image of a preset loading starting position.

[0139] The same as step S20, which is not repeated here.

[0140] Step S210: Identify the rough material from the material placement image to determine the volume of the rough material.

[0141] The shape of the rough material is determined by recognizing the rough material from the material placement image. If it is a cuboid, the length and width dimensions are recognized, and then the volume of the rough material is determined according to the length, width and height dimensions. If it is a cylinder, the length and diameter dimensions are recognized, and then the volume of the rough material is determined according to the length and diameter dimensions.

[0142] Step S211: determining the rough weight according to the rough material volume and the preset rough material quality.

[0143] The rough material quality is the material quality of the production finished product selected by the technician, and the rough material quality determines the density.

[0144] The rough weight refers to the weight of the rough material at the start position of the feeding. After the volume and density of the rough material are determined, the rough weight can be calculated according to the relationship between the two.

[0145] Step S212: calculating the quotient of the preset swing arm driving force and the rough weight and taking the integer part to obtain the synchronous driving quantity.

[0146] The synchronous driving quantity refers to the number of rough materials that can be pushed by the swing arm 44 each time when the rough material is on the supporting rail 43.

[0147] The swing arm driving force refers to the maximum torque that the swing arm 44 can generate under the driving of the motor, which is preset by the technician and will not be described here. The swing arm driving force determines the number of rough materials that can be pushed by the swing arm 44 at a time.

[0148] By calculating the quotient of the swing arm driving force and the rough weight, the synchronous driving quantity is the integer part of the quotient.

[0149] Step S213: if the synchronous driving quantity is 1, moving a single rough material to the preset start position of the pushing by the preset interval placement time, and numbering the rough material to obtain the rough feeding number.

[0150] The synchronous driving quantity is 1, that is, the swing arm 44 can push one rough material to move each time.

[0151] The interval placement time is the interval time set by the technician for the robot to move the rough material from the start position of the feeding to the start position of the pushing. Within the interval placement time, the previous rough material has been pushed away by the swing arm 44, which will not be described here.

[0152] The rough feeding number is a number obtained by numbering each rough material in the feeding order, which represents the moving order of each rough material on the supporting rail 43.

[0153] Step S2130: controlling the swing arm 44 to rotate and drive the rough material to move, and collecting the real-time position image of the rough material.

[0154] The real-time position image of the rough material refers to an image obtained by real-time shooting the position of the rough material in movement through the camera arranged on the device. The situation of the clamping station 31 can be identified from the real-time position image of the rough material.

[0155] When the rough material moves on the support rail 43, the system controls the camera to track and shoot the position of each rough material to determine the movement progress of each rough material.

[0156] Step S2131: identifying the clamp number from the real-time position image of the rough material.

[0157] The clamp number is a specific number of each clamping station 31, which is pasted on the device in the form of a barcode. When the rough material moves to a certain clamping station 31, the barcode can appear in the real-time position image of the rough material. By identifying the barcode in the real-time position image of the rough material, the clamp number of the clamping station 31 can be determined.

[0158] Step S2132: when the rough material loading number is consistent with the clamp number, controlling the limiting part 45 to rise to position the rough material, and completing the loading of a single rough material.

[0159] When the rough material loading number is not consistent with the clamp number, it means that the rough material has not yet reached the designated clamping station 31, and the swing arm 44 needs to continue to push the rough material to move.

[0160] When the rough material loading number is consistent with the clamp number, it means that the rough material has reached the position. At this time, the system will control the limiting part 45 at the clamping station 31 to rise, so that the rough material cannot continue to move and is positioned at the clamping station 31. At this time, the rough material completes the loading.

[0161] In this embodiment, the rough material with the rough material loading number of No. 1 needs to be moved to the clamping station 31 with the clamp number of No. 1. If it is stopped at the clamping station 31 with the clamp number of No. 2, the clamping station 31 with the clamp number of No. 1 will be vacant, so it is necessary to make the rough material loading number consistent with the clamp number.

[0162] The loading method when the number of synchronous drives is not 1 includes the following steps:

[0163] Step S214: if the number of synchronous drives is not 1, moving the rough materials with the number of synchronous drives to the pushing start position by the interval placement time.

[0164] If the number of synchronous driving is not 1, i.e. the swing arm 44 can drive multiple rough materials to move at the same time, the robot places multiple rough materials in the pushing start position at the same time, and then the swing arm 44 drives the multiple rough materials to move at the same time. The number of rough materials driven at the same time does not exceed the number of available stations.

[0165] Step S2140: sequentially number each rough material, and mark the last number of each group of rough materials as the last number, and mark the second last number as the second last number.

[0166] As in step S213, each rough material is numbered. The difference between this embodiment and step S213 is that, in this embodiment, the swing arm 44 drives multiple rough materials to move at the same time, so when the last rough material in each group of rough materials reaches a specific clamping station 31, it needs to be separated from the group of rough materials, therefore the last and second last rough material in each group of rough materials are specially numbered.

[0167] Step S2141: drive the multiple rough materials to move synchronously, and collect real-time position images of the rough materials.

[0168] As in step S2130, details are not repeated here.

[0169] Step S2142: identify the clamp number from the real-time position images of the rough materials.

[0170] As in step S2131, details are not repeated here.

[0171] Step S2143: when the last number is consistent with the clamp number, retrieve the swing arm group corresponding to the clamping station 31 according to the clamp number, the swing arm group includes a first swing arm away from the pushing start position and a second swing arm close to the pushing start position.

[0172] If the last number is not consistent with the clamp number, it means that the group of rough materials has not reached the specified clamping station 31, and needs to continue to move.

[0173] When the last number is consistent with the clamp number, it means that the last number rough material in the group of rough materials has reached the specified clamping station 31, and the last number rough material needs to be separated from the second last number rough material.

[0174] In this embodiment, the clamp number is identified, and the swing arm group of the clamping station 31 is retrieved through the clamp number, and the group of rough materials is separated through the swing arm group.

[0175] Step S2144: control the first swing arm to rotate counterclockwise and the second swing arm to rotate clockwise, so as to separate the rough material corresponding to the second digit number from the rough material corresponding to the last digit number.

[0176] The first swing arm and the second swing arm are controlled to rotate in different directions, wherein the first swing arm rotates counterclockwise and the second swing arm rotates clockwise, so that the first swing arm and the second swing arm can rotate into the rough material corresponding to the second digit number and the rough material corresponding to the last digit number, and separate the rough material corresponding to the second digit number and the rough material corresponding to the last digit number in the middle during rotation.

[0177] Since there are multiple rough materials in the rough material group where the rough material corresponding to the second digit number is located, the rough material corresponding to the second digit number is only horizontally moved, and the rough material corresponding to the last digit number is only one, which is rolled.

[0178] Step S2145: the first swing arm drives the rough material group corresponding to the second digit number to continue to move, and controls the limiting piece 45 to rise to position the rough material corresponding to the last digit number.

[0179] After the rough material group is separated by the first swing arm and the second swing arm, the rough material group containing the rough material corresponding to the second digit number can continue to move in the original direction, and the rough material corresponding to the last digit number is limited by the limiting piece 45 under the control of the system, so as to be limited corresponding to the clamping station 31 corresponding to the last digit number.

[0180] Step S2146: re-label the second digit number and the last digit number of the rough material group corresponding to the second digit number until all the rough materials are completed.

[0181] After the rough material corresponding to the last digit number is completed, the rough material group containing the rough material corresponding to the second digit number forms a new rough material group, at this time, the second digit number and the last digit number are re-assigned, and the subsequent steps S2143 to S2145 are consistent, until the last last digit number is installed corresponding to the corresponding clamping station 31, which is not described here.

[0182] Since the size of each rough material may be different, the rough material is caused to slide on the supporting rail 43 and is limited in the specified clamping station 31 by the limiting piece 45, at this time, the clamping station 31 clamps the rough material, which is not necessarily clamped at the center of the two ends of the rough material, so the posture of the rough material needs to be adjusted. The posture uniform adjustment method includes the following steps:

[0183] Step S60: compare the posture information of the rough material of each clamping station 31 with the preset standard blank posture to determine the center horizontal deviation and the center height deviation.

[0184] The standard blank posture is a reference posture obtained by a technical person shooting a fixing posture of a rough blank material of a standard size at the clamping station 31. The deviation can be determined by comparing the posture of the rough blank material with the standard blank posture, which will not be described herein.

[0185] The center horizontal deviation refers to a deviation of the center of the rough blank material from the center of the standard blank material in the horizontal direction. The center height deviation refers to a deviation of the center of the rough blank material from the center of the standard blank material in the height direction.

[0186] Step S61: matching the swing arm adjustment angle according to the center horizontal deviation.

[0187] In this embodiment, the method for adjusting the center horizontal deviation is to drive the rough blank material to move slightly horizontally by the swing arm 44.

[0188] The swing arm adjustment angle refers to an angle at which the swing arm 44 needs to be rotated to correct the center of the clamped rough blank material. The swing arm 44 is initially vertically downward and stationary, and starts to rotate from the vertically downward position and the angle is calculated.

[0189] Here, the rough blank material is adjusted by the two swing arms 44 on both sides of the clamping station 31, so each swing arm 44 corresponds to a swing arm adjustment angle, and the swing arm adjustment angles of the two swing arms 44 can be different.

[0190] The swing arm adjustment angle is proportional to the center horizontal deviation, and the larger the center horizontal deviation, the larger the swing arm adjustment angle.

[0191] Step S62: controlling the swing arms 44 corresponding to the rough blank material on both sides of the clamping station 31 to rotate at the swing arm adjustment angle, clamping the rough blank material from both sides and adjusting the center horizontal deviation.

[0192] The system respectively controls the swing arms 44 on both sides of the clamping station 31 to rotate at the respective swing arm adjustment angles, and the directions of rotation of the two are different, so that the rough blank material is finally clamped from both sides and simultaneously driven to move to adjust the position.

[0193] The center horizontal deviation of each rough blank material of the clamping station 31 is corrected by the above method.

[0194] Step S63: sorting each rough blank material according to the center height deviation to obtain a clamping sequence.

[0195] In this embodiment, the method for adjusting the center height deviation is to drive the support rail 43 to ascend and descend by the lifting cylinder 42, so that the rough blank material of each clamping station 31 is clamped by the clamping station 31 at different heights.

[0196] The clamping sequence refers to the sequence in which each rough material is clamped by the clamping station 31 in turn, and the clamping sequence is determined according to the center height deviation of each rough material. The larger the center height deviation, the earlier the clamping sequence.

[0197] Step S64: Forming the intermittent lifting scheme of the support rail 43 according to the center height deviation of each rough material and the clamping sequence.

[0198] When the control of the support rail 43 lifting the rough material is performed, the support rail 43 stops when each rough material reaches the specified height and is clamped by the clamping station 31. After the clamping of one rough material is completed, the support rail 43 continues to be controlled to lift the next rough material for clamping. Therefore, the lifting process of the support rail 43 is an intermittent lifting process.

[0199] The intermittent lifting scheme refers to the lifting method of the support rail 43 for installing all rough materials. After the clamping sequence is determined, the intermittent lifting scheme is determined according to the center height deviation of each rough material.

[0200] Step S65: Controlling the support rail 43 to lift according to the intermittent lifting scheme, and controlling the clamping station 31 to clamp and fix the rough material according to the clamping sequence.

[0201] After the intermittent lifting scheme is determined, the support rail 43 is controlled to lift by the intermittent lifting scheme.

[0202] For example, there are three rough materials No. 1, No. 2, and No. 3, and the center height deviations are 0.1, 0.3, and 0.4, respectively. The clamping sequence is No. 3, No. 2, and No. 1. The intermittent lifting scheme is: first lifting the support rail 43 by 0.4, i.e. 0.4-0=0.4, so that the No. 3 rough material is clamped by the clamping station 31; then lowering the support rail 43 by 0.1, i.e. 0.4-0.3=0.1, so that the No. 2 rough material is clamped by the clamping station 31; and finally lowering the support rail 43 by 0.2, i.e. 0.3-0.1-0.2, so that the No. 1 rough material is clamped by the clamping station 31.

[0203] By the above method of lifting first and then lowering, after the rough material is clamped by the clamping station 31, it is not easy to affect the continuous lifting of the support rail 43.

[0204] The unified milling method comprises the following steps:

[0205] Step S70: Collecting the workpiece image after the posture adjustment.

[0206] The workpiece image refers to the image obtained by shooting the rough workpiece after posture adjustment through the camera arranged on the device. When the image is collected, the clamping work station 31 rotates the rough workpiece in the circumferential direction, so that the camera can shoot the image of the rough workpiece in the circumferential direction of 360°, and finally the workpiece image presents a three-dimensional stereoscopic image.

[0207] Step S71: image analysis is performed on the workpiece image of each clamping work station 31, and the cross-sectional profile of the rough workpiece is extracted.

[0208] The rough workpiece is analyzed from the workpiece image along the length direction of the rough workpiece, so as to determine the cross-sectional profile of any cross section of each rough workpiece. Here, the cross-sectional profile of each rough workpiece needs to be corresponded when determining the cross-sectional profile, and the cross-sectional profiles of the same cross section position of all rough workpieces need to be processed subsequently.

[0209] Step S72: overlap all the cross-sectional profiles of the rough workpieces to obtain a cross-sectional overlap image.

[0210] The cross-sectional overlap image refers to the image obtained by overlapping all the cross-sectional profiles of the rough workpieces at any cross section position. In step S71, the continuous cross-sectional profile of each rough workpiece has been determined, and at this time, the cross-sectional profiles of all rough workpieces at a certain cross section position are extracted and overlapped.

[0211] Step S73: analyze the cross-sectional overlap image to determine the overlap area and analyze the number of overlap layers of each overlap area.

[0212] Since the cross-sectional overlap image is the cross-sectional overlap of multiple rough workpieces, when it becomes an image, some areas in the image belong to multiple rough workpieces at the same time, and the area is the overlap area.

[0213] The number of overlap layers refers to the number of cross sections of the rough workpieces constituting the overlap area.

[0214] Step S74: mark the overlap area where the number of overlap layers is consistent with the number of available work stations as a finish machining area.

[0215] In the cross-sectional overlap image, the overlap area containing the cross sections of all rough workpieces is the main machining position, and in this embodiment, the overlap area is marked as a key.

[0216] Since the number of rough workpieces is the same as the number of available work stations, by comparing the number of overlap layers with the number of available work stations, it is determined whether the overlap area contains the cross sections of all rough workpieces.

[0217] Step S75: matching the feeding speed according to the number of superposed layers, the fewer the number of superposed layers, the faster the feeding speed.

[0218] The feeding speed refers to the feeding cutting speed of the cutter when the equipment processes the material.

[0219] In this embodiment, the closer the cutter is to the finishing area, the slower the feeding speed of the equipment, so as to ensure the processing precision of the product. Therefore, the feeding speed is inversely proportional to the number of superposed layers, the more the number of superposed layers, the slower the feeding speed.

[0220] Step S76: controlling the machining center 1 to process the superposed area except the finishing area according to the feeding speed, and milling the finishing area according to the preset finishing speed.

[0221] The finishing speed is the feeding speed of the cutter when the equipment cuts the finishing area, which is set by the technician and will not be described here.

[0222] In this embodiment, the system controls all the cutters to first mill the part except the finishing area at the feeding speed. At this time, as the cutter gradually approaches the finishing area, the feeding speed gradually decreases. When all the cutters reach the edge of the finishing area, the cutter is controlled to mill at the finishing speed.

[0223] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application shall also be considered as the protection scope of the present application.

Claims

1. A multi-station milling machine, characterized in that, The utility model provides a kind of milling center (1) for milling rough material;Support on the ground is base (2);Clamping bed (3) is slidably installed in the base (2), for rough material is clamped and drives rough material into the milling center (1) and is milled;Feeding mechanism (4) is arranged in the clamping bed (3), for rough material is fed;The clamping bed (3) has several clamping stations (31), and the milling center (1) has a tool set (15) corresponding to the clamping station (31) one by one;The feeding mechanism (4) includes two parallel support rails (43) and swing arm (44) spaced apart and arranged on the support rail (43), the swing arm (44) drives rough material to move along the support rail (43) and stop in the clamping station (31), the support rail (43) is arranged with a limiting member (45) for limiting rough material when rough material is located in the clamping station (31). The feeding mechanism (4) further includes a fixed seat (41) and a lifting cylinder (42) arranged on the fixed seat (41);The clamping bed (3) is provided with an adjusting track (34), and the fixed seat (41) is slidably installed on the adjusting track (34);The support rail (43) is arranged on the top of the lifting cylinder (42). The milling center (1) includes a cabinet (12), a displacement frame (13) sliding on the cabinet (12), and a row of tool holders (14) rotatably installed on the displacement frame (13);The tool set (15) is located in the row of tool holders (14), and each tool set (15) includes a plurality of machining tool bits (151) arranged circumferentially on the row of tool holders (14); The displacement frame (13) is provided with an air inlet (131), and the air inlet (131) is located above the row of tool holders (14);The lower part of the displacement frame (13) is provided with an air outlet (132), and the air outlet (132) faces the clamping station (31);The air inlet (131) and the air outlet (132) are in communication; The displacement frame (13) is provided with a dust baffle (133) at the air outlet (132), and the dust baffle (133) has an inclined lower sliding surface (134) inclined to both sides;The surface of the dust baffle (133) has a ventilation hole (135). The clamping bed (3) has a chip collecting channel (321) below the clamping station (31), and one end of the chip collecting channel (321) away from the milling center (1) is provided with a chip falling hole (322) downward;The base (2) is provided with a pushing plate (22), and the pushing plate (22) slides in the chip collecting channel (321) and pushes the chips to the chip falling hole (322) during the processing of rough material; The base (2) is provided with a chip channel (24), and a screw rod (25) is rotatably arranged in the chip channel (24);When the rough material processing is completed, the chip falling hole (322) is opposite to the chip channel (24).

2. The multi-station milling machine of claim 1, wherein, ​ 3. The multi-station milling machine of claim 1, wherein, ​ ​ ​ 4. The multi-station milling machine of claim 3, wherein, ​ ​ 5. The control method of the multi-station milling machining all-in-one machine, applied to the multi-station milling machining all-in-one machine according to any one of claims 1 to 4, characterized in that, The method comprises the following steps: collecting a feeding-ready signal; in response to the feeding-ready signal, controlling the feeding mechanism (4) to feed the rough material, collecting a station-in-place signal; in response to the station-in-place signal, accumulating the number of stations in place; when the number of stations in place is consistent with the preset number of available stations, collecting the station image information of each clamping station (31); based on each station image information, extracting the posture information of the rough material in each clamping station (31); comparing the posture information of the rough material in each clamping station (31), controlling the feeding mechanism (4) to adjust the posture of the rough material in each clamping station (31) uniformly, and outputting a to-be-executed signal; in response to the to-be-executed signal, controlling the machining center (1) to perform uniform milling processing on the rough material.

6. The control method of a multi-station milling machine according to claim 5, wherein The method for feeding the rough material by the feeding mechanism (4) comprises the following steps: collecting a material placement image of a preset feeding starting position; identifying the rough material from the material placement image to determine the length of the rough material; determining the support rail setting width based on the length of the rough material; controlling the relative movement of the two support rails (43) to a gap of 0 and synchronously controlling the support rails (43) to rotate 360° in the circumferential direction; controlling the two support rails (43) to move away from each other according to the support rail setting width; moving the rough material from the feeding starting position to a preset push starting position on the support rail (43) and feeding.

7. The control method of the multi-station milling machine tool according to claim 5, wherein, Further comprising: collecting a material placement image of a preset feeding starting position; identifying the rough material from the material placement image to determine the volume of the rough material; determining the rough weight according to the volume of the rough material and the preset rough material quality; calculating the quotient of the preset swing arm driving force and the rough weight and taking the integer part to obtain the synchronous driving number; if the synchronous driving number is 1, moving a single rough material to a preset push starting position at a preset interval placement time, and numbering the rough material to obtain a rough material feeding number; controlling the swing arm (44) to rotate and drive the rough material to move, and collecting a real-time position image of the rough material; identifying the clamp number from the real-time position image of the rough material; when the rough material feeding number is consistent with the clamp number, controlling the limiting piece (45) to rise to position the rough material, completing the feeding of a single rough material.

8. The control method of the multi-station milling machine center according to claim 7, wherein, Further comprising: if the synchronous driving number is not 1, moving the synchronous driving number of rough materials to the push starting position at the interval placement time; numbering each rough material in turn, and marking the last number of each group of rough materials as the last number and the second last number as the second last number; driving multiple rough materials to move synchronously, and collecting a real-time position image of the rough materials; identifying the clamp number from the real-time position image of the rough materials; when the last number is consistent with the clamp number, according to the clamp number, calling the swing arm group corresponding to the clamping station (31), and the swing arm group comprises a first swing arm away from the push starting position and a second swing arm close to the push starting position. The first swing arm is controlled to rotate counterclockwise and the second swing arm is controlled to rotate clockwise to roll and separate the rough material corresponding to the second digit and the rough material corresponding to the last digit; The first swing arm drives the rough material group corresponding to the second digit to continue to move, and the limiting piece (45) is controlled to rise to position the rough material corresponding to the last digit; The second digit and the last digit of the rough material group corresponding to the second digit are re-marked until all the rough materials are completed.

9. The control method of the multi-station milling machine center according to claim 5, wherein, The posture unification adjustment method comprises: Comparing the posture information of each rough material at the clamping station (31) with the preset standard blank posture to determine the center horizontal deviation and the center height deviation; Matching the swing arm adjustment angle according to the center horizontal deviation; Controlling the rough material to rotate the swing arm (44) on both sides of the clamping station (31) at the swing arm adjustment angle to clamp and adjust the center horizontal deviation of the rough material from both sides; According to the center height deviation, the rough materials are sorted to obtain a clamping sequence; According to the center height deviation of each rough material, an intermittent lifting scheme of the support rail (43) is formed according to the clamping sequence; According to the intermittent lifting scheme, the support rail (43) is controlled to lift and fall, and the rough materials are clamped and fixed at the clamping station (31) according to the clamping sequence.

10. The control method of the multi-station milling machine tool according to claim 5, wherein, The unified milling method comprises: Collecting the posture-adjusted station blank image; Performing image analysis on the station blank image of each clamping station (31) to extract the cross-sectional profile of the rough material; Overlapping the cross-sectional profiles of all rough materials to obtain a cross-sectional overlap image; Analyzing the cross-sectional overlap image to determine overlapping areas and analyzing the number of overlapping layers in each overlapping area; Marking the overlapping area with the number of overlapping layers consistent with the number of available stations as a finishing area; Matching the feed speed according to the number of overlapping layers, the fewer the number of overlapping layers, the faster the feed speed; According to the feed speed, the machining center (1) is controlled to machine and skin the overlapping areas except the finishing area, and according to the preset finishing speed, the finishing area is milled.

Images