Numerical control plate groove composite milling robot and control system

Abstract

The application discloses a numerical control plate bevel composite milling robot and a control system, relates to the technical field of plate bevel processing equipment, and comprises a mechanical arm arranged on one side of a workbench, and a milling mechanism is arranged on the output end of the mechanical arm; the milling mechanism comprises a pair of power heads, two milling cutters and a control mechanism; wherein the pair of power heads are arranged on the output end of the mechanical arm, and the two milling cutters are arranged on the pair of power heads; the control mechanism is arranged on the output end of the mechanical arm and is used for controlling the relative or opposite movement of the two milling cutters. The control mechanism is arranged, the two milling cutters are controlled to cooperate in processing, different bevel processing requirements can be adapted, and the two milling cutters are cooperatively moved, so that the one-time milling stroke can be increased, the milling cutter can be temporarily in the idle stroke state in one-time complete milling processing, the problems of cutting heat accumulation and built-up edge are relieved, and the processing precision and tool life are improved.

Description

Technical Field

[0001] This invention relates to the field of plate beveling equipment technology, and in particular to a CNC plate beveling composite milling robot and control system. Background Technology

[0002] A CNC composite milling robot for sheet metal beveling is a CNC automated machine used for beveling sheet metal. It can automatically complete operations such as sheet metal positioning, clamping, and beveling. However, existing composite milling robots still have the following shortcomings when machining long-bevel, high-hardness sheet metal:

[0003] For example, Chinese Patent CN112222495A discloses a special machine for milling bevels and chamfers, including a worktable and a milling cutter. The milling cutter is mounted on a first driving device, which is mounted on the worktable via a sliding device. A mounting platform and a base are provided on the side of the worktable near the milling cutter. A first slide rail is provided on the base, and the mounting platform is slidably connected to the first slide rail. A stand is provided at the top of the mounting platform, and a 45° inclined backing plate is fixed on the stand. A detachable corner block is provided on the backing plate, and the top surface of the corner block is an inclined surface at 30°. Two opposing fixing devices are provided on the other side of the stand. Each fixing device includes a support block, which slides in a first strip groove. A groove is opened on the end of the support block near the stand, and a baffle is provided on one side of the support block. The support block is pushed by a second hydraulic cylinder. This invention can process multiple workpieces at once, improving work efficiency. Furthermore, by utilizing different corner blocks, the chamfering machine can process workpieces with different angles, expanding its application range.

[0004] Existing beveling milling equipment uses a one-time milling method. When continuously machining long bevels, the following problems exist: First, the cutting heat is aggravated, which not only damages the tool but also causes local heating of the workpiece, resulting in thermal expansion and poor bevel accuracy stability and significant thermal deformation. Second, during continuous cutting, the chips are in contact with the tool edge for a long time, which easily forms a built-up edge. The built-up edge will take away the surface material of the tool as it falls off with the chips, and at the same time, it will result in poor surface roughness of the bevel, affecting the machining quality. Summary of the Invention

[0005] The purpose of this application is to provide a CNC plate beveling composite milling robot and control system, which can effectively solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this application provides the following technical solution: a CNC plate beveling composite milling robot, comprising a robotic arm disposed on one side of a worktable, wherein a milling mechanism is mounted on the output end of the robotic arm; the milling mechanism comprises: a pair of power heads, two milling cutters, and a control mechanism; wherein, the pair of power heads are mounted on the output end of the robotic arm, and the two milling cutters are respectively mounted on the pair of power heads; the control mechanism is mounted on the output end of the robotic arm and is used to control the relative or opposite movement of the two milling cutters.

[0007] Preferably, the control mechanism includes a second mounting frame, a first motor, a mounting base, a gear, and a pair of racks; the second mounting frame is mounted on the output end of the robotic arm, the first motor is mounted on the second mounting frame, the mounting base is mounted on the second mounting frame, the pair of racks are slidably connected to the mounting base, and the pair of power heads are respectively mounted on the pair of racks; the gear is fixed to the output end of the first motor, and the gear meshes with the pair of racks.

[0008] Preferably, the control mechanism further includes a positioning mechanism; the positioning mechanism includes a cylinder, a connecting plate, a first protrusion, a second protrusion, and a hexagonal shaft; the cylinder is mounted on a second mounting bracket, the connecting plate is fixed to the cylinder output end, the first protrusion is fixed to the mounting base, the second protrusion is rotatably connected to the connecting plate around its axis, the first protrusion and the second protrusion are adapted to each other, and the second protrusion is coaxially sleeved on the output shaft of the first motor, the hexagonal shaft is coaxially fixed to the output shaft of the first motor, and the second protrusion has a hexagonal hole adapted to the hexagonal shaft; when the cylinder drives the second protrusion on the connecting plate to engage with the first protrusion, when the first motor drives its output shaft to rotate, it can drive the mounting base and the gear to rotate synchronously; when the cylinder drives the second protrusion on the connecting plate to separate from the first protrusion, the first motor can only drive the gear to rotate.

[0009] Preferably, the positioning mechanism further includes a pair of first wedge blocks, a second wedge block, and a return spring; the pair of first wedge blocks are both fixed to the connecting plate, and the first wedge blocks are slidably connected to the mounting base, the second wedge block is inserted into the mounting base, and the wedge surfaces of the first wedge block and the second wedge block are adapted to each other; the return spring is disposed between the mounting base and the second wedge block, and the second mounting bracket has a positioning groove adapted to the end of the second wedge block; when the second wedge block is unrestrained, the return spring is used to drive the second wedge block to slide along its length direction, so as to drive the end of the second wedge block to separate from the positioning groove.

[0010] Preferably, an angle adjustment mechanism is provided between the output end of the robotic arm and the milling mechanism; the angle adjustment mechanism is used to control the angle at which the bevel is opened on the workpiece.

[0011] Preferably, the angle adjustment mechanism includes a second motor, a belt, and a pair of pulleys; a first mounting frame is installed between the output end of the robotic arm and the second mounting frame, the second motor is mounted on the first mounting frame, the pair of pulleys are rotatably connected to the first mounting frame around their axes, and the output end of the second motor is connected to one of the pulleys, the other pulley is connected to the second mounting frame through a connecting shaft, and the belt is tensioned on the pair of pulleys.

[0012] Preferably, a guide wheel is mounted on the first mounting bracket via a spring plate, and the guide wheel is tensioned by a belt.

[0013] Preferably, the design includes a linear module mounted on one side of the worktable, with the base of the robotic arm mounted on the output end of the linear module; the linear module is used to drive the robotic arm to move along the length direction of the workpiece bevel.

[0014] A CNC plate beveling composite milling control system includes the aforementioned CNC plate beveling composite milling robot: it further includes a controller disposed on one side of the worktable, the controller containing a robotic arm control module, a milling control module, a stroke control module, and an angle control module; the robotic arm control module is used to control the milling stroke speed and milling direction of the milling cutter; the milling control module is connected to the power head via signal control and is used to control the milling speed of the milling cutter; the stroke control module is connected to a first motor via signal control and is used to control the stroke of the milling cutter in one milling operation; the angle control module is connected to a second motor via signal control and is used to control the beveling angle.

[0015] Preferably, it further includes a rotation control module; the rotation control module is located within the controller; the rotation control module is connected to the robotic arm control module, the first motor and the cylinder via signal control, and is used to control the rotation of the milling cutter so as to control the two milling cutters to perform alternating milling operations.

[0016] In summary, the technical effects and advantages of this invention are as follows:

[0017] This invention, by setting up a control mechanism, can adapt to different bevel machining requirements by controlling the cooperation of two milling cutters; and the coordinated movement of the two milling cutters can increase the milling stroke in one operation, so that the milling cutters can be briefly in an idle state during a complete milling operation, which can alleviate the problems of cutting heat accumulation and built-up edge, and improve machining accuracy and tool life.

[0018] This invention, by setting up a positioning mechanism, and using the positioning mechanism in conjunction with the control mechanism, achieves rigid locking and unlocking of the mounting base and the second mounting bracket. By controlling the two states, it enables the two milling cutters to rotate 180° during the milling process for tool changing, so that one milling cutter is milling while the other is in an idle cooling state, which alleviates the problems of cutting heat accumulation and built-up edge, and improves machining accuracy and tool life. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the composite milling robot of the present invention;

[0021] Figure 2 This is a three-dimensional magnified structural diagram of the milling mechanism of the present invention from a first-view perspective;

[0022] Figure 3 This is a three-dimensional enlarged structural schematic diagram of the angle adjustment mechanism of the present invention;

[0023] Figure 4 This is a three-dimensional magnified structural diagram of the milling mechanism of the present invention from a second perspective;

[0024] Figure 5 This is a partially enlarged three-dimensional structural diagram of the milling mechanism of the present invention;

[0025] Figure 6 For the present invention Figure 5 Enlarged structural diagram of region A in the middle;

[0026] Figure 7 This is a three-dimensional enlarged exploded view of the milling mechanism of the present invention;

[0027] Figure 8 This is a three-dimensional enlarged structural diagram of a portion of the positioning mechanism of the present invention;

[0028] Figure 9 This is a system block diagram of the present invention;

[0029] Figure 10 This is a system flowchart of the present invention.

[0030] In the diagram: 1. Worktable; 2. Robotic arm; 3. Workpiece; 4. First mounting bracket; 5. Angle adjustment mechanism; 52. Pulley; 53. Belt; 54. Guide wheel; 6. Milling mechanism; 61. Power head; 62. Milling cutter; 63. Control mechanism; 631. Second mounting bracket; 632. First motor; 633. Mounting base; 634. Gear; 635. Rack; 636. Positioning mechanism; 6361. Cylinder; 6362. Connecting plate; 6363. First protrusion; 6364. Second protrusion; 6365. Hexagonal shaft; 6366. Hexagonal hole; 6367. First wedge block; 6368. Second wedge block; 6369. Return spring; 63610. Positioning groove. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example 1: Please refer to Figures 1-4 The CNC plate beveling composite milling robot shown includes a robotic arm 2 disposed on one side of a worktable 1; it also includes a linear module mounted on one side of the worktable 1, with the base of the robotic arm 2 mounted on the output end of the linear module; the linear module is used to drive the robotic arm 2 to move along the length direction of the workpiece beveling. It can be understood that a milling mechanism 6 is mounted on the output end of the robotic arm 2; the milling mechanism 6 includes: a pair of power heads 61, two milling cutters 62, and a control mechanism 63; wherein, the pair of power heads 61 are mounted on the output end of the robotic arm 2; the two milling cutters 62 are respectively mounted on the pair of power heads 61; the control mechanism 63 is mounted on the output end of the robotic arm 2 and is used to control the relative or opposite movement of the two milling cutters 62.

[0033] It should be noted that the robotic arm 2 is driven by a linear module to feed along the length of the bevel. At the same time, the robotic arm 2 adjusts the spatial posture of the milling mechanism 6 so that the milling cutter 62 fits against the edge of the workpiece 3. The control mechanism 63 drives the two milling cutters 62 to move alternately in opposite directions, so that the milling cutters 62 are at a certain angle to the length of the bevel for inclined interpolation milling. One milling cutter 62 performs preliminary milling, and the other milling cutter 62 performs fine milling. At the same time, when the control mechanism 63 drives the two milling cutters 62 to move relative to each other, the bevel width can be reduced, and when they move towards each other, the bevel width can be increased, so as to adapt to the processing requirements of different bevel sizes. That is, the bevel width is between the diameter of one milling cutter 62 and the diameter of two milling cutters 62.

[0034] Compared to the continuous machining with a single milling cutter in the existing technology, the machining with two milling cutters 62 improves milling efficiency and can adapt to different bevel machining requirements. Moreover, this structure improves milling efficiency through the coordinated movement of the two milling cutters 62, and can increase the stroke of a single milling operation. This allows the milling cutter 62 to be in an idle state for a short period of time during a complete milling operation, which alleviates the problems of cutting heat accumulation and built-up edge, and improves machining accuracy and tool life.

[0035] Please see Figures 1-4 The control mechanism 63 includes a second mounting bracket 631, a first motor 632, a mounting base 633, a gear 634, and a pair of racks 635. The second mounting bracket 631 is mounted on the output end of the robotic arm 2, the first motor 632 is mounted on the second mounting bracket 631, the mounting base 633 is mounted on the second mounting bracket 631, the pair of racks 635 are slidably connected to the mounting base 633, and a pair of power heads 61 are respectively mounted on the pair of racks 635. The gear 634 is fixed to the output end of the first motor 632, and the gear 634 meshes with the pair of racks 635.

[0036] It should be noted that when the first motor 632 rotates clockwise, the drive gear 634 on its output shaft rotates clockwise synchronously, causing the two meshing racks 635 to slide linearly in opposite directions. The end mills 62 fixed to each rack then synchronously expand outwards in a mirror-like manner, rapidly and symmetrically widening the bevel width. Conversely, when the motor 632 rotates counterclockwise, the gear 634 reverses direction, causing the two racks 635 to relatively retract inwards, and the two end mills 62 synchronously approach each other, precisely reducing the bevel width. The instantaneous transmission ratio of the gear-rack pair is constant, not only converting rotational motion into a strictly 1:1 linear displacement, but also ensuring that the positional error of the two end mills approaches zero at any given time, achieving true synchronous and symmetrical machining. More importantly, the entire mechanism only requires one 632 motor to drive two milling cutters simultaneously, eliminating the need for dual motors, dual servos, and complex synchronization algorithms in traditional solutions. This reduces the number of electrical components by nearly half, significantly lowers the system failure rate, and simultaneously reduces maintenance costs and energy consumption, providing a simple and reliable mechanical foundation for the long-term stable operation of the equipment.

[0037] Please see Figures 1-4The control mechanism 63 also includes a positioning mechanism 636; the positioning mechanism 636 includes a cylinder 6361, a connecting plate 6362, a first protrusion 6363, a second protrusion 6364, and a hexagonal shaft 6365; the cylinder 6361 is mounted on the second mounting bracket 631, the connecting plate 6362 is fixed to the output end of the cylinder 6361, the first protrusion 6363 is fixed to the mounting base 633, and the second protrusion 6364 is rotatably connected to the connecting plate 6362 around its axis. The first protrusion 6363 and the second protrusion 6364 are connected to each other. The first motor 632 output shaft is coaxially fitted with the second protrusion 6364, and the hexagonal shaft 6365 is coaxially fixed to the first motor 632 output shaft. The second protrusion 6364 has a hexagonal hole 6366 that matches the hexagonal shaft 6365. When the cylinder 6361 drives the second protrusion 6364 on the connecting plate 6362 to engage with the first protrusion 6363, and when the first motor 632 drives its output shaft to rotate, it can drive the mounting base 633 and the gear 634 to rotate synchronously. When the second protrusion 6364 on the drive connecting plate 6362 of cylinder 6361 separates from the first protrusion 6363, the first motor 632 can only drive the gear 634 to rotate; the positioning mechanism 636 also includes a pair of first wedge blocks 6367, a second wedge block 6368, and a return spring 6369; the pair of first wedge blocks 6367 are both fixed to the connecting plate 6362, and the first wedge block 6367 is slidably connected to the mounting base 633, the second wedge block 6368 is inserted into the mounting base 633, and the first wedge block 6367 is slidably connected to the mounting base 633, and the second wedge block 6368 is inserted into the mounting base 633, and the second wedge block 6367 is slidably connected to the mounting base 633, and the second wedge block 6369 is slidably connected to the mounting base 6362. The wedge-shaped surfaces of a wedge block 6367 and a second wedge block 6368 are adapted to each other; a return spring 6369 is disposed between the mounting base 633 and the second wedge block 6368; a positioning groove 63610 adapted to the end of the second wedge block 6368 is provided on the second mounting bracket 631; when the second wedge block 6368 is unrestrained, the return spring 6369 is used to drive the second wedge block 6368 to slide along its length direction, so as to drive the end of the second wedge block 6368 to separate from the positioning groove 63610.

[0038] It should be noted that when the piston rod of cylinder 6361 extends, the connecting plate 6362 drives the second protrusion 6364 to move and fit against the first protrusion 6363; at this time, when the first motor 632 rotates, it drives the second protrusion 6364 to rotate synchronously through the hexagonal shaft 6365, thereby pushing the first protrusion 6363 to drive the mounting base 633 to rotate as a whole, so as to realize the fine adjustment of the angle of the milling cutter 62.

[0039] When the piston rod of cylinder 6361 retracts, the second protrusion 6364 separates from the first protrusion 6363, the hexagonal shaft 6365 disengages from the hexagonal hole 6366; at this time, the first motor 632 only drives the gear 634 to rotate, thereby adjusting the distance between the two milling cutters 62.

[0040] The same first motor 632 enables both spacing adjustment and angle fine-tuning, eliminating the need for additional drive components, thus simplifying the equipment structure and reducing manufacturing costs.

[0041] Specifically, when the piston rod of cylinder 6361 extends, the first wedge block 6367 moves, and the wedge surface presses the second wedge block 6368 to overcome the elastic force of the return spring 6369 and slide outward, so that the end of the second wedge block 6368 is engaged in the positioning groove 63610, thereby achieving rigid locking between the mounting base 633 and the second mounting bracket 631; when the piston rod of cylinder 6361 retracts, the first wedge block 6367 moves, and the return spring 6369 pushes the second wedge block 6368 to slide inward, and the end disengages from the positioning groove 63610, releasing the lock and allowing the mounting base 633 to rotate.

[0042] By controlling the rigid locking or unlocking of the mounting base 633 and the second mounting bracket 631, the two milling cutters 62 can be used for alternating machining. When one milling cutter 62 is machining, the other milling cutter 62 is removed from the workpiece to dissipate heat, which reduces the continuous cutting time of a single milling cutter 62, alleviates the problems of cutting heat accumulation and built-up edge, and improves machining accuracy and tool life.

[0043] Specifically, when the mounting base 633 is rigidly locked to the second mounting bracket 631, the two milling cutters 62 are controlled to move relative to or towards each other, so that one milling cutter 62 is milling while the other milling cutter 62 is in a state of idle heat dissipation. Then, the mounting base 633 and the second mounting bracket 631 are unlocked, and the two milling cutters 62 on the mounting base 633 are driven to rotate 180°. When the two milling cutters 62 are driven to rotate, if the workpiece bevel interferes with the milling cutter 62, the mechanical arm 2 can be used to move away from the unprocessed bevel before driving the two milling cutters 62 to rotate 180°, so as to realize the position exchange of the two milling cutters 62, and then perform milling again. In this way, the two milling cutters 62 can be used to alternately process, which can alleviate the problems of cutting heat accumulation and built-up edge.

[0044] Please see Figures 1-4 An angle adjustment mechanism 5 is provided between the output end of the robotic arm 2 and the milling mechanism 6; the angle adjustment mechanism 5 is used to control the angle of the bevel opening on the workpiece 3; the angle adjustment mechanism 5 includes a second motor, a belt 53 and a pair of pulleys 52; a first mounting frame 4 is installed between the output end of the robotic arm 2 and the second mounting frame 631, the second motor is mounted on the first mounting frame 4, a pair of pulleys 52 are rotatably connected to the first mounting frame 4 around its axis, and the output end of the second motor is connected to one of the pulleys 52, the other pulley 52 is connected to the second mounting frame 631 through a connecting shaft, and the belt 53 is tensioned on the pair of pulleys 52; a guide wheel 54 is installed on the first mounting frame 4 through a spring plate, and the guide wheel 54 is tensioned on the belt 53.

[0045] It should be noted that the driving pulley 52 at the end of the second motor shaft transmits torque to the coaxially arranged driven pulley 52 via a synchronous belt 53. This driven pulley 52 then transmits the rotational motion without backlash to the second mounting bracket 631 supporting the milling mechanism 6 via a rigid connecting shaft, causing the two milling cutters 62 to swing coaxially around the same rotation center, thus completing the continuous, closed-loop adjustment of the bevel angle in one operation. To avoid transmission errors caused by belt elongation during long-term operation, a guide wheel 54 with continuously applied preload by a spring plate is added to the system in the same plane. The spring plate monitors the belt tension in real time and automatically compensates for the stretching, keeping the belt tension constant within the optimal range, eliminating slippage and angle drift caused by slack, and extending belt life. The entire transmission system uses only one belt 53, one pulley, and one shaft to achieve a flexible spatial connection between the motor and the milling mechanism. It features a compact structure, low inertia, and fast dynamic response, laying a reliable foundation for high-speed, high-precision bevel machining.

[0046] This mechanism utilizes a second motor and a synchronous belt-rotor shaft closed-loop system to upgrade angle adjustment from mechanical switching to electric stepless adjustment, enabling precise positioning of the second mounting bracket 631 and significantly improving the switching efficiency between different bevel angles. Simultaneously, the inherent flexibility of the belt 53 creates elastic damping between the second motor and the load, absorbing high-frequency impacts and torsional vibrations generated during milling, further suppressing tool tip chatter, ensuring stable bevel surface roughness, and achieving a balance between high efficiency and high precision.

[0047] Example 2: The technical solution in this example differs from that in Example 1 in that: Please refer to... Figures 1-10 A CNC plate beveling composite milling control system includes the aforementioned CNC plate beveling composite milling robot, and also includes a controller. The controller is equipped with a robotic arm control module, a milling control module, a stroke control module, and an angle control module. The robotic arm control module is used to control the milling stroke speed and milling direction of the milling cutter 62. The milling control module is connected to the power head 61 via signal control and is used to control the milling speed of the milling cutter 62. The stroke control module is connected to the first motor 632 via signal control and is used to control the stroke of the milling cutter 62 in one milling operation. The angle control module is connected to the second motor via signal control and is used to control the beveling angle. The CNC plate beveling composite milling control system also includes a rotation control module. The rotation control module is located in the controller. The rotation control module is connected to the robotic arm control module, the first motor 632, and the cylinder 6361 via signal control and is used to control the rotation of the milling cutter 62 to control the two milling cutters 62 to perform alternating milling operations.

[0048] It should be noted that after receiving the beveling parameters of workpiece 3, such as length, angle, and width, the controller automatically generates a machining path. Through the coordinated control of various modules, it controls the linear module feed, the posture adjustment of robotic arm 2, the angle and spacing adjustment of milling cutter 62, and alternating cutting to achieve fully automated machining. The rotation control module can dynamically adjust the alternation frequency based on the feedback of tool temperature. It can be understood that the tool temperature feedback method is to provide temperature feedback through a temperature sensor connected to the tool. The temperature sensor is existing technology and is not shown in the figure, so it will not be described in detail.

[0049] Compared to traditional manual operation, such as adjusting cutting parameters, this system achieves full automation of the machining process, reducing errors caused by human intervention; the alternating milling strategy driven by the rotation control module allows the milling cutter 62 to be cooled by air when it leaves the workpiece, effectively suppressing the formation of built-up edge and reducing tool thermal damage.

[0050] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A CNC plate beveling composite milling robot, comprising a robotic arm (2) disposed on one side of a worktable (1), characterized in that: The output end of the robotic arm (2) is equipped with a milling mechanism (6); the milling mechanism (6) includes: A pair of power heads (61) are mounted on the output end of the robotic arm (2). Two milling cutters (62), each of which is mounted on a pair of power heads (61); and a control mechanism (63), which is mounted on the output end of the robotic arm (2) and is used to control the relative or opposite movement of the two milling cutters (62); The control mechanism (63) includes a second mounting bracket (631), a first motor (632), a mounting base (633), a gear (634), and a pair of racks (635); the second mounting bracket (631) is mounted on the output end of the robotic arm (2), the first motor (632) is mounted on the second mounting bracket (631), the mounting base (633) is mounted on the second mounting bracket (631), the pair of racks (635) are slidably connected to the mounting base (633), and the pair of power heads (61) are respectively mounted on the pair of racks (635); the gear (634) is fixed to the output end of the first motor (632), and the gear (634) meshes with the pair of racks (635); The control mechanism (63) further includes a positioning mechanism (636); the positioning mechanism (636) includes a cylinder (6361), a connecting plate (6362), a first protrusion (6363), a second protrusion (6364), and a hexagonal shaft (6365); the cylinder (6361) is mounted on a second mounting bracket (631), the connecting plate (6362) is fixed to the output end of the cylinder (6361), the first protrusion (6363) is fixed to the mounting base (633), the second protrusion (6364) is rotatably connected to the connecting plate (6362) around its axis, the first protrusion (6363) and the second protrusion (6364) are adapted to each other, and the second protrusion (6364) is coaxially sleeved on the first mounting bracket (6365). The output shaft of the motor (632) is coaxially fixed to the output shaft of the first motor (632). The second protrusion (6364) has a hexagonal hole (6366) that is compatible with the hexagonal shaft (6365). When the cylinder (6361) drives the second protrusion (6364) on the connecting plate (6362) to fit with the first protrusion (6363), when the first motor (632) drives its output shaft to rotate, it can drive the mounting base (633) and the gear (634) to rotate synchronously. When the cylinder (6361) drives the second protrusion (6364) on the connecting plate (6362) to separate from the first protrusion (6363), the first motor (632) can only drive the gear (634) to rotate.

2. The CNC plate beveling composite milling robot according to claim 1, characterized in that: The positioning mechanism (636) further includes a pair of first wedge blocks (6367), a second wedge block (6368), and a return spring (6369); the pair of first wedge blocks (6367) are both fixed to the connecting plate (6362), and the first wedge blocks (6367) are slidably connected to the mounting base (633), the second wedge block (6368) is inserted into the mounting base (633), and the wedge surfaces of the first wedge block (6367) and the second wedge block (6368) are adapted to each other. The reset spring (6369) is disposed between the mounting base (633) and the second wedge block (6368). The second mounting bracket (631) has a positioning groove (63610) adapted to the end of the second wedge block (6368). When the second wedge block (6368) is unrestrained, the reset spring (6369) is used to drive the second wedge block (6368) to slide along its length direction, so as to drive the end of the second wedge block (6368) to separate from the positioning groove (63610).

3. The CNC plate beveling composite milling robot according to claim 1, characterized in that: An angle adjustment mechanism (5) is provided between the output end of the robotic arm (2) and the milling mechanism (6); the angle adjustment mechanism (5) is used to control the angle of the bevel opening on the workpiece (3).

4. The CNC plate beveling composite milling robot according to claim 3, characterized in that: The angle adjustment mechanism (5) includes a second motor, a belt (53) and a pair of pulleys (52); a first mounting frame (4) is installed between the output end of the robotic arm (2) and the second mounting frame (631), the second motor is mounted on the first mounting frame (4), the pair of pulleys (52) are rotatably connected to the first mounting frame (4) around their axis, and the output end of the second motor is connected to one of the pulleys (52), the other pulley (52) is connected to the second mounting frame (631) through a connecting shaft, and the belt (53) is tensioned on the pair of pulleys (52).

5. A CNC plate beveling composite milling robot according to claim 4, characterized in that: A guide wheel (54) is mounted on the first mounting bracket (4) via a spring plate, and the guide wheel (54) is tensioned on the belt (53).

6. The CNC plate beveling composite milling robot according to claim 1, characterized in that: Includes a linear module installed on one side of the workbench (1), and the base of the robotic arm (2) is installed on the output end of the linear module; the linear module is used to drive the robotic arm (2) to move along the length direction of the workpiece bevel.

7. A CNC plate beveling composite milling control system, comprising the CNC plate beveling composite milling robot of claim 4, characterized in that: It also includes a controller located on one side of the workbench (1), which contains a robotic arm control module, a milling control module, a stroke control module, and an angle control module. The robotic arm control module is used to control the milling stroke speed and milling direction of the milling cutter (62). The milling control module is connected to the power head (61) via signal control and is used to control the milling speed of the milling cutter (62). The stroke control module is connected to the first motor (632) via signal control and is used to control the stroke of the milling cutter (62) in one milling operation. The angle control module is connected to the second motor via signal control and is used to control the bevel forming angle.

8. A CNC plate beveling composite milling control system according to claim 7, characterized in that: It also includes a rotation control module; the rotation control module is located in the controller; the rotation control module is connected to the robotic arm control module, the first motor (632) and the cylinder (6361) via signal control, and is used to control the rotation of the milling cutter (62) so as to control the two milling cutters (62) to perform alternating milling operations.

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