Numerical control machine tool feeding and discharging unit and machining program automatic selection method

Abstract

The invention discloses a numerical control machine tool feeding and discharging unit and a machining program automatic selection method, and belongs to the technical field of machine manufacturing and automation. Comprising a machine tool body, an annular material channel module, a visual detection module, a cantilever manipulator module and an air blowing module, wherein the machine tool body is used for machining parts until finished products are obtained; the annular material channel module is used for transporting the parts; the visual detection module is used for photographing and image processing of the parts to be machined; the oil storage module is used for collecting oil, the position sensor modules are used for detecting that parts are in place, the blocking modules are used for suspending the positions of the parts, the number of the position sensor modules is consistent with that of the blocking modules, and the position sensor modules and the blocking modules are arranged at the positions of the visual detection module, the cantilever manipulator module and the blowing module in a one-to-one correspondence mode. And the working procedures of visual photographing, grabbing feeding / placing discharging and oil blowing can be conveniently and accurately carried out, practicability is high, and the invention further discloses an automatic machining program selection method.

Description

Technical Field

[0001] This invention belongs to the field of mechanical manufacturing and automation technology, and in particular relates to a CNC machine tool loading and unloading unit and an automatic selection method for machining programs. Background Technology

[0002] In the field of modern machining and manufacturing, CNC machine tools play a vital role. However, existing CNC machine tool processing systems have many problems that need to be solved in practical applications.

[0003] Firstly, regarding oil handling, traditional CNC machine tool processing leaves a large amount of oil residue on parts and feed channels. This residual oil typically lacks an effective collection and treatment mechanism, resulting not only in a serious waste of resources and failure to meet current requirements for green production and energy efficiency management, but also in the indiscriminate dripping of oil, which pollutes the workshop floor, increases safety hazards, and can easily lead to dangerous incidents such as workers slipping and getting injured.

[0004] Secondly, in the parts loading and unloading process, existing methods are mostly scattered and inefficient. The storage layout of raw and finished parts is not reasonable, lacking a compact and efficient design. This results in a significant amount of time and manpower being spent on parts handling and positioning during loading and unloading, reducing overall production efficiency. Furthermore, traditional loading and unloading operations often rely on manual labor, which is not only labor-intensive but also prone to errors, affecting product quality stability.

[0005] Furthermore, residual cooling oil on the surface of machined parts typically requires manual cleaning, which is not only inefficient but also difficult to guarantee effective cleaning. During the cleaning process, oil leakage can also occur, further exacerbating environmental pollution and safety risks in the workshop.

[0006] Furthermore, when the parts to be processed have a new structure, the machining program and parameters of the CNC machine tool must be manually selected again. When a large number of different parts are converted for production, this leads to a serious decrease in efficiency and can also cause machining errors.

[0007] In summary, existing CNC machine tool processing systems have significant shortcomings in areas such as oil handling, loading and unloading layout, and parts cleaning. There is an urgent need for an innovative technical solution to address these issues, improve production efficiency, ensure production safety, achieve resource recycling, and meet the development needs of modern manufacturing. Summary of the Invention

[0008] To address the aforementioned problems, this invention discloses a CNC machine tool loading and unloading unit that can automatically match the processing program and select processing parameters based on the parts to be processed, thereby controlling the CNC machine tool and improving production efficiency.

[0009] To achieve the above objectives, the technical solution of the present invention is as follows:

[0010] The CNC machine tool loading and unloading unit disclosed in this invention includes a machine tool body for processing parts to finished products, an annular material channel module for transporting parts, a vision inspection module for photographing and image processing the parts to be processed, a cantilever robot module for gripping / placing the parts to be processed, an air blowing module for blowing off and recovering oil from the surface of the parts, an oil storage module for collecting oil, a position sensor module for detecting the position of the parts, and a blocking module for pausing the position of the parts. The parts to be processed are transported through the annular material channel module to the area directly below the vision inspection module at the entrance of the machine tool body. The vision inspection module photographs and processes the parts. The part is processed and paired with the workpiece library built into the machine tool body. After selecting the matching CNC machining program, the cantilever robot module grabs the part and enters the machine tool body for processing until the processing is completed. Then, the cantilever robot module grabs the part again and places it on the annular material channel module. The part is transported to the air blowing module and after surface oil blowing treatment, the processing is completed. The oil is collected in the oil storage module for recycling. The number of position sensor modules and the number of blocking modules are the same, and they are set one-to-one with the vision inspection module, the cantilever robot module and the air blowing module to facilitate accurate vision photography, grabbing and loading / unloading and oil blowing processes.

[0011] As a further improvement of the present invention, the annular material channel module includes an annular material channel, an annular material channel conveyor belt, and a tray. The annular material channel conveyor belt is installed on the annular material channel, and the tray loaded with the parts is placed on the annular material channel conveyor belt for transportation. The position sensor module and the blocking module are each installed on one side of the annular material channel. The position sensor module includes a vision detection module position sensor, a cantilever robot module position sensor, and an air blowing module position sensor. The blocking module includes a vision detection module blocking, a cantilever robot module blocking, and an air blowing module blocking.

[0012] As a further improvement of the present invention, the visual inspection module includes a visual camera and an illumination source. There are two visual cameras, one located directly above the part to be processed and the other located directly to the side of the part to be processed. The position sensor of the visual inspection module is installed on the side of the part to be processed and below the visual camera for detecting the arrival of the part. The illumination source is located on the rear side of the part to be processed, providing uniform illumination to the part. The visual inspection module block is located directly in front of the part to be processed, used to pause the tray on which the part to be processed is located, so that when the part to be processed arrives at the visual inspection station, the visual camera can take a picture of the part to be processed and perform image processing.

[0013] As a further improvement of the present invention, the cantilever manipulator module includes a rotating arm, a clamp, a lifting device, and a telescopic device. The rotating arm is directly mounted above the machining area of ​​the machine tool body and can rotate flexibly in three-dimensional space. There are two clamps, one on each side of the rotating arm, for simultaneously gripping and placing blank parts and finished parts. The telescopic device is mounted above the rotating arm for realizing the overall upward and downward movement of the rotating arm. The lifting device is located below the annular material channel for realizing the upward and downward movement of the pallet. The cantilever manipulator module provides a blocking mechanism to pause the pallet movement.

[0014] As a further improvement of the present invention, the oil storage module is located below the annular material channel and includes an annular material channel oil collection tank, an oil pipe, a liquid level sensor, an oil pumping motor, and an oil storage tank. The annular material channel oil collection tank is used to collect the oil on the annular material channel and put it into the oil storage tank. The liquid level sensor is located inside the oil storage tank and is used to detect the oil level. The oil pumping motor is used to provide the power source for oil pumping. The oil pipe is used to transport the oil from the oil storage tank to the machine tool body for recycling.

[0015] This invention also provides an automatic machining program selection method applied to the loading and unloading unit of the above-mentioned CNC machine tool. The method is based on Halcon's automatic machining program selection method, and the steps are as follows:

[0016] Step S1: Establish a workpiece library

[0017] Take photos of the front and top views of the blanks of all parts to be machined on this CNC machine tool, preprocess them, extract the contours, and then use the Halcon algorithm's create_shape_model to create image templates. Number all the image templates sequentially and combine them to form a workpiece library.

[0018] Step S2: Dual-view image acquisition

[0019] When the parts to be processed arrive at the visual inspection station, the top-view camera captures a top-view photo of the blank part, and the side-view camera captures a front-view photo of the blank part;

[0020] Step S3: Image Preprocessing

[0021] First, a modified maximum inter-class variance (MAXIF) method is used for threshold segmentation. The average gray level of the entire image is used as the initial threshold S0, and the average gray level of the target region is used as the upper threshold S1. e , in [S0, S e Within a certain range, the optimal threshold is selected using the maximum inter-class variance method. Then, morphological feature operations are used to remove noise. Finally, opening and closing operations are performed on the binary image using a 5x5 structuring element, which effectively removes noise.

[0022] Step S4: Image Feature Extraction

[0023] The Canny operator, based on the differential method, is used to extract the boundary contour of the part to be processed;

[0024] Step S5: Pair with the workpiece library

[0025] The Halcon algorithm's find_shape_model operator is used to pair the captured image with images stored in the workpiece library, outputting the corresponding image template number to the CNC as a macro variable. The CNC then calls the corresponding machining program and parameters based on the macro variable value. If the pairing is successful, proceed to step S6; otherwise, proceed to step S7.

[0026] Step S6: Based on the pairing result, call the CNC machining program to start the part machining process. After machining and unloading, proceed to S2;

[0027] Step S7: Issue an alarm and indicate that a new workpiece has been introduced, requiring an update to the workpiece library, and proceed to S1.

[0028] The beneficial effects of this invention are as follows:

[0029] 1. This application designs a vision inspection module, which, combined with the automatic selection method of the machining program, can realize the acquisition of the shape data of the part to be machined, match it with the workpiece library of the CNC machine tool, automatically select the appropriate machining method and machining parameters, and control the CNC machine tool to process, greatly improving production efficiency;

[0030] 2. This application designs a ring-shaped material channel module in front of the CNC machine tool to store blanks and finished products (2.5). The cantilever robot module picks up blanks from the ring-shaped material channel and loads them onto the CNC machine tool, and picks up finished products from the CNC machine tool and unloads them onto the ring-shaped material channel (2.1). The layout is compact, continuous and efficient.

[0031] 3. The air blowing module and oil storage module of this application blow away and recycle some cooling oil that may remain on the surface of the parts after processing, avoiding the danger of workers slipping and falling due to oil dripping onto the ground when manually handling parts, which is a problem in the prior art. The recycled oil can also be pumped to the CNC machine tool for continued recycling, thus avoiding waste of resources.

[0032] In summary, the CNC machine tool loading and unloading unit and automatic selection method for machining programs of the present invention not only eliminate the safety hazards of oil dripping and slippery ground caused by manual handling, but also realize the green recycling of resources and energy efficiency management of production. It has a compact layout, is continuous and efficient, and has a very wide range of application prospects. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of the CNC machine tool loading and unloading unit of the present invention;

[0034] Figure 2 for Figure 1 Left side view;

[0035] Figure 3 for Figure 1 Right-side view;

[0036] Figure 4 for Figure 1 Top view;

[0037] Figure 5 for Figure 4 AA section diagram;

[0038] Figure 6 for Figure 4 Middle BB section view;

[0039] Figure 7 A flowchart of the automatic selection method for the machining process of the present invention.

[0040] List of identifiers in attached diagrams:

[0041] 1. Machine tool body; 3.3. Vision inspection module position sensor; 4.3. Cantilever robot module position sensor; 5.2. Air blowing module position sensor; 3.4. Vision inspection module obstruction; 4.5. Cantilever robot module obstruction; 5.3. Air blowing module obstruction; 2. Circular material channel module; 2.1. Circular material channel; 2.2. Circular material channel conveyor belt; 2.4. Pallet; 2.5. Part; 3. Vision inspection module; 3.1. Vision camera; 3.2. Light source; 4. Cantilever robot module; 4.1. Rotating arm; 4.2. Fixture; 4.4. Lifting device; 4.6. Telescopic device; 5. Air blowing module; 5.1. Air blowing pipe; 6. Oil storage module; 6.1. Circular material channel oil collection tank; 6.2. Oil pipe; 6.3. Liquid level sensor; 6.4. Oil pumping motor; 6.5. Oil storage tank. Detailed Implementation

[0042] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0043] like Figure 1-6 As shown, the CNC machine tool loading and unloading unit of the present invention includes a machine tool body 1 for processing parts 2.5 until the finished product, an annular material channel module 2 for transporting parts 2.5, a vision inspection module 3 for photographing and image processing the parts 2.5 to be processed, a cantilever robot module 4 for gripping / placing the parts to be processed, an air blowing module 5 for blowing off the oil on the surface of the parts 2.5 and recovering the oil, an oil storage module 6 for collecting the oil, a position sensor module for detecting the position of the parts 2.5, and a blocking module for pausing the position of the parts 2.5. The parts 2.5 to be processed are transported through the annular material channel module 2 to the area directly below the vision inspection module 3 at the entrance of the machine tool body 1. The vision inspection module 3 inspects the parts 2.5. The system takes photos and processes images, pairs them with the workpiece library inside the machine tool body 1, selects a matching CNC machining program, and then the cantilever robot module 4 picks up the part 2.5 and puts it into the machine tool body 1 for processing. After processing is completed, the cantilever robot module 4 picks up the part 2.5 again and places it into the annular material channel module 2. The part 2.5 is then transported to the air blowing module 5. After surface oil blowing treatment, the processing is completed, and the oil is collected in the oil storage module 6 for recycling. The number of position sensor modules and the number of blocking modules are the same, and they are correspondingly set at the vision inspection module 3, the cantilever robot module 4, and the air blowing module 5 to facilitate accurate vision photography, picking and loading / unloading, and oil blowing processes.

[0044] The annular material channel module 2 includes an annular material channel 2.1, an annular material channel conveyor belt 2.2, and a tray 2.4. The annular material channel conveyor belt 2.2 is installed on the annular material channel 2.1. The tray 2.4, which carries the part 2.5, is placed on the annular material channel conveyor belt 2.2 for transportation. The position sensor module and the blocking module are each installed on one side of the annular material channel 2.1. The position sensor module includes a vision detection module position sensor 3.3, a cantilever robot module position sensor 4.3, and an air blowing module position sensor 5.2. The blocking module includes a vision detection module blocking 3.4, a cantilever robot module blocking 4.5, and an air blowing module blocking 5.3.

[0045] The visual inspection module 3 includes a visual camera 3.1 and an illumination source 3.2. There are two visual cameras 3.1, one located directly above the part 2.5 to be processed and the other located directly to the side of the part 2.5 to be processed. The position sensor 3.3 of the visual inspection module is installed on the side of the part 2.5 to be processed and below the visual camera 3.1, and is used for the arrival detection of the part 2.5. The illumination source 3.2 is located on the rear side of the part 2.5 to be processed, and provides uniform illumination to the part 2.5 to be processed. The visual inspection module blocking 3.4 is located directly in front of the part 2.5 to be processed, and is used to pause the tray 2.4 where the part 2.5 to be processed is located, so that when the part 2.5 to be processed moves to the visual inspection station, the visual camera 3.1 can take pictures and perform image processing on the part 2.5 to be processed.

[0046] The cantilever robot module 4 includes a rotating arm 4.1, a clamp 4.2, a lifting device 4.4, and a telescopic device 4.6. The rotating arm 4.1 is directly mounted above the machining area of ​​the machine tool body 1 and can rotate flexibly in three-dimensional space. There are two clamps 4.2, which are respectively mounted on both sides of the rotating arm 4.1 for simultaneously gripping and placing blank parts and finished parts. The telescopic device 4.6 is mounted above the rotating arm 4.1 for realizing the overall upward and downward movement of the rotating arm 4.1. The lifting device 4.4 is located below the annular material channel 2.1 for realizing the upward and downward movement of the pallet 2.4. The cantilever robot module blocking device 4.5 is used to pause the pallet 2.4. The operation process is as follows: the blank moves up from the feed channel → when the part is processed, the two gripper-type clamps 4.2 simultaneously clamp the blank and the finished product → the rotating arm 4.1 moves up → the rotating arm 4.1 rotates → the rotating arm 4.1 moves down, and the clamps 4.2 release the finished product and the blank → the finished product moves down to the annular feed channel 2.1.

[0047] The oil storage module 6 is located below the annular feed channel 2.1 and includes an annular feed channel oil collection tank 6.1, an oil pipe 6.2, a liquid level sensor 6.3, an oil pumping motor 6.4, and an oil storage tank 6.5. The annular feed channel oil collection tank 6.1 is used to collect the oil on the annular feed channel 2.1 and put it into the oil storage tank 6.5. The liquid level sensor 6.3 is located inside the oil storage tank 6.5 and is used to detect the oil level. The oil pumping motor 6.4 is used to provide the power source for oil pumping. The oil pipe 6.2 is used to transport the oil from the oil storage tank 6.5 to the machine tool body 1 for recycling.

[0048] This invention also provides an automatic machining program selection method applied to the loading and unloading unit of the aforementioned CNC machine tool. This method is based on Halcon's automatic machining program selection method, such as... Figure 7 As shown, the steps are as follows:

[0049] Step S1: Establish a workpiece library

[0050] All the blanks of 2.5mm parts to be machined on this CNC machine tool were photographed, preprocessed, and their contours extracted. Then, the Halcon algorithm's create_shape_model was used to create image templates. All image templates were numbered sequentially and combined to form a workpiece library.

[0051] Step S2: Dual-view image acquisition

[0052] When the part 2.5 to be processed arrives at the vision inspection station, the top vision camera 3.1 captures a top view photo of the blank part 2.5, and the side vision camera 3.1 captures a front view photo of the blank part;

[0053] Step S3: Image Preprocessing

[0054] First, a modified maximum inter-class variance (MAXIF) method is used for threshold segmentation. The average gray level of the entire image is used as the initial threshold S0, and the average gray level of the target region is used as the upper threshold S1. e , in [S0, S e Within a certain range, the optimal threshold is selected using the maximum inter-class variance method. Then, morphological feature operations are used to remove noise. Finally, opening and closing operations are performed on the binary image using a 5x5 structuring element, which effectively removes noise.

[0055] Step S4: Image Feature Extraction

[0056] The Canny operator using the differential method is used to extract the boundary contour of the part to be processed (2.5).

[0057] Step S5: Pair with the workpiece library

[0058] The Halcon algorithm's find_shape_model operator is used to pair the captured image with images stored in the workpiece library, outputting the corresponding image template number to the CNC as a macro variable. The CNC then calls the corresponding machining program and parameters based on the macro variable value. If the pairing is successful, proceed to step S6; otherwise, proceed to step S7.

[0059] Step S6: Based on the pairing result, call the CNC machining program to start the part machining process. After machining and unloading, proceed to S2;

[0060] Step S7: Issue an alarm and indicate that a new workpiece has been introduced, requiring an update to the workpiece library, and proceed to S1.

[0061] The beneficial effects of this invention are as follows:

[0062] 1. This application designs a vision inspection module 3, which, combined with the automatic selection method of the machining program, can realize the acquisition of the shape data of the part to be machined, match it with the workpiece library of the CNC machine tool, automatically select the appropriate machining method and machining parameters, and control the CNC machine tool to process, greatly improving production efficiency;

[0063] 2. This application designs a ring-shaped material channel module 2 in front of the CNC machine tool to store blanks and finished parts 2.5. A cantilever robot module 4 picks up blanks from the ring-shaped material channel 2.1 and feeds them to the CNC machine tool, and picks up finished parts from the CNC machine tool and unloads them into the ring-shaped material channel 2.1. The layout is compact, continuous and efficient.

[0064] 3. The air blowing module 5 and oil storage module 6 of this application blow away and recycle some cooling oil that may remain on the surface of the parts after processing, avoiding the danger of workers slipping and falling due to oil dripping onto the ground when manually handling parts, which is a problem in the prior art. The recycled oil can also be pumped to the CNC machine tool for continued recycling, thus avoiding waste of resources.

[0065] In summary, the CNC machine tool loading and unloading unit and automatic selection method for machining programs of the present invention not only eliminate the safety hazards of oil dripping and slippery ground caused by manual handling, but also realize the green recycling of resources and energy efficiency management of production. It has a compact layout, continuous high efficiency, and very broad application prospects (HGTR443).

[0066] It should be noted that the above content merely illustrates the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. For those skilled in the art, various improvements and modifications can be made without departing from the principle of the present invention, and all such improvements and modifications fall within the scope of protection of the claims of the present invention.

Claims

1. A CNC machine tool blanking unit, characterized in that, The unit includes a machine tool body (1) for processing parts (2.5) into finished products, a ring-shaped material channel module (2) for transporting parts (2.5), a visual detection module (3) for taking pictures and image processing of parts to be processed (2.5), a cantilever manipulator module (4) for grabbing / placing parts to be processed, a blowing module (5) for blowing off oil on the surface of the parts (2.5) and recycling the oil, an oil storage module (6) for collecting oil, a position sensor module for detecting the position of the parts (2.5) and a blocking module for pausing the position of the parts (2.5), the parts to be processed (2.5) are transported by the ring-shaped material channel module (2) to the visual detection module (3) directly below the entrance of the machine tool body (1), the visual detection module (3) takes pictures of the parts (2.5), image processing, and matches with the workpiece library in the machine tool body (1), selects the matching numerical control processing program, and then the cantilever manipulator module (4) grabs the parts (2.5) into the machine tool body (1) for processing, until the processing is completed, the cantilever manipulator module (4) grabs the parts (2.5) and places them again in the ring-shaped material channel module (2), the parts (2.5) are transported to the blowing module (5), after surface oil blowing treatment, the processing is completed, the oil is stored in the oil storage module (6) for recycling, the position sensor module and the blocking module are consistent in number and are one-to-one corresponding to the visual detection module (3), cantilever manipulator module (4) and blowing module (5), facilitating accurate visual shooting, grabbing feeding / placing discharging and oil blowing process.

2. A CNC machine tool blanking unit according to claim 1, characterized in that, The ring-shaped material channel module (2) includes a ring-shaped material channel (2.1), a ring-shaped material channel conveyor belt (2.2) and a tray (2.4), the ring-shaped material channel conveyor belt (2.2) is installed on the ring-shaped material channel (2.1), the tray (2.4) loaded with the parts (2.5) is placed on the ring-shaped material channel conveyor belt (2.2) and transported, the position sensor module and the blocking module are one-to-one corresponding to the ring-shaped material channel (2.1) on one side, the position sensor module includes a visual detection module position sensor (3.3), a cantilever manipulator module position sensor (4.3) and a blowing module position sensor (5.2), the blocking module includes a visual detection module blocking (3.4), a cantilever manipulator module blocking (4.5) and a blowing module blocking (5.3).

3. A CNC machine tool blanking unit according to claim 2, characterized in that, The visual detection module (3) comprises visual cameras (3.1) and illumination light sources (3.2), the visual cameras (3.1) are two, one is located directly above the part (2.5) to be machined, and the other is located directly beside the part (2.5) to be machined, the visual detection module position sensor (3.3) is installed directly beside the part (2.5) to be machined and below the visual camera (3.1), and is used for in-place detection of the part (2.5), the illumination light sources (3.2) are located on the rear side of the part (2.5) to be machined, uniformly illuminate the part (2.5) to be machined, and the visual detection module block (3.4) is located directly in front of the part (2.5) to be machined, and is used for suspending the tray (2.4) where the part (2.5) to be machined is located, so that the visual camera (3.1) can take a photo and perform image processing on the part (2.5) to be machined when the part (2.5) to be machined moves to the visual detection station.

4. A CNC machine tool blanking unit according to claim 3, characterized in that, The cantilever manipulator module (4) comprises a rotating arm (4.1), clamps (4.2), lifting devices (4.4) and telescopic devices (4.6), the rotating arm (4.1) is directly installed above a machining area of the machine tool body (1) and can be flexibly rotated in a three-dimensional space, the clamps (4.2) are two in number and are installed on the two sides of the rotating arm (4.1) respectively, and are used for simultaneously grabbing and placing blank parts and finished parts, the telescopic device (4.6) is installed above the rotating arm (4.1) and is used for realizing overall upward movement and overall downward movement of the rotating arm (4.1), the lifting device (4.4) is located below the annular material channel (2.1) and is used for realizing upward movement and downward movement of the tray (2.4), and the cantilever manipulator module block (4.5) is used for suspending the tray (2.4).

5. A CNC machine tool blanking unit according to claim 4, characterized in that, The oil storage module (6) is located below the annular material channel (2.1) and comprises an annular material channel oil collecting tank (6.1), an oil pipe (6.2), a liquid level sensor (6.3), an oil pumping motor (6.4) and an oil storage tank (6.5), the annular material channel oil collecting tank (6.1) is used for collecting oil on the annular material channel (2.1) into the oil storage tank (6.5), the liquid level sensor (6.3) is located in the oil storage tank (6.5) and is used for detecting the height of the oil level, the oil pumping motor (6.4) is used for providing power for oil pumping, and the oil pipe (6.2) is used for transporting oil from the oil storage tank (6.5) to the machine tool body (1) for recycling.

6. A method for automatically selecting a machining program for a blanking unit of a numerically controlled machine tool according to claims 1-6, characterized in that, The method is a Halcon-based automatic machining program selection method, and the steps are as follows: Step S1: establishing a workpiece library The front view and top view of the blank of all parts (2.5) to be machined of the numerical control machine tool are photographed, preprocessed, and contour extraction is performed, and then an image template is established by using a Halcon algorithm create_shape_model, all image templates are sequentially numbered, and the workpiece library is combined; Step S2: double-view image acquisition When the part (2.5) to be processed comes to the visual detection station, the overhead visual camera (3.1) collects the overhead view photo of the blank part (2.5), and the front side visual camera (3.1) collects the front view photo of the blank part; Step S3: image preprocessing Firstly, the improved Otsu method is used to segment the threshold, and the average gray value of the whole image is used as the initial threshold S0, and the average gray value of the target region is used as the upper threshold S e . In the range of [S0, S e ], the best threshold is selected by using the maximum inter-class variance method, and then the morphological feature operation is used to remove noise. After the open operation and the close operation of the binary image with a 5*5 structure element, the noise is effectively removed. Step S4: image feature extraction The Canny operator of differential method is used to extract the boundary contour of the part (2.5) to be processed; Step S5: pairing with the workpiece library The find_shape_model operator of Halcon algorithm is used to pair the captured image with the image stored in the workpiece library, and the corresponding image template number is output to the CNC macro variable. The CNC calls the corresponding machining program and machining parameter according to the macro variable value. If the pairing is successful, step S6 is entered, otherwise step S7 is entered; Step S6: according to the pairing result, the numerical control machining program is called, the part machining process starts, and after the machining is completed, S2 is entered; Step S7: an alarm is sent out, and it is prompted that a new workpiece is introduced and the workpiece library needs to be updated, and S1 is entered.

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