Depth-controllable milling device facilitating feeding and method thereof

Abstract

The invention discloses a depth-controllable milling device facilitating feeding and a method thereof, and belongs to the technical field of machine manufacturing. The gantry type motion module is erected on the machine tool frame; the sensing assembly is fixed to the gantry type motion module and used for scanning the surface contour of the workpiece to obtain surface position data; the machining assembly and the sensing assembly are fixed to the same motion carrier of the gantry type motion module side by side, the machining assembly is used for milling the workpiece, and a fixed spatial position offset exists between the machining assembly and the sensing assembly; and the controller is connected with the gantry type movement module and the sensing assembly and used for controlling movement of the gantry type movement module and generating a corrected machining path instruction based on the surface position data and the spatial position offset so as to control the machining assembly. According to the invention, the automation level of equipment and the adaptability to different workpieces are greatly enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical manufacturing, and particularly to a depth-controllable milling device facilitating feeding and a method thereof. BACKGROUND

[0002] In conventional milling processing, it mainly relies on ideal workpiece models and fixed processing procedures. When facing workpieces with uneven surfaces or placed at an angle due to clamping, the existing technical methods expose obvious limitations; the operator must perform tedious and time-consuming manual tool setting operations to determine the Z-axis zero point of processing, which not only seriously depends on the operator's skills and experience, but also is difficult to ensure the consistency of the processing depth on the entire workpiece surface.

[0003] This situation leads to two core problems: one is low processing efficiency, a large amount of auxiliary time is consumed in workpiece alignment and tool setting; the other is unstable processing quality, as the height variation of the workpiece surface cannot be compensated in real time, the final processing depth will deviate at different positions, which is difficult to meet the high-precision processing requirements; the deficiency lies in the lack of perception ability of the real physical form of the workpiece in the traditional processing method, the control system executes rigid instructions based on the theoretical model, which cannot adapt to the actual state of the workpiece; as a result, when processing non-ideal workpieces, the automation level is low, and the consistency and reliability of processing are difficult to guarantee.

[0004] The above information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, therefore it can include information which does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] The purpose of the present application is to provide a depth-controllable milling device facilitating feeding and a method thereof to solve the problems raised in the above background.

[0006] The technical solution of the present application is as follows: Machine tool frame; Gantry type motion module, erected on the machine tool frame; Perception assembly, fixed to the gantry type motion module, for scanning the workpiece surface profile to obtain surface position data; Processing assembly, fixed on the same motion carrier of the gantry type motion module side by side with the perception assembly, for milling the workpiece, the processing assembly and the perception assembly have a fixed spatial position offset between them; Controller, connected with the gantry type motion module and the perception assembly respectively, for controlling the motion of the gantry type motion module, and generating corrected processing path instructions based on the surface position data and the spatial position offset to control the processing assembly.

[0007] Preferably, the gantry motion module comprises a cross beam erected on the machine frame, a Y-axis slide capable of moving along the cross beam, and a Z-axis motion assembly installed below the Y-axis slide, the Z-axis motion assembly being the same motion carrier for driving the sensing assembly and the machining assembly to move vertically synchronously.

[0008] Preferably, the sensing assembly comprises a laser displacement sensor, the detection direction of the laser displacement sensor being perpendicular to the worktable surface of the machine frame.

[0009] Preferably, the machining assembly comprises an electric spindle for clamping and driving a milling cutter to rotate at high speed.

[0010] Preferably, the machine frame comprises a base, the top of the base being provided with a worktable surface for placing the workpiece, the worktable surface being processed with a T-shaped groove for installing a clamp.

[0011] A milling method with controllable depth and convenient loading, comprising the following steps: Constructing a surface map, the step being used for controlling the sensing assembly to move along a predetermined scanning path and collecting coordinate positions and corresponding surface height values of the workpiece surface to generate a real-time surface profile map; Correcting a machining path, the step being used for obtaining original machining instructions, combining the corresponding surface height value in the real-time surface profile map and the theoretical machining depth preset by the device for each target machining point in the instructions, and generating a corrected Z-axis coordinate according to the spatial position offset amount between the sensing assembly and the machining assembly; Performing milling machining, the step being used for controlling the machining assembly to perform milling according to the X and Y coordinates of the target machining point and the corrected Z-axis coordinate.

[0012] Preferably, the step of correcting a machining path further comprises: Before generating the corrected Z-axis coordinate, data verification is performed, the data verification being used for reading the surface height values of the target machining point and its neighborhood data points in the real-time surface profile map, calculating the local surface slope between the target machining point and the neighborhood data points, and comparing the local surface slope with a preset slope threshold to determine whether the surface height value of the target machining point is reliable data.

[0013] Preferably, after the data verification, the step further comprises: When the local surface slope is greater than the slope threshold, the surface height value of the target machining point is determined as abnormal data, and a revised height value is calculated by a weighted average algorithm based on the trusted data points in the neighborhood data points that pass the data check, and the revised height value is used to replace the abnormal data to generate the revised Z-axis coordinates.

[0014] Preferably, the weighted average algorithm assigns weights to the distances between the trusted data points and the target machining point, and the weights are inversely proportional to the distances.

[0015] Preferably, in the step of constructing a surface map, the predetermined scanning path is a grid path, and the scanning step of the grid path is pre-set according to the machining precision requirement.

[0016] The present application provides a depth-controllable and easy-to-load milling device and method, which has the following improvements and advantages compared with the prior art: 1. The present application introduces a sensing assembly and a machining assembly arranged side by side, before formal machining, the sensing assembly will scan the workpiece along the predetermined grid path to construct a real-time surface contour map reflecting the actual surface undulation, the controller will combine the map data, the fixed spatial position offset between the sensing assembly and the machining assembly, and the theoretical machining depth to operate each target machining point in the original machining instruction to generate revised Z-axis coordinates, in this way, the motion trajectory of the machining assembly can be dynamically adjusted to completely fit the actual contour of the workpiece, even if the workpiece surface is uneven or inclined, the actual cutting depth can be ensured to be consistent with the preset value, which not only eliminates the tedious tool setting and alignment process, significantly improves the machining efficiency, but more importantly, it expands the machining capacity of the equipment from an ideal plane to a complex surface, greatly enhances the automation level and adaptability of the equipment to different workpieces; the present application mainly compensates for the geometric errors introduced by workpiece clamping and its own surface contour in real time, provides a key solution for high-precision depth control, and can be used as a platform for integrating other compensation systems; 2. The scheme innovatively adds a data verification link in the step of modifying the machining path. The link compares the local surface slope between the target machining point and its neighborhood data points with a preset slope threshold to actively identify abnormal data caused by factors such as surface reflection or stains. For the points judged as abnormal data, instead of simply discarding them, the scheme uses the surrounding reliable data points to calculate a modified height value through a weighted average algorithm to replace the abnormal data. This design can effectively filter out measurement noise, perform local smoothing on the data map, avoid unexpected mutations in the tool path caused by a single erroneous data point, and thus ensure the continuity and logic of the final generated machining path, significantly improving the stability and yield of the entire automated machining process. 3. The machine tool frame of the scheme considers the convenience of loading in design. The worktable surface is processed with a general T-shaped groove, and the operator can use the T-shaped groove and standard clamps to conveniently and quickly fix the workpiece at any position on the worktable surface without the need for high-precision position alignment. Since the subsequent machining path is generated based on the scanning results of the actual position and contour of the workpiece, the dependence on the initial clamping accuracy is greatly reduced. This design embodies the convenience of loading, and the operator can flexibly choose various clamps such as T-shaped nut with pressing plate, vice, positioning pin, or special zero-point positioning system to quickly complete the clamping of the workpiece. The entire process does not require strict alignment and leveling, greatly improving the production preparation efficiency, shortening the auxiliary preparation time, and reducing the skill requirements for the operator. BRIEF DESCRIPTION OF DRAWINGS

[0017] The application will be further explained below in conjunction with the drawings and examples: Figure 1 is a schematic diagram of the overall structure of a depth-controllable milling device convenient for loading according to the application; Figure 2 is a schematic diagram of the structure of a gantry-type motion module; Figure 3 is a schematic diagram of the structure of a Z-axis motion assembly and the sensing assembly and machining assembly assembled thereon; Figure 4 is a schematic diagram of the method flow according to the application; In the drawings: 100, base; 110, worktable surface; 120, column; 200, gantry-type motion module; 210, cross beam; 220, Y-axis slide; 230, Z-axis motion assembly; 300, sensing assembly; 320, laser displacement sensor; 400, machining assembly; 410, electric spindle; 420, tool holder. DETAILED DESCRIPTION

[0018] To make the purpose, technical solutions, and advantages of the application clearer and more apparent, the application will be further described in detail below with specific examples.

[0019] Embodiment 1 See Figures 1-3 The application provides a depth-controllable milling device facilitating feeding, comprising: a machine tool frame; a gantry-type motion module 200 arranged on the machine tool frame; a sensing assembly 300 fixed to the gantry-type motion module 200 and used for scanning a surface profile of a workpiece to obtain surface position data; a machining assembly 400 fixed on the same motion carrier of the gantry-type motion module 200 and arranged side by side with the sensing assembly 300, and used for milling the workpiece, wherein the machining assembly 400 and the sensing assembly 300 have a fixed spatial position offset; a controller connected with the gantry-type motion module 200 and the sensing assembly 300 respectively, used for controlling the motion of the gantry-type motion module 200, and generating a corrected machining path instruction based on the surface position data and the spatial position offset to control the machining assembly 400.

[0020] A depth-controllable milling device facilitating feeding, in conventional milling processing, for a workpiece with uneven surface or placed with inclination, an operator needs to perform tedious manual tool setting to determine the Z-axis zero point, the processing efficiency is low and it is difficult to ensure the consistency of the processing depth everywhere. The depth-controllable milling device facilitating feeding of the embodiment provides a stable physical basis by arranging the machine tool frame as an integral structure, the gantry-type motion module 200 is arranged on the machine tool frame to realize the motion coverage in three-dimensional space; the sensing assembly 300 scans the actual surface profile of the workpiece before processing to obtain the surface position data containing a large amount of surface height information; the machining assembly 400 and the sensing assembly 300 are arranged side by side with a fixed spatial position offset, so as to ensure the constancy of the relative position of the two. The fixed spatial position offset, the value can be measured by touching the measurement reference point of the sensing assembly 300 and the tool center of the machining assembly 400 with a standard block or a special gauge during the first debugging of the equipment, the offset is automatically calculated and stored by the controller, or the value is input into the controller as a system parameter by the technician through a precision instrument after manual measurement; The controller can be a numerical control system of the SINUMERIK828D model of Siemens, the controller receives the surface position data collected by the sensing assembly 300, and calculates and corrects the original machining path instruction in combination with the preset spatial position offset; in this way, the device can dynamically adjust the Z-axis position of the machining assembly 400 according to the actual surface fluctuation of the workpiece, so as to realize the constant depth milling of the uneven workpiece without manual accurate tool setting and alignment, and improve the equipment adaptability and the processing automation level; The controller can be physically integrated in the numerical control panel of the machine tool, or as a stand-alone industrial computer, and communicates with the servo drivers of the gantry motion module 200 and the data acquisition module of the sensing assembly 300 through a standard industrial bus such as EtherCAT.

[0021] The gantry motion module 200 includes a cross beam 210 erected on the machine tool frame, a Y-axis slide 220 movable along the cross beam 210, and a Z-axis motion assembly 230 installed below the Y-axis slide 220, the Z-axis motion assembly 230 being the same motion carrier for driving the sensing assembly 300 and the machining assembly 400 to move synchronously in the vertical direction.

[0022] The gantry motion module 200 mainly aims to provide the sensing assembly 300 and the machining assembly 400 with precise three-dimensional spatial positioning capability; the cross beam 210 of the gantry motion module 200 is stably erected on the two side columns 120 of the machine tool frame, constituting the movement reference in the X-axis direction; the Y-axis slide 220 can move on the linear guide rails provided on the cross beam 210, realizing movement in the Y-axis direction; the Z-axis motion assembly 230 is installed below the Y-axis slide 220, which is the same motion carrier as described above; the sensing assembly 300 and the machining assembly 400 are fixed together on the Z-axis motion assembly 230, and the function is to ensure that the sensing assembly 300 and the machining assembly 400 move synchronously in the vertical direction when the Z-axis motion assembly 230 is vertically lifted, and the preset spatial positional offset between the two is always kept constant; this structural design provides reliable physical guarantee for the controller to subsequently perform precise path compensation calculation based on the offset; the specific implementation of the Z-axis motion assembly 230 is not limited, as long as it can provide stable vertical movement, for example, it can be realized by a servo motor driving a ball screw mechanism, or by a linear motor.

[0023] The sensing assembly 300 includes a laser displacement sensor 320, and the detection direction of the laser displacement sensor 320 is perpendicular to the worktable surface 110 of the machine tool frame.

[0024] The core function of the sensing assembly 300 is to obtain the three-dimensional profile information of the workpiece surface. The sensing assembly 300 comprises a laser displacement sensor 320, for example, a laser displacement sensor 320 of the LK-G5000 series of Keyence. The detection direction of the laser displacement sensor 320 is set to be perpendicular to the workbench surface 110 of the machine tool frame, so as to directly measure the actual vertical distance between the sensor probe and the upper surface of the workpiece. If the detection direction is inclined, the measured distance value will be greater than the actual vertical height due to the triangular relationship, thereby introducing errors and affecting the accuracy of the subsequent surface profile map. By maintaining the perpendicularity of the detection direction, it can be ensured that each set of coordinate positions and the corresponding surface height values collected are accurate, thereby laying a data foundation for generating high-precision machining path correction instructions.

[0025] The machining assembly 400 comprises an electric spindle 410 for clamping and driving the milling cutter to rotate at high speed.

[0026] The machining assembly 400 is used to perform specific material cutting tasks. The machining assembly 400 is mainly composed of an electric spindle 410, which integrates the functions of a motor and a spindle into one component. In operation, the electric spindle 410 clamps the milling cutter through the cutter clamp 420, such as an ER collet chuck, at the front end of the electric spindle 410. The electric spindle 410 drives the cutter to rotate at high speed, and the cutting edge of the cutter is used to cut the surface of the workpiece. The use of the electric spindle 410 can provide high rotational speed and good rotational accuracy, which is beneficial for obtaining good machining surface quality and high material removal rate.

[0027] The machine tool frame comprises a base 100, and the top of the base 100 is provided with a workbench surface 110 for placing a workpiece. The workbench surface 110 is processed with T-shaped grooves for installing a clamp.

[0028] The machine tool frame provides a basic support and positioning reference for the entire device. The machine tool frame comprises a stable base 100, and the top surface of the base 100 forms a workbench surface 110 for placing a workpiece. The workbench surface 110 is special in that it is processed with several T-shaped grooves. The purpose of setting the T-shaped grooves is to cooperate with the use of a universal pressure plate clamp or other standard clamps. The operator can use these T-shaped grooves to quickly fasten the workpiece at any suitable position on the workbench surface 110 without the need for high-precision alignment of the placement position of the workpiece. This design reduces the skill requirements of the operator and shortens the auxiliary time for workpiece clamping, thereby embodying the feature of facilitating material loading.

[0029] Embodiment 2 Please refer to Figure 4 A depth-controllable milling method facilitating material loading, comprising the following steps: The surface map is constructed by controlling the perception assembly 300 to move along a predetermined scanning path and collecting coordinate positions and corresponding surface height values of the workpiece surface to generate a real-time surface profile map; The machining path is corrected by obtaining original machining instructions and, for each target machining point in the instructions, combining the corresponding surface height value in the real-time surface profile map and the preset theoretical machining depth of the device, and performing calculation according to the spatial position offset amount between the perception assembly 300 and the machining assembly 400 to generate a corrected Z-axis coordinate; The milling machining is performed by controlling the machining assembly 400 to perform milling according to the X and Y coordinates of the target machining point and the corrected Z-axis coordinate.

[0030] A depth-controllable milling method facilitating feeding, which realizes adaptive machining of a workpiece through cooperation of a series of steps; in the surface map construction step, the controller drives the perception assembly 300 to move above the region to be machined, and the laser displacement sensor 320 continuously measures the vertical distance from itself to the workpiece surface in this process, while the controller records the corresponding X and Y coordinates at each measurement time, thereby collecting a large number of X, Y, and height data points to form a digital real-time surface profile map, which reflects the real physical form of the workpiece surface; in the machining path correction step, the controller calls standard G code and other original machining instructions, and before executing an instruction to move to a target machining point, the controller first looks up the actual surface height value corresponding to the target machining point from the real-time surface profile map, and performs a core calculation, the textual derivation process of which is as follows: considering the spatial position offset amount of the perception assembly 300 and the machining assembly 400 in the X and Y planes, for example, if the machining assembly 400 is 50 mm in the positive direction of the X axis of the perception assembly 300, when calculating the tool path of the target machining point X0, Y0, the surface height value H collected by the perception assembly 300 at the position X0-50, Y0 needs to be used; If the spatial position offset vector of the tool center of the machining assembly 400 relative to the measurement point of the perception assembly 300 is defined as , and the coordinate of the target machining point in the original machining instruction is , then the controller needs to query and use the surface height value collected by the perception assembly 300 at the coordinate point when calculating the Z-axis correction coordinate of the point; The queried surface height value H is algebraically summed with the theoretical machining depth D set in the original machining instruction, for example -2mm, to obtain the corrected Z-axis coordinate Z = H + D. During the milling machining step, the controller combines the X, Y coordinates of the target machining point with the newly generated corrected Z-axis coordinate into a new three-dimensional space instruction, and drives the machining assembly 400 to move precisely to the point for cutting. By repeating this process for each point in the original instruction, the milling trajectory can completely fit the actual profile of the workpiece, ensuring that the cutting depth remains at the preset theoretical value throughout the entire machining area.

[0031] The correcting machining path step further comprises: Before generating the corrected Z-axis coordinate, data verification is performed to read the surface height values of the target machining point and its neighborhood data points in the real-time surface profile map, calculate the local surface slope between the target machining point and the neighborhood data points, and compare the local surface slope with a preset slope threshold to determine whether the surface height value of the target machining point is reliable data.

[0032] The correcting machining path step introduces a data verification link to deal with sudden error measurement data of the laser displacement sensor 320 during the scanning process due to workpiece surface reflection, stains or steep edges; before the controller uses the surface height value of a certain target machining point, data verification will be performed first; the verification process is as follows: the controller not only reads the height value of the target machining point, but also reads the height values of several neighboring data points around it, for example, the height values of a 3x3 region; the controller calculates the ratio of the height difference and the horizontal distance between the target machining point and each neighborhood data point, i.e. the local surface slope; for example, if the height value of the target machining point is , and the height values of its neighborhood data points are , then the local surface slope between the two points can be calculated by the formula . ​The calculated local surface slope reflects the steepness of the workpiece surface in a very small range; by comparing the slope value with the slope threshold value preset according to the material characteristics and processing experience, if the calculated slope exceeds the physically reasonable range, it can be determined that the height data of the target machining point is likely to be caused by measurement noise, not the real surface feature, and should be regarded as untrusted data; for example, when processing aluminum alloy workpieces with smooth surfaces, the physical surface slope change is usually gentle, so the slope threshold value can be set to a small value; when processing cast iron pieces with casting textures, in order to avoid misjudging normal surface undulations as abnormal data, the slope threshold value can be appropriately relaxed; a specific setting method is to perform a test scan on a standard sample, count the maximum local slope distribution of the normal surface, and determine a reasonable threshold value based on this. This can effectively avoid abnormal tool path caused by a single error data point, improving the stability of the machining process.

[0033] The data verification further includes: When the local surface slope is greater than the slope threshold value, the surface height value of the target machining point is determined as abnormal data, and a corrected height value is calculated based on the trusted data points in the neighborhood data points that pass the data verification through a weighted average algorithm, and the corrected height value is used to replace the abnormal data to generate a corrected Z-axis coordinate; if no trusted data point that passes the data verification can be found within the preset neighborhood range, the controller can adopt one or more preset fault tolerance strategies, such as gradually expanding the neighborhood search range until a trusted data point is found, or using the surface height value of the last valid machining point, or marking an error at the target machining point and pausing the machining to prompt the operator to intervene and check.

[0034] Data verification, after identifying abnormal data, needs a set of processing mechanisms to correct it. When the surface height value of a target machining point is determined to be abnormal data because its local surface slope with neighboring points is greater than the slope threshold value, the method does not simply discard the point, but uses the surrounding neighborhood data points that have passed the slope verification and are considered trusted; based on the height values of these trusted data points, a new and more reasonable corrected height value is calculated by performing a weighted average algorithm; this corrected height value is then used to replace the original abnormal data and participate in the subsequent calculation of the corrected Z-axis coordinate; the purpose of this is to locally smooth the data map without interrupting the machining process, filling in data traps or data spikes caused by measurement errors, and ensuring that the final generated tool path is continuous and logical.

[0035] The weighted average algorithm assigns weights to the distances between trusted data points and the target machining point, with the weights being inversely proportional to the distances.

[0036] The weighted average algorithm is further specified in calculation logic, when calculating the correction height value, not all the trusted data points in the neighborhood have the same influence; the algorithm assigns a weight to each trusted data point in the neighborhood except the target machining point itself according to the spatial distance between the target machining point and the current target machining point to be corrected; the principle of assignment is that the size of the weight is inversely proportional to the distance; this means that the closer the trusted data point to the target machining point, the greater the weight assigned to it, and the greater the influence on the final calculated correction height value; on the contrary, the farther the point, the smaller the weight, and the smaller the influence; using this distance-related weighting method, the intention is to make the correction result more refer to the surface features of the nearest neighbor area, which conforms to the characteristics of the general physical surface continuity, so that the calculated correction height value can better integrate into the surrounding real profile; the calculation process of the algorithm can be represented by the following formula: wherein the weight In this model, represents the distance between a trusted data point in the neighborhood and the target machining point to be corrected, so the value is always greater than zero. In order to enhance the numerical stability of the algorithm, the form of can be used, wherein is a very small positive number set to prevent the weight value from being too large or causing calculation overflow due to extremely small, for example , which ensures the robustness of the algorithm; represents the correction height value calculated by weighted average; represents the total number of trusted data points located in the neighborhood participating in the calculation; represents the surface height value of the th trusted data point; represents the weight assigned to the th trusted data point; represents the horizontal distance between the th trusted data point and the target machining point to be corrected; In the surface map construction step, the predetermined scanning path is a grid path, and the scanning step of the grid path is set in advance according to the machining accuracy requirement.

[0037] In order to ensure the comprehensive coverage of the entire region to be processed, the predetermined scanning path adopts a grid path; this path is similar to drawing a grid on a plane, and the sensing assembly 300 moves back and forth along a series of parallel straight lines to ensure that no area is missed; the key parameter of the grid path is the scanning step, that is, the distance between two adjacent scanning lines; the size of the scanning step directly determines the data point density of the real-time surface contour map, that is, the resolution of the map. According to different processing accuracy requirements, different scanning steps can be set in advance; when high-precision processing is required, a smaller scanning step can be set to obtain denser surface data, thereby generating a more refined correction path; when the processing accuracy requirement is not high, the scanning step can be appropriately increased to shorten the scanning time and improve the overall work efficiency.

[0038] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A depth controllable milling device for facilitating loading, characterized in that, The machine tool frame comprises: A gantry motion module (200) erected on the machine tool frame; A sensing assembly (300) fixed to the gantry motion module (200) for scanning the surface profile of a workpiece to obtain surface position data; A machining assembly (400) fixed on the same motion carrier of the gantry motion module (200) side by side with the sensing assembly (300) for milling the workpiece, the machining assembly (400) and the sensing assembly (300) having a fixed spatial position offset; A controller connected with the gantry motion module (200) and the sensing assembly (300) respectively for controlling the motion of the gantry motion module (200) and generating corrected machining path instructions based on the surface position data and the spatial position offset to control the machining assembly (400). The gantry motion module (200) comprises a cross beam (210) erected on the machine tool frame, a Y-axis slide (220) movable along the cross beam (210), and a Z-axis motion assembly (230) installed below the Y-axis slide (220), the Z-axis motion assembly (230) being the same motion carrier for driving the sensing assembly (300) and the machining assembly (400) to move synchronously in the vertical direction.

2. The depth controllable and easy loading milling device according to claim 1, characterized in that, The sensing assembly (300) comprises a laser displacement sensor (320), the detection direction of the laser displacement sensor (320) being perpendicular to the worktable surface (110) of the machine tool frame.

3. The depth controllable and easy loading milling device according to claim 1, characterized in that, The machining assembly (400) comprises an electric spindle (410) for clamping and driving a milling cutter to rotate at high speed.

4. The depth controllable and easy loading milling device according to claim 1, characterized in that, The machine tool frame comprises a base (100), the top of the base (100) being provided with a worktable surface (110) for placing the workpiece, the worktable surface (110) being processed with a T-shaped groove for installing a clamp.

5. The depth controllable and easy loading milling device according to claim 1, characterized in that, The method comprises the following steps:

6. A depth-controllable and convenient-to-feed milling method applied to the depth-controllable and convenient-to-feed milling device of claim 1, characterized in that, Constructing a surface map, the step being used to control the sensing assembly (300) to move along a predetermined scanning path and collect the coordinate position and corresponding surface height value of the surface of the workpiece to generate a real-time surface profile map; Correcting the machining path, the step being used to obtain original machining instructions and, for each target machining point in the instructions, combine the corresponding surface height value in the real-time surface profile map and the theoretical machining depth preset by the device, and perform calculation according to the spatial position offset between the sensing assembly (300) and the machining assembly (400) to generate a corrected Z-axis coordinate; Performing milling machining, the step being used to control the machining assembly (400) to perform milling according to the X and Y coordinates of the target machining point and the corrected Z-axis coordinate. The correcting machining path step further comprises:

7. A method of controlled depth milling with ease of loading according to claim 6, wherein, ​ Before generating the modified Z-axis coordinate, a data check is performed to read surface height values of the target machining point and its neighborhood data points in the real-time surface profile map, calculate a local surface slope between the target machining point and the neighborhood data points, and compare the local surface slope with a preset slope threshold to determine whether the surface height value of the target machining point is reliable data.

8. The method of claim 7, wherein the depth of the cut is controlled by the operator. The data check further comprises: When the local surface slope is greater than the slope threshold, the surface height value of the target machining point is determined as abnormal data, and a modified height value is calculated based on reliable data points in the neighborhood data points that pass the data check through a weighted average algorithm, and the modified height value is used to replace the abnormal data to generate the modified Z-axis coordinate.

9. The method of claim 8, wherein the depth of the cut is controlled by the operator. The weighted average algorithm assigns weights according to distances between the reliable data points and the target machining point, and the weights are inversely proportional to the distances.

10. The method of claim 6, wherein the depth of the cut is controlled by the operator. In the surface map construction step, the predetermined scanning path is a grid path, and a scanning step of the grid path is preset according to machining precision requirements.

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