Surface type processing device and method

Abstract

The invention discloses a surface type machining control device and method. A movable machining platform (1) is used for enabling a machining device to move along the end face of a ring opening or fixing the machining device to the specific position of the end face of the ring opening. The horizontal mechanism (2) is installed on the movable machining platform (1), the double-shaft machining mechanism (3) is installed on the horizontal mechanism (2), and the horizontal mechanism (2) adjusts the horizontal position of the double-shaft machining mechanism (3) so that the double-shaft machining mechanism (3) can be located at the horizontal reference zero position. A radial feeding linear module (31) of the double-shaft machining mechanism (3) is arranged on the horizontal mechanism (2), an axial feeding linear module (33) is installed on the radial feeding linear module (31), and the machining mechanism is installed on the axial feeding linear module (33) and used for machining the ring opening end face. According to the invention, high-precision rapid processing and detection can be carried out on the surface type of the large-diameter ring port end surface.

Description

Technical Field

[0001] This invention relates to the field of surface processing technology, and in particular to a surface processing apparatus and method. Background Technology

[0002] Large-diameter ring-shaped or ultra-long straight-line parts pose significant challenges to traditional machining and maintenance processes. Existing technology includes a movable CNC milling machine for machining turbine seat rings, comprising a base, worktable, column, tool post, and milling cutter post. By fixing the seat ring workpiece stationary, the machine's worktable can selectively move the column, tool post, or milling cutter post, enabling omnidirectional machining.

[0003] Existing technologies have the following drawbacks: Manual grinding requires scaffolding, with maintenance personnel climbing to the height of the grinding ring for manual grinding. After processing one section, the scaffolding needs to be erected for the next section, repeating the process. Therefore, the process is inherently dangerous, involves a large amount of manual labor, and the processing cycle is difficult to guarantee. The spindle-rotation type dedicated machine tool solution requires the machine tool to be erected at the center of the maintenance site. As a large processing equipment, the dedicated machine tool itself has high R&D and operating costs. The machine tool has a long setup period, occupies a large area, has a large processing arm span, and the processing accuracy is difficult to guarantee when the processing equipment is positioned at the end of the cantilever structure. Summary of the Invention

[0004] This invention proposes a surface machining device and method, aiming to solve the problems of high workload and long processing cycle of manual grinding, and high operating cost, large footprint, and low machining accuracy of spindle-type special machine tools. Through miniaturization design, three-axis milling functions are integrated into a lightweight device, making the machining of large-diameter annular end faces or ultra-long straight workpieces more convenient, ensuring machining accuracy while reducing processing cycle and cost.

[0005] This invention proposes a surface machining control device, which includes: a moving machining platform, a horizontal mechanism, and a dual-axis machining mechanism;

[0006] The mobile processing platform includes a moving mechanism and a fixing mechanism. The moving mechanism is used to move the device along the end face of the workpiece, and the fixing mechanism is used to fix the device at a specific position on the end face of the workpiece.

[0007] A horizontal mechanism is mounted on the mobile machining platform, and a dual-axis machining mechanism is mounted on the horizontal mechanism. The horizontal mechanism adjusts the horizontal position of the dual-axis machining mechanism according to its own position information, so that the dual-axis machining mechanism is at the horizontal reference zero position.

[0008] The dual-axis machining mechanism includes a horizontally arranged radial feed linear module, a vertically arranged axial feed linear module, and a machining mechanism. The radial feed linear module is disposed on the horizontal mechanism, the axial feed linear module is mounted on the radial feed linear module, and the machining mechanism is mounted on the axial feed linear module. The machining mechanism is used to machine the end face of the workpiece.

[0009] The control device determines the required machining feed amount for the radial feed linear module and the axial feed linear module based on the contour model of the surface to be machined at a certain point on the workpiece end face and the machining datum. The radial feed linear module and the axial feed linear module machine the workpiece end face according to the feed amount. At the same time, the dual-axis machining mechanism measures the feed amount of the radial feed linear module and the axial feed linear module. When the machined surface is machined to the machining datum, or when the radial feed linear module and the axial feed linear module reach the feed amount, the dual-axis machining mechanism stops machining.

[0010] Furthermore, the moving mechanism of the mobile processing platform includes: a moving / fixed platform, drive wheels, and side wheels.

[0011] Drive wheels are installed at the bottom of the mobile / fixed platform, and the drive wheels can drive the processing device to move along the end face of the workpiece;

[0012] A side wheel is installed on the side of the moving / fixed platform that is aligned with the first side of the workpiece. The side wheel contacts the first side of the workpiece and is used to guide the processing device to move along the first side.

[0013] The fixing mechanism is a magnetic base, which is installed at the bottom of the moving / fixed platform. It fixes the processing device to a specific position on the end face of the workpiece by magnetizing, or it releases the processing device by demagnetizing.

[0014] Furthermore, the leveling mechanism includes a leveling linear module, a ball joint, a slider guide rail module, and a leveling platform.

[0015] The leveling linear module is installed on the mobile / fixed platform of the mobile processing platform and can achieve vertical movement;

[0016] The ball joint is mounted on the leveling straight line module.

[0017] The slider guide module is mounted on the ball joint.

[0018] The leveling platform is mounted on the slider guide rail module.

[0019] Furthermore, the leveling linear module is capable of vertical movement;

[0020] The ball joint is capable of three degrees of freedom of movement;

[0021] The slider guide module can achieve horizontal movement along the radial or tangential direction of the workpiece;

[0022] The way the horizontal mechanism adjusts the horizontal position of the dual-axis machining mechanism according to its own position information is as follows: according to the position information of the leveling platform, the leveling linear module adjusts the horizontal position of the leveling platform so that the dual-axis machining mechanism is at the horizontal reference zero position.

[0023] Furthermore, the dual-axis machining mechanism further includes a radial connector, a motor bracket, a machining motor, and a cutting tool.

[0024] The radial feed linear module, mounted on a leveling platform, drives the processing device to achieve radial feed along the workpiece.

[0025] The connector is mounted on the radial feed linear module.

[0026] The axial feed linear module, mounted on the connector, drives the processing device to feed along the workpiece axial direction.

[0027] The motor bracket is mounted on the axial feed linear module, the machining motor is mounted on the motor bracket, and the cutting tool is mounted on the bottom end of the machining motor.

[0028] Furthermore, the feed rate is measured as follows: the radial feed linear module and the axial feed linear module each have an optical sensor, and the optical sensor is used to measure the feed rate of the radial feed linear module and the axial feed linear module.

[0029] Furthermore, another set of side wheels is installed on the side of the moving / fixed platform that is aligned with the outer circumferential surface of the workpiece. The other set of side wheels contacts the second side surface of the workpiece and is used to guide the processing device to move along the second side surface.

[0030] This invention also proposes an end-face processing control method, which includes:

[0031] The contour model and machining datum of the workpiece end face are determined. The moving machining platform moves the machining device to the lowest point of the workpiece end face and fixes it there, taking the lowest point of the workpiece end face as the starting machining surface.

[0032] The horizontal mechanism adjusts the horizontal position of the dual-axis machining mechanism so that the dual-axis machining mechanism is at the horizontal reference zero position;

[0033] The feed amount of the radial feed linear module and the vertically set axial feed linear module is determined based on the difference between the machining surface and the machining reference.

[0034] According to the feed rate, the dual-axis machining mechanism processes the machining surface of the workpiece end face until the machining surface of the workpiece end face is processed to the machining reference, or when the radial feed linear module and the axial feed linear module reach the feed rate, the dual-axis machining mechanism stops processing;

[0035] The mobile processing platform is released from its fixed position, and the processing device is moved a specified distance along the end face of the workpiece to the next processing surface to continue processing until the processing device moves to the starting processing surface and completes the end face processing of the workpiece.

[0036] Furthermore, the method for determining the contour model of the workpiece end face is as follows: multiple discrete target points are marked on the workpiece end face, the positions of the discrete target points are recorded in a three-dimensional coordinate system by scanning, and the coordinate information of the discrete target points is continuously modeled to obtain the contour model of the annular end face.

[0037] The advantages of this invention compared to the prior art are:

[0038] (1) This invention proposes a control device for machining the surface of a large-diameter ring end face. By integrating a moving machining platform, a horizontal mechanism and a dual-axis machining mechanism, it can complete the surface machining of a large-diameter ring end face. At the same time, through miniaturization and lightweight design, it solves the problems of large workload and long processing cycle of manual grinding, as well as high cost, large footprint and low machining accuracy of spindle rotary special machine tools. The automated surface machining of a large-diameter ring end face can be completed with a small number of maintenance personnel.

[0039] (2) This invention proposes an automated surface detection and processing control method for a large-diameter ring end face surface shape processing control device. Through the series cooperation between various mechanisms, it can autonomously complete tasks such as surface detection, digital surface modeling, movement / fixing, leveling, datum finding, and processing, thereby realizing intelligent, efficient, and high-precision processing of large-diameter ring end face surface shapes. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the device for machining the surface profile of a large-diameter annular end face according to the present invention;

[0041] Figure 2 This is a front view schematic diagram of the apparatus of the present invention for machining the surface profile of a large-diameter annular end face;

[0042] Figure 3This is a side view of the device for machining the surface profile of a large-diameter annular end face according to the present invention.

[0043] Figure 4 This is a top view schematic diagram of the device for machining the end face of a large-diameter ring mouth according to the present invention.

[0044] Explanation of reference numerals in the attached drawings: 1. Moving machining platform; 2. Horizontal mechanism; 3. Dual-axis machining mechanism; 11. Moving / fixed platform; 12. Drive wheel; 13. Side wheel; 14. Magnetic base; 21. Leveling linear module; 22. Ball joint; 23. Slider guide rail module; 24. Leveling platform; 31. Radial feed linear module; 32. Connector; 33. Axial feed linear module; 34. Motor bracket; 35. Machining motor; 36. Milling cutter. Detailed Implementation

[0045] This invention proposes a surface processing control device and method. The specific embodiments of this invention are described in detail below with reference to the figures.

[0046] The surface processing control device of the present invention includes: a moving processing platform 1, a horizontal mechanism 2, and a dual-axis processing mechanism 3;

[0047] The mobile processing platform 1 includes a moving mechanism and a fixing mechanism. The moving mechanism is used to move the processing device along the end face of the ring or straight workpiece, and the fixing mechanism is used to fix the processing device at a specific position on the end face of the ring or straight workpiece.

[0048] The horizontal mechanism 2 is installed on the mobile machining platform 1, and the dual-axis machining mechanism 3 is installed on the horizontal mechanism 2. The horizontal mechanism 2 adjusts the horizontal position of the dual-axis machining mechanism 3 so that the dual-axis machining mechanism 3 is at the horizontal reference zero position.

[0049] The dual-axis machining mechanism 3 includes a horizontally arranged radial feed linear module 31, a vertically arranged axial feed linear module 33, and a machining mechanism. The axial feed linear module 33 is mounted on the radial feed linear module 31, and the machining mechanism is mounted on the axial feed linear module 33. The machining mechanism is used to process the end face of a ring-shaped or straight workpiece.

[0050] The control device determines the required machining feed amount for the radial feed linear module 31 and the axial feed linear module 33 based on the contour model and machining reference of the surface to be machined at a certain point on the end face of the ring-shaped or straight workpiece. The radial feed linear module 31 and the axial feed linear module 33 machine the end face of the ring-shaped or straight workpiece according to the feed amount. At the same time, the dual-axis machining mechanism 3 measures the feed amount of the radial feed linear module 31 and the axial feed linear module 33. When the machined surface is machined to the machining reference, or when the radial feed linear module 31 and the axial feed linear module 33 have reached the feed amount, the dual-axis machining mechanism 3 stops machining.

[0051] See details Figure 1 The mobile processing platform 1 includes a mobile / fixed platform 11, drive wheels 12, side wheels 13, and a magnetic base 14. The drive wheels 12, side wheels 13, and magnetic base 14 are respectively mounted on the mobile / fixed platform 11. Drive wheels 12 are installed at the bottom of the mobile / fixed platform 11, enabling the processing device to move along the end face of an annular or straight workpiece. Side wheels 13 are installed on the side of the mobile / fixed platform 11 aligned with the inner annular surface or on the first side of the straight workpiece. The side wheels 13 contact the inner annular surface or the first side surface of the straight workpiece, guiding the processing device to move tangentially along the inner annular surface or along the straight workpiece. Optionally, another set of side wheels (not shown in the figure) can be installed on the other side of the mobile / fixed platform 11 and the annular surface or the straight workpiece. This other set of side wheels contacts the outer annular surface or the other side surface of the straight workpiece, guiding the processing device to move tangentially along the outer annular surface or along the straight workpiece. The fixing mechanism consists of a magnetic base 14 mounted on the bottom of the moving / fixing platform 11. The processing device is fixed to a specific position on the workpiece end face via a magnetizing operation, or released via a demagnetizing operation. Preferably, the bottom of the moving / fixing platform 11 is equipped with four drive wheels 12. These drive wheels 12 are actively driven, allowing the entire device to move on the end face of a large-diameter annular opening or a straight workpiece. Preferably, each side of the moving / fixing platform 11 has two side wheels 13. These side wheels 13 contact the inner annular surface of the large-diameter annular opening or the first side of the straight workpiece, ensuring that the device remains close to the inner annular surface and moves tangentially along the annular surface or along the straight workpiece. The magnetic base 14 is magnetized / demagnetized by switching on and off power, ensuring that the device can be fixed on the end face of the large-diameter annular opening or the straight workpiece during leveling and processing.

[0052] The horizontal mechanism 2 includes a leveling linear module 21, a ball joint 22, a slider guide rail module 23, and a leveling platform 24. The leveling linear module 21 is mounted on the moving / fixed platform 11 and achieves vertical motion output via a drive motor. The ball joint 22 is installed between the leveling linear module 21 and the slider guide rail module 23, providing three degrees of freedom; a single ball joint can provide three axial degrees of rotation. The slider guide rail module 23 is installed between the ball joint 22 and the leveling platform 24, providing one degree of freedom. The guide rail module 23 slides along the guide rail direction. A single leveling linear module 21, combined with a single set of slider rails 23 and ball joints 22, forms a drive group. This invention contains three drive groups in total. Driving two of these groups can adjust the level of the leveling platform 24; driving all three groups can adjust both the level and height of the leveling platform 24. The absolute position information of the leveling platform 24 is detected by attitude sensors, and the attitude of the leveling platform 24 is dynamically adjusted in real time through three sets of leveling linear modules 21, ensuring that the dual-axis machining mechanism 3 is always at a unified reference zero position before machining. The support structure, consisting of the leveling linear module 21, ball joint 22, and slider guide module 23, can have multiple sets. This support structure uses the moving / fixed platform 11 as a base and can support the leveling platform 24. When there are three sets of support structures, the three sets of support structures are arranged in an isosceles triangle, with the vertex located near the midpoint of one side of the moving / fixed platform 11, and the endpoints of the two bases located near the two ends of the other side of the moving / fixed platform 11. Alternatively, there can be four sets of support structures, each located near one of the four endpoints of the moving / fixed platform 11. This support structure provides stable support for the leveling platform 24 and allows the horizontal orientation of the leveling platform 24 to be adjusted through the leveling linear module 21.

[0053] The dual-axis machining mechanism 3 includes a radial feed linear module 31, a connector 32, an axial feed linear module 33, a motor bracket 34, a machining motor 35, and a milling cutter 36. The radial feed linear module 31 is mounted on the leveling platform 24 and achieves radial feed of the device through the drive motor. The connector 32 is installed between the radial feed linear module 31 and the axial feed linear module 33. The axial feed linear module 33 is mounted on the connector 32 and achieves axial feed of the device through the drive motor. The motor bracket 34 is mounted on the axial feed linear module 33. The machining motor 35 is mounted on the motor bracket 34. The milling cutter 36 is mounted at the bottom end of the machining motor 35 and is used to machine the end face of the workpiece. The radial feed linear module 31 achieves radial feed of the dual-axis machining mechanism 3 through a drive motor, with a stroke of 350mm, while the actual required stroke is only 250mm; the axial feed linear module 33 achieves axial feed of the dual-axis machining mechanism 3 through a drive motor, with a stroke of 100mm, while the actual required stroke is only 50mm. At the same time, by using optical sensors such as grating rulers built into the modules, precise positioning of the radial feed linear module 31 and the axial feed linear module 33 can be achieved.

[0054] Figure 2-4 These are front view, side view, and top view of the processing device of the present invention.

[0055] The present invention also proposes a method for machining the end face of a workpiece using a machining apparatus, comprising:

[0056] Determine the contour model and machining datum of the workpiece end face, move the machining platform 1 to the lowest point of the workpiece end face and fix it there, and take the lowest point of the workpiece end face as the starting machining surface.

[0057] The horizontal mechanism 2 adjusts the horizontal position of the dual-axis machining mechanism 3 so that the dual-axis machining mechanism 3 is at the horizontal reference zero position;

[0058] Based on the difference between the machining surface and the machining reference, the feed amount of the radial feed linear module 31 and the vertically set axial feed linear module 33 is determined;

[0059] According to the feed rate, the dual-axis machining mechanism 3 processes the machining surface of the workpiece end face until the machining surface of the workpiece end face is processed to the machining reference, or when the radial feed linear module 31 and the axial feed linear module 33 reach the feed rate, the dual-axis machining mechanism 3 stops processing.

[0060] The mobile processing platform 1 is released from its fixed position, and the processing device is moved a specified distance along the end face of the workpiece to the next processing surface to continue processing until the processing device moves to the starting processing surface and the end face processing of the workpiece is completed.

[0061] Specifically, the processing method of this invention can complete the pre-processing shape inspection, processing, and post-processing shape evaluation in one click, wherein:

[0062] In one embodiment, the surface shape detection / evaluation adopts a discrete target point reverse surface shape modeling method. Before machining begins, target points need to be arranged on the milling cutter head. During the operation of the device on the large-diameter ring, it first moves tangentially along the ring to the detection starting point position. After reaching the designated position, it stops and is parked by an electromagnet. Then, the radial linear module advances and the axial linear module is lowered so that the target ball contacts the end face of the ring to complete a target point mark. The marking action is repeated once every step length (e.g., about 10 mm) along the radial direction of the ring until enough target points are marked at the position (depending on the radial machining distance of the ring). The radial linear module and the axial linear module are reset, the electromagnet is demagnetized, and the device continues to move tangentially along the ring by one step length (e.g., about 10 mm) and repeats the above marking process until it moves tangentially along the ring again to reset to the detection starting point position. All target point marking information is counted and surface shape modeling / evaluation is performed. By coordinating the mobile machining platform 1, the radial feed linear module 31, and the axial feed linear module 33, the "tangential movement - radial feed - axial marking" is completed. A large number of discrete target positions are marked on the end face, and the positions of these discrete target points are recorded in a three-dimensional coordinate system using a laser scanner. Then, software algorithms are used to make the discrete target position information continuous, thereby completing the reverse digital modeling of the surface shape of the large-diameter ring end face. This enables the detection of the surface shape before machining and the evaluation of the surface shape after machining of the ring end face.

[0063] In one embodiment, the machining process employs a self-leveling, datum-finding three-axis machining method. During the operation of the device on the large-diameter annular opening, it first moves tangentially along the annular opening to the machining starting point. After reaching the designated position, it stops and is parked using an electromagnet. Subsequently, two sets of drive groups are adjusted to adjust the levelness of the leveling platform 24. After leveling, the axial linear module is lowered for tool feed, and the radial linear module is advanced for feed until the radial feed is in place (depending on the radial machining distance of the annular opening). The axial linear module is then moved upward for tool retraction, the radial linear module is reset, the electromagnet is demagnetized, and the device continues to move tangentially along the annular opening by one step (approximately 1 / 3 of a tool length) and repeats the above marking process until it moves tangentially along the annular opening again and resets to the machining starting point. Through the cooperation of the mobile machining platform 1, the horizontal mechanism 2, and the dual-axis machining mechanism 3, a repetitive machining operation of "movement-fixing-leveling-machining-movement" is achieved. At the beginning of machining, based on the surface shape detection results before machining, the device moves to the lowest point of the surface shape and is fixed by the magnetic suction seat 14. The horizontal mechanism 2 autonomously levels the platform. Then, the dual-axis machining mechanism 3 performs machining of the first section of the surface shape according to the quality of the end face at the current position. After the first section of the surface shape is completed, the magnetic suction seat 14 is released from fixation. Driven by the mobile machining platform 1, the device moves counterclockwise along the tangential direction of the ring opening by a distance of 1 / 3 of the milling cutter diameter and is fixed by the magnetic suction seat 14. The horizontal mechanism 2 autonomously levels the platform. Then, the dual-axis machining mechanism 3 uses the end face of the previous section of the surface shape as a reference to perform machining of this section of the surface shape. After the current section of the surface shape is completed, the magnetic suction seat 14 is released from fixation. Each subsequent machining process follows the second step until the device used for machining the end face shape of large-diameter ring openings moves to the lowest point of the initial surface shape, completing the closed-loop machining.

[0064] This invention employs a miniaturized, lightweight, and integrated design, combining a mobile machining platform, a horizontal mechanism, and a dual-axis machining mechanism into a single miniaturized machining device. This enables rapid machining of large-diameter annular end faces. Through the coordinated operation of the mobile machining platform and the dual-axis machining mechanism, three-axis machining of the end face can be achieved. The horizontal mechanism ensures that the dual-axis machining mechanism maintains a perfectly level machining base throughout the machining process. Combined with a high-precision detection sensor, this allows for high-precision machining. The overall device is lightweight and compact, facilitating rapid deployment by maintenance personnel and reducing manual workload.

[0065] In one embodiment, the processing mechanism of the present invention is a milling processing device. However, the present invention is not limited thereto. By flexibly setting the function and structure of the processing mechanism, the processing methods that the processing mechanism of the present invention can realize include, but are not limited to, the following types: milling, turning, planing, planing, shearing, broaching, sawing, filing, scraping, etc. By expanding the processing mechanism of the present invention, other processing methods can also be realized, and the corresponding control devices derived therefrom are still within the scope of the claims protected by the present invention.

[0066] This invention employs an automated method to connect the motion processes of the mobile processing platform, the horizontal mechanism, and the dual-axis processing mechanism in series, thereby achieving automated detection and processing of the surface shape of large-diameter annular end faces. This reduces the need for manual intervention by maintenance personnel and significantly lowers the workload.

Claims

1. A surface processing control device, characterized in that, It includes: Mobile machining platform (1), horizontal mechanism (2), dual-axis machining mechanism (3); The mobile processing platform (1) includes a moving mechanism and a fixing mechanism. The moving mechanism is used to move the device along the end face of the workpiece, and the fixing mechanism is used to fix the device at a specific position on the end face of the workpiece. The horizontal mechanism (2) is installed on the mobile processing platform (1), and the dual-axis processing mechanism (3) is installed on the horizontal mechanism (2). The horizontal mechanism (2) adjusts the horizontal position of the dual-axis processing mechanism (3) according to its own position information so that the dual-axis processing mechanism (3) is at the horizontal reference zero position. The dual-axis machining mechanism (3) includes a horizontally arranged radial feed linear module (31) and a vertically arranged axial feed linear module (33) and a machining mechanism. The radial feed linear module (31) is arranged on the horizontal mechanism (2), the axial feed linear module (33) is mounted on the radial feed linear module (31), and the machining mechanism is mounted on the axial feed linear module (33). The machining mechanism is used to machine the end face of the workpiece. The control device determines the required machining feed amount of the radial feed linear module (31) and the axial feed linear module (33) based on the contour model of the surface to be machined at a certain point on the end face of the workpiece and the machining reference. The radial feed linear module (31) and the axial feed linear module (33) machine the end face of the workpiece according to the feed amount. At the same time, the dual-axis machining mechanism (3) measures the feed amount of the radial feed linear module (31) and the axial feed linear module (33). When the machined surface is machined to the machining reference, or when the radial feed linear module (31) and the axial feed linear module (33) have reached the feed amount, the dual-axis machining mechanism (3) stops machining.

2. The control device according to claim 1, characterized in that, The moving mechanism of the mobile processing platform (1) includes: a mobile / fixed platform (11), a drive wheel (12), and side wheels (13). A drive wheel (12) is installed at the bottom of the mobile / fixed platform (11), and the drive wheel (12) can drive the processing device to move along the end face of the workpiece; A side wheel (13) is installed on the side of the moving / fixed platform (11) that is aligned with the direction of the first side of the workpiece. The side wheel (13) contacts the first side of the workpiece and is used to guide the processing device to move along the first side. The fixing mechanism is a magnetic base (14), which is installed at the bottom of the moving / fixed platform (11). The processing device is fixed to a specific position on the end face of the workpiece by magnetic operation, or the processing device is released by demagnetization operation.

3. The control device according to claim 2, characterized in that, The horizontal mechanism (2) includes a leveling linear module (21), a ball joint (22), a slider guide rail module (23), and a leveling platform (24). The leveling straight line module (21) is installed on the moving / fixed platform (11) of the moving processing platform (1) and can realize vertical movement; The ball joint (22) is mounted on the leveling straight line module (21). The slider guide module (23) is mounted on the ball joint (22). The leveling platform (24) is installed on the slider guide rail module (23).

4. The control device according to claim 3, characterized in that, The leveling linear module (21) can achieve vertical movement; The ball joint (22) is capable of three degrees of freedom of motion; The slider guide module (23) can realize horizontal movement along the radial or tangential direction of the workpiece; The horizontal mechanism (2) adjusts the horizontal position of the dual-axis machining mechanism (3) according to its own position information by adjusting the horizontal position of the leveling platform (24) by adjusting the horizontal position of the leveling platform (24) by the leveling linear module (21) so that the dual-axis machining mechanism (3) is at the horizontal reference zero position.

5. The control device according to claim 4, characterized in that, The dual-axis machining mechanism (3) further includes a radial connector (32), a motor bracket (34), a machining motor (35), and a cutting tool (36). The radial feed linear module (31), mounted on the leveling platform (24), is capable of driving the processing device to achieve radial feed along the workpiece. The connector (32) is mounted on the radial feed linear module (31). The axial feed linear module (33), mounted on the connector (32), is capable of driving the processing device to feed along the workpiece axial direction. The motor bracket (34) is mounted on the axial feed linear module (33), the machining motor (35) is mounted on the motor bracket (34), and the cutting tool (36) is mounted on the bottom end of the machining motor (35).

6. The control device according to claim 5, characterized in that, The feed rate is measured as follows: the radial feed linear module (31) and the axial feed linear module (33) are respectively equipped with optical sensors, and the optical sensors are used to measure the feed rate of the radial feed linear module (31) and the axial feed linear module (33).

7. The control device according to claim 2, characterized in that, Another set of side wheels is installed on the side of the moving / fixed platform (11) that is aligned with the outer ring surface of the workpiece. The other set of side wheels contacts the second side surface of the workpiece and is used to guide the processing device to move along the second side surface.

8. A control method for end face machining using the control device according to any one of claims 1-7, characterized in that, It includes: The contour model and machining datum of the workpiece end face are determined. The moving machining platform (1) moves the machining device to the lowest point of the workpiece end face and fixes it there, taking the lowest point of the workpiece end face as the starting machining surface. The horizontal mechanism (2) adjusts the horizontal position of the dual-axis machining mechanism (3) so that the dual-axis machining mechanism (3) is at the horizontal reference zero position; Based on the difference between the machining surface and the machining reference, the feed amount of the radial feed linear module (31) and the vertically set axial feed linear module (33) is determined; According to the feed amount, the dual-axis machining mechanism (3) processes the machining surface of the workpiece end face until the machining surface of the workpiece end face is processed to the machining reference, or when the radial feed linear module (31) and the axial feed linear module (33) reach the feed amount, the dual-axis machining mechanism (3) stops processing; The mobile processing platform (1) is released from its fixed position, and the processing device is moved a specified distance along the end face of the workpiece to the next processing surface to continue processing until the processing device moves to the starting processing surface and completes the end face processing of the workpiece.

9. The method according to claim 8, characterized in that, The method for determining the contour model of the workpiece end face is as follows: mark multiple discrete target points on the workpiece end face, record the positions of the discrete target points in a three-dimensional coordinate system by scanning, and perform continuous modeling of the coordinate information of the discrete target points to obtain the contour model of the annular end face.

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