A depth-controllable milling device and method thereof

Abstract

The application discloses a depth-controllable milling device convenient for feeding and a method thereof, and belongs to the technical field of mechanical manufacturing. The depth-controllable milling device convenient for feeding comprises a machine tool frame, a gantry type movement module arranged on the machine tool frame, a sensing assembly fixed to the gantry type movement module and used for scanning a workpiece surface profile to obtain surface position data, a machining assembly fixed on the same movement carrier of the gantry type movement module and used for milling the workpiece, and a controller connected with the gantry type movement module and the sensing assembly respectively and used for controlling movement of the gantry type movement module, generating a corrected machining path instruction based on the surface position data and a spatial position offset amount between the machining assembly and the sensing assembly, and controlling the machining assembly. The application greatly enhances the automation level of the equipment and the adaptability to different workpieces.

Description

Technical Field

[0001] This invention relates to the field of mechanical manufacturing, specifically to a milling device and method with controllable depth for easy loading. Background Technology

[0002] In conventional milling, the process relies primarily on an ideal workpiece model and a fixed machining program. However, existing techniques reveal significant limitations when dealing with workpieces that have uneven surfaces or are tilted due to clamping. Operators must perform tedious and time-consuming manual tool setting to determine the Z-axis zero point, a process that not only heavily depends on the operator's skills and experience but also makes it difficult to guarantee consistent machining depth across the entire workpiece surface.

[0003] This situation leads to two core problems: first, low processing efficiency, with a significant amount of auxiliary time consumed in workpiece alignment and tool setting; second, unstable processing quality, as the final processing depth deviates at different locations due to the inability to compensate for changes in workpiece surface height in real time, making it difficult to meet high-precision processing requirements. These shortcomings stem from the fact that traditional processing methods lack the ability to perceive the true physical form of the workpiece, and their control systems execute rigid instructions based on theoretical models, which cannot adapt to the actual state of the workpiece. As a result, when processing non-ideal workpieces, the level of automation is low, and the consistency and reliability of processing are difficult to guarantee.

[0004] The information disclosed in the background section above is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a depth-controllable milling device and method for easy loading, in order to solve the problems mentioned in the background art.

[0006] The technical solution of the present invention includes:

[0007] Machine tool frame;

[0008] A gantry-type motion module is mounted on the machine tool frame;

[0009] The sensing assembly, fixed to the gantry motion module, is used to scan the surface contour of the workpiece to obtain surface position data.

[0010] The machining assembly, which is fixed side-by-side with the sensing assembly on the same motion carrier of the gantry motion module, is used to mill the workpiece. The machining assembly and the sensing assembly have a fixed spatial offset.

[0011] The controller is connected to the gantry motion module and the sensing assembly respectively, and is used to control the movement of the gantry motion module and generate a corrected machining path instruction based on the surface position data and the spatial position offset to control the machining assembly.

[0012] Preferably, the gantry motion module includes a crossbeam mounted on the machine tool frame, a Y-axis slide that can move along the crossbeam, and a Z-axis motion assembly installed below the Y-axis slide. The Z-axis motion assembly is the same motion carrier used to drive the sensing assembly and the machining assembly to move synchronously in the vertical direction.

[0013] Preferably, the sensing assembly includes a laser displacement sensor, the detection direction of which is perpendicular to the worktable surface of the machine tool frame.

[0014] Preferably, the machining assembly includes an electric spindle for clamping and driving the milling cutter to rotate at high speed.

[0015] Preferably, the machine tool frame includes a base, and the top of the base is provided with a worktable for placing the workpiece, and the worktable is machined with a T-slot for installing a fixture.

[0016] A depth-controllable milling method for easy material loading includes the following steps:

[0017] The step of constructing a surface map is used to control the sensing assembly to move along a predetermined scanning path and collect the coordinate position of the workpiece surface and the corresponding surface height value to generate a real-time surface contour map.

[0018] The process path is corrected. The step is to obtain the original processing instructions, and for each target processing point in the instructions, combine the corresponding surface height value in the real-time surface contour map with the theoretical processing depth preset by the device, and perform calculations based on the spatial position offset between the sensing assembly and the processing assembly to generate the corrected Z-axis coordinates.

[0019] Performing milling, the step is used to control the machining assembly to perform milling according to the X and Y coordinates of the target machining point and the corrected Z-axis coordinate.

[0020] Preferably, the step of correcting the processing path further includes:

[0021] Before generating the corrected Z-axis coordinates, data verification is performed. The data verification is used to read the surface height values ​​of the target processing point and its neighboring data points in the real-time surface contour map, calculate the local surface slope between the target processing point and the neighboring data points, and compare the local surface slope with a preset slope threshold to determine whether the surface height value of the target processing point is reliable data.

[0022] Preferably, the data verification process further includes:

[0023] When the local surface slope is greater than the slope threshold, the surface height value of the target processing point is determined to be abnormal data. Based on the reliable data points in the neighborhood data points that have passed the data verification, a corrected height value is calculated by a weighted average algorithm. The corrected height value is used to replace the abnormal data to generate the corrected Z-axis coordinate.

[0024] Preferably, the weighted average algorithm assigns weights based on the distance between the trusted data points and the target processing point, and the weights are inversely proportional to the distance.

[0025] Preferably, in the step of constructing the surface map, the predetermined scanning path is a grid path, and the scanning step distance of the grid path is preset according to the processing accuracy requirements.

[0026] This invention provides an improved, depth-controllable, and easy-to-load milling apparatus and method, which, compared with the prior art, has the following improvements and advantages:

[0027] 1. This solution introduces a structural design in which the sensing assembly and the machining assembly are fixed side by side. Before formal machining, the sensing assembly scans the workpiece along a predetermined grid path to construct a real-time surface contour map reflecting the undulations of the actual surface. The controller combines this map data, the fixed spatial offset between the sensing assembly and the machining assembly, and the theoretical machining depth to calculate each target machining point in the original machining command and generate a corrected Z-axis coordinate. In this way, the motion trajectory of the machining assembly can be dynamically adjusted to perfectly match the actual contour of the workpiece. Even if the workpiece surface is uneven or tilted, it can ensure that the actual cutting depth at each point remains consistent with the preset value. This not only eliminates the tedious manual tool setting and alignment process and significantly improves machining efficiency, but more importantly, it extends the machining capability of the equipment from an ideal plane to complex curved surfaces, greatly enhancing the automation level of the equipment and its adaptability to different workpieces. This invention mainly addresses the real-time compensation of geometric errors introduced by workpiece clamping and its own surface contour, providing a key solution for achieving high-precision depth control and serving as a platform foundation for integrating other compensation systems.

[0028] 2. In the process of correcting the machining path, this solution innovatively incorporates a data verification step. This step calculates the local surface slope between the target machining point and its neighboring data points and compares it with a preset slope threshold to proactively identify abnormal data caused by factors such as surface reflection or stains. For points identified as abnormal data, the solution does not simply discard them, but uses surrounding reliable data points to calculate a corrected height value using a weighted average algorithm to replace the abnormal data. This design can effectively filter out measurement noise, perform local smoothing of the data map, and avoid unexpected abrupt changes in the tool path due to a single erroneous data point. This ensures the continuity and logic of the final generated machining path, significantly improving the stability and yield of the entire automated machining process.

[0029] 3. The machine tool frame in this design prioritizes ease of loading. Its worktable surface is machined with universal T-slots, allowing operators to easily and quickly fix workpieces at any position on the worktable using the T-slots and standard fixtures, eliminating the need for high-precision alignment. Since subsequent machining paths are generated based on scanning the actual position and contour of the workpiece, the reliance on initial clamping accuracy is significantly reduced. This design emphasizes ease of loading, allowing operators to flexibly choose from various fixtures such as T-nuts with pressure plates, vises, locating pins, or dedicated zero-point positioning systems to quickly clamp workpieces. The entire process eliminates the need for strict alignment and leveling, greatly improving production preparation efficiency, shortening auxiliary preparation time, and reducing the skill requirements for operators. Attached Figure Description

[0030] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0031] Figure 1 This is a schematic diagram of the overall structure of a depth-controllable milling device for easy loading according to the present invention.

[0032] Figure 2 This is a structural schematic diagram of a gantry-type motion module;

[0033] Figure 3 This is a structural schematic diagram of the Z-axis motion component and the sensing assembly and machining assembly assembled on it;

[0034] Figure 4 This is a schematic diagram of the method flow of the present invention;

[0035] In the diagram: 100, base; 110, worktable; 120, column; 200, gantry motion module; 210, crossbeam; 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 Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0037] Example 1

[0038] Please see Figure 1-3 This invention provides a depth-controllable milling device for easy loading, comprising:

[0039] Machine tool frame;

[0040] The gantry-type motion module 200 is mounted on the machine tool frame;

[0041] The sensing assembly 300 is fixed to the gantry motion module 200 and is used to scan the surface contour of the workpiece to obtain surface position data.

[0042] The machining assembly 400 and the sensing assembly 300 are fixed side by side on the same motion carrier of the gantry motion module 200 and are used to mill the workpiece. There is a fixed spatial position offset between the machining assembly 400 and the sensing assembly 300.

[0043] The controller is connected to the gantry motion module 200 and the sensing assembly 300 respectively. It is used to control the movement of the gantry motion module 200 and generate a corrected machining path instruction based on surface position data and spatial position offset to control the machining assembly 400.

[0044] A depth-controllable milling device for easy loading addresses the issue that in conventional milling, for workpieces with uneven surfaces or tilted placement, operators need to perform tedious manual tool setting to determine the Z-axis zero point, resulting in low processing efficiency and difficulty in ensuring consistent processing depth across different areas. This embodiment of the depth-controllable milling device for easy loading addresses this issue by using a machine tool frame to provide a stable physical foundation for the overall structure. A gantry-type motion module 200 is mounted on the machine tool frame to achieve three-dimensional motion coverage. The sensing assembly 300 scans the actual surface contour of the workpiece before processing, acquiring 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 offset, ensuring a constant relative position between them. The fixed spatial offset can be calculated and stored automatically by the controller during the initial debugging of the equipment 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 special measuring tool, or by the technician manually measuring it with a precision instrument and inputting the value as a system parameter into the controller.

[0045] The controller can be a Siemens SINUMERIK 828D CNC system. This controller receives surface position data collected by the sensing assembly 300 and, in conjunction with the preset spatial position offset, calculates and corrects the original machining path instructions. In this way, the device can dynamically adjust the Z-axis position of the machining assembly 400 according to the actual surface undulations of the workpiece, thereby achieving constant depth milling of uneven workpieces without the need for precise manual tool setting and alignment, thus improving the adaptability of the equipment and the level of machining automation.

[0046] The controller can be physically integrated into the CNC panel of the machine tool, or it can be used as a stand-alone industrial computer to communicate at high speed with the servo driver of the gantry motion module 200 and the data acquisition module of the sensing assembly 300 via a standard industrial bus, such as EtherCAT.

[0047] The gantry motion module 200 includes a crossbeam 210 mounted on the machine tool frame, a Y-axis slide 220 that can move along the crossbeam 210, and a Z-axis motion assembly 230 mounted below the Y-axis slide 220. The Z-axis motion assembly 230 is the same motion carrier used to drive the sensing assembly 300 and the machining assembly 400 to move synchronously in the vertical direction.

[0048] The gantry-type motion module 200 primarily aims to provide precise three-dimensional spatial positioning capabilities for the sensing assembly 300 and the machining assembly 400. The crossbeam 210 of this gantry-type motion module 200 is stably mounted on the two side columns 120 of the machine tool frame, forming a motion reference in the X-axis direction. The Y-axis slide 220 can move on the linear guide rails mounted on the crossbeam 210, achieving movement in the Y-axis direction. The Z-axis motion component 230 is installed below the Y-axis slide 220, and this Z-axis motion component 230 serves as the same motion carrier as described above. The sensing assembly 300 and the machining assembly 400 are jointly fixed... The Z-axis motion component 230 is designed to ensure that the sensing assembly 300 and the machining assembly 400 move synchronously in the vertical direction when the Z-axis motion component 230 moves vertically, and to maintain the preset spatial position offset between the two at all times. This structural design provides a reliable physical guarantee for the controller to perform accurate path compensation calculations based on the offset. There are no specific restrictions on the specific implementation of the Z-axis motion component 230, as long as it can provide stable vertical motion. For example, it can be implemented by using a servo motor to drive a ball screw mechanism, or by using a linear motor.

[0049] The sensing assembly 300 includes a laser displacement sensor 320, the detection direction of which is perpendicular to the worktable surface 110 of the machine tool frame.

[0050] The sensing assembly 300's core function is to acquire the three-dimensional contour information of the workpiece surface. This assembly includes a laser displacement sensor 320, such as the Keyence LK-G5000 series laser displacement sensor 320. The detection direction of this laser displacement sensor 320 is set perpendicular to the machine tool frame's worktable surface 110 to directly measure the true vertical distance between the sensor probe and the workpiece's upper surface. If the detection direction is tilted, the measured distance value will be greater than the actual vertical height due to triangulation, introducing errors and affecting the accuracy of the subsequent surface contour map. By maintaining the perpendicularity of the detection direction, it ensures that each set of coordinate positions and its corresponding surface height value are accurate, laying the data foundation for generating high-precision machining path correction instructions.

[0051] The machining assembly 400 includes an electric spindle 410 for clamping and driving the milling cutter to rotate at high speed.

[0052] The machining assembly 400 is designed to perform specific material cutting tasks. This assembly primarily consists of an electric spindle 410, which integrates the functions of a motor and a spindle. During operation, the electric spindle 410 clamps the milling tool using a tool holder 420 at its front end, such as an ER collet chuck. The electric spindle 410 drives the tool to rotate at high speed, using the tool's cutting edge to cut the workpiece surface. Using an electric spindle 410 provides high rotational speed and good rotational accuracy, which is beneficial for obtaining good surface finish and a high material removal rate.

[0053] The machine tool frame includes a base 100, and a worktable 110 for placing workpieces is provided on the top of the base 100. The worktable 110 is machined with T-slots for mounting fixtures.

[0054] The machine tool frame provides the basic support and positioning reference for the entire device. The frame includes a stable base 100, the top surface of which forms a worktable 110 for placing workpieces. The worktable 110 is unique in that it has several T-slots machined on its surface. These T-slots are designed for use with general-purpose clamping fixtures or other standard fixtures. Operators can use these T-slots to quickly secure workpieces at any suitable position on the worktable 110 without requiring high-precision alignment of the workpiece. This design reduces the skill requirements of the operator, shortens the auxiliary time for workpiece clamping, and facilitates loading.

[0055] Example 2

[0056] Please see Figure 4 A depth-controllable milling method for easy material loading includes the following steps:

[0057] The process of constructing a surface map involves controlling the sensing assembly 300 to move along a predetermined scanning path and collecting the coordinate position of the workpiece surface and the corresponding surface height value to generate a real-time surface contour map.

[0058] The process path is corrected by obtaining the original processing instructions and, for each target processing point in the instructions, combining the corresponding surface height value in the real-time surface contour map with the theoretical processing depth preset by the device, and calculating based on the spatial position offset between the sensing assembly 300 and the processing assembly 400, generating the corrected Z-axis coordinates.

[0059] The milling process 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.

[0060] A depth-controllable milling method for easy workpiece loading achieves adaptive machining through a series of coordinated steps. In the surface map construction step, the controller drives the sensing assembly 300 to move above the machining area. During this process, the laser displacement sensor 320 continuously measures its vertical distance from the workpiece surface. Simultaneously, the controller records the X and Y coordinates at each measurement moment, thus aggregating a large number of X, Y, and height data points to form a digital real-time surface contour map. This map reflects the true physical morphology of the workpiece surface. In the machining path correction step, the controller retrieves the target... Before executing any instruction to move to the target machining point, the controller first looks up the actual surface height value corresponding to the target machining point from the real-time surface contour map. The controller then performs a core calculation, the derivation of which is as follows: Consider the spatial position offset between the sensing assembly 300 and the machining assembly 400 in the X and Y planes. For example, if the machining assembly 400 is 50mm in the positive X-axis direction of the sensing assembly 300, then when calculating the tool path of the target machining point X0,Y0, the surface height value H collected by the sensing assembly 300 at the X0-50,Y0 position needs to be used.

[0061] If we define the spatial position offset vector of the tool center of machining assembly 400 relative to the measurement point of sensing assembly 300 as... The target machining point coordinates in the original machining instruction are: When the controller calculates the Z-axis corrected coordinates of that point, it needs to query and use the surface height value of the sensing assembly 300 at the coordinate point. Data collected at the location;

[0062] The retrieved surface height value H is algebraically summed with the theoretical machining depth D set in the original machining command, for example, -2mm, to obtain the corrected Z-axis coordinate Z = H + D. During the milling process, the controller combines the X and Y coordinates of the target machining point with this newly generated corrected Z-axis coordinate to form a new three-dimensional spatial command, and drives the machining assembly 400 to precisely move to that point for cutting. By repeating this process for each point in the original command, the milling trajectory can perfectly match the actual contour of the workpiece, ensuring that the cutting depth remains at the preset theoretical value throughout the entire machining area.

[0063] The steps for revising the processing path further include:

[0064] Before generating the corrected Z-axis coordinates, data verification is performed. Data verification is used to read the surface height values ​​of the target processing point and its neighboring data points in the real-time surface contour map, calculate the local surface slope between the target processing point and the neighboring data points, and compare the local surface slope with the preset slope threshold to determine whether the surface height value of the target processing point is reliable data.

[0065] To address potential erroneous measurement data generated by the laser displacement sensor 320 during scanning due to workpiece surface reflections, stains, or steep edges, a data verification step was introduced to correct the processing path steps. Before the controller uses the surface height value of a target processing point, data verification is performed. This verification process involves the controller not only reading the height value of the target processing point but also reading the height values ​​of several neighboring data points, for example, a 3x3 area. The controller calculates the ratio of the height difference between the target processing point and each neighboring data point to the horizontal distance, i.e., the local surface slope. For example, if the target processing point... The height value is Its neighborhood data points The height value is The local surface slope between the two points Through formula Perform calculations;

[0066] This calculated local surface slope reflects the degree of tilt on the workpiece surface within a very small range. Comparing this slope value with a preset slope threshold based on material properties and machining experience aims to determine if the calculated slope exceeds a physically reasonable range. If so, the height data for the target machining point is likely caused by measurement noise and not a true surface feature, and should be considered unreliable data. For example, when processing relatively smooth aluminum alloy workpieces, the physical surface slope change is usually gentle, so the slope threshold can be set to a smaller value. However, when processing cast iron parts with casting textures, the slope threshold can be appropriately widened to avoid misinterpreting normal surface undulations as abnormal data. A specific setting method involves performing trial scans on standard samples, statistically analyzing the maximum local slope distribution of the normal surface, and using this as a basis to determine a reasonable threshold. This effectively avoids toolpath anomalies caused by a single erroneous data point, improving the stability of the machining process.

[0067] Further steps after data validation include:

[0068] When the local surface slope exceeds the slope threshold, the surface height value of the target processing point is identified as abnormal data. Based on the reliable data points that have passed data verification in the neighborhood, a corrected height value is calculated using a weighted average algorithm. This corrected height value is used to replace the abnormal data to generate the corrected Z-axis coordinates. If no reliable data points that can pass data verification are found within the preset neighborhood range, the controller can adopt one or more preset fault-tolerant strategies, such as: gradually expanding the neighborhood search range until a reliable data point is found, or using the surface height value of the previous valid processing point, or marking the error at the target processing point and pausing processing to prompt the operator to intervene and check.

[0069] Data validation involves identifying anomalous data and then employing a processing mechanism to correct it. When the surface height value of a target machining point is deemed anomalous because its local surface slope with neighboring points exceeds a slope threshold, this method does not simply discard the point. Instead, it utilizes neighboring data points that have passed slope validation and are considered reliable. Based on the height values ​​of these reliable data points, a weighted average algorithm is executed to calculate a new, more reasonable corrected height value. This corrected height value is then used to replace the original anomalous data and participates in the subsequent calculation of the corrected Z-axis coordinates. The purpose of this is to perform local smoothing of the data map without interrupting the machining process, filling in data traps or spikes caused by measurement errors, and ensuring that the final generated toolpath is continuous and logical.

[0070] The weighted average algorithm assigns weights based on the distance between reliable data points and target processing points, with the weights being inversely proportional to the distance.

[0071] The weighted average algorithm further clarifies the calculation logic. When calculating the corrected height value, not all reliable data points in the neighborhood have the same influence. The algorithm assigns a weight to each reliable data point in the neighborhood (excluding the target processing point itself) based on its spatial distance to the target processing point. The principle of allocation is that the weight is inversely proportional to the distance. This means that the closer a reliable data point is to the target processing point, the greater its weight and the greater its influence on the final calculated corrected height value; conversely, the farther away a point is, the smaller its weight and the smaller its influence. This distance-related weighting method aims to make the correction result more referential to the surface features of the nearest neighbor region, which conforms to the general characteristics of physical surface continuity, allowing the calculated corrected height value to better integrate into the surrounding real contour. The calculation process of this algorithm can be expressed by the following formula:

[0072]

[0073] Where: weight In this model, This represents the distance between a reliable data point in the neighborhood and the target processing point to be corrected; therefore, this value is always greater than zero. To enhance the numerical stability of the algorithm, [the following can be used]: In the form of, It is to prevent because A very small positive number set to prevent excessively large weight values ​​or calculation overflow, for example... This ensures the robustness of the algorithm;

[0074] This represents the corrected height value calculated using a weighted average.

[0075] It represents the total number of trusted data points located within the neighborhood that participated in the calculation;

[0076] Representing the The surface height value of a reliable data point;

[0077] Representing the The weights assigned to each reliable data point;

[0078] Representing the The horizontal distance between a trusted data point and the target processing point to be corrected;

[0079] In the process of constructing a surface map, the predetermined scanning path is a grid path, and the scanning step distance of the grid path is preset according to the processing accuracy requirements.

[0080] In the surface mapping process, to ensure comprehensive coverage of the entire area to be processed, a grid path is used for the predetermined scanning path. This path is similar to drawing a grid on a plane; the sensing assembly 300 moves back and forth along a series of parallel straight lines to ensure no area is missed. The key parameter of this grid path is the scanning step distance, which is the distance between two adjacent scanning lines. The size of the scanning step distance directly determines the data point density of the real-time surface contour map, i.e., the map resolution. Different scanning step distances can be preset according to different processing accuracy requirements. When high-precision processing is required, a smaller scanning step distance is set to obtain denser surface data, thereby generating a finer correction path. When processing accuracy requirements are not high, the scanning step distance can be appropriately increased to shorten the scanning time and improve overall work efficiency.

[0081] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A depth-controllable milling method for easy material loading, applied to a milling device, characterized in that, Includes the following steps: Constructing a surface map is a step used to control the sensing assembly (300) to move along a predetermined scanning path and collect the coordinate position of the workpiece surface and the corresponding surface height value to generate a real-time surface contour map. The process path is corrected. This step is used to obtain the original processing instructions and, for each target processing point in the instructions, combine the corresponding surface height value in the real-time surface contour map with the theoretical processing depth preset by the device, and calculate based on the spatial position offset between the sensing assembly (300) and the processing assembly (400) to generate the corrected Z-axis coordinates. Perform milling, a step 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 step of correcting the processing path further includes: Before generating the corrected Z-axis coordinates, data verification is performed. The data verification is used to read the surface height values ​​of the target processing point and its neighboring data points in the real-time surface contour map, calculate the local surface slope between the target processing point and the neighboring data points, and compare the local surface slope with a preset slope threshold to determine whether the surface height value of the target processing point is reliable data. The milling apparatus includes: Machine tool frame; A gantry-type motion module (200) is mounted on the machine tool frame; The sensing assembly (300) is fixed to the gantry motion module (200) and is used to scan the surface contour of the workpiece to obtain surface position data; The machining assembly (400) is fixed side by side with the sensing assembly (300) on the same motion carrier of the gantry motion module (200) for milling the workpiece. The machining assembly (400) and the sensing assembly (300) have a fixed spatial position offset. The controller is connected to the gantry motion module (200) and the sensing assembly (300) respectively, and is used to control the movement of the gantry motion module (200), and generate a corrected processing path instruction based on the surface position data and the spatial position offset to control the processing assembly (400). The gantry motion module (200) includes a crossbeam (210) mounted on the machine tool frame, a Y-axis slide (220) that can move along the crossbeam (210), and a Z-axis motion assembly (230) installed below the Y-axis slide (220). The Z-axis motion assembly (230) is the same motion carrier and is used to drive the sensing assembly (300) and the machining assembly (400) to move synchronously in the vertical direction. The sensing assembly (300) includes a laser displacement sensor (320), the detection direction of which is perpendicular to the worktable surface (110) of the machine tool frame. The machining assembly (400) includes an electric spindle (410) for clamping and driving the milling cutter to rotate at high speed. The machine tool frame includes a base (100), and the top of the base (100) is provided with a worktable (110) for placing the workpiece. The worktable (110) is machined with a T-slot for installing a fixture.

2. The milling method with controllable depth and easy loading according to claim 1, characterized in that, The data verification process further includes: When the local surface slope is greater than the slope threshold, the surface height value of the target processing point is determined to be abnormal data. Based on the reliable data points in the neighborhood data points that have passed the data verification, a corrected height value is calculated by a weighted average algorithm. The corrected height value is used to replace the abnormal data to generate the corrected Z-axis coordinate.

3. The milling method with controllable depth and easy loading according to claim 2, characterized in that, The weighted average algorithm assigns weights based on the distance between the trusted data points and the target processing point, and the weights are inversely proportional to the distance.

4. The milling method with controllable depth and easy loading according to claim 1, characterized in that, In the step of constructing the surface map, the predetermined scanning path is a grid path, and the scanning step distance of the grid path is preset according to the processing accuracy requirements.

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